Control method of cleaning apparatus and cleaning apparatus

Abstract

The application provides a control method of a cleaning device and the cleaning device, the cleaning device comprising a driving mechanism and a rolling brush mechanism, the rolling brush mechanism comprising a first rolling brush, a second rolling brush, a first operating member and a second operating member, the first operating member being connected with the first rolling brush, and the second operating member being connected with the second rolling brush; the control method comprising: controlling the driving mechanism to move so that the driving mechanism drives at least one of the first rolling brush and the second rolling brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate; when first current position information of the first operating member and second current position information of the second operating member satisfy a first position condition, controlling the driving mechanism to stop rotating; wherein the first position condition comprises that a first operating part of the first operating member and a second operating part of the second operating member are both at least partially exposed outside the cleaning device. The control method of the cleaning device and the cleaning device provided by the application are convenient for disassembling the rolling brush mechanism of the cleaning device.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a control method for cleaning equipment and a cleaning equipment. Background Technology

[0002] In related technologies, cleaning equipment typically includes a main body and a roller brush mechanism. The main body is connected to the roller brush mechanism, which can rotate relative to the main body to clean the surface to be cleaned. However, disassembling the roller brush mechanism is inconvenient when it is necessary to remove it for replacement or maintenance. Summary of the Invention

[0003] This invention provides a control method and cleaning equipment for a cleaning device, which aims to facilitate the disassembly of the roller brush mechanism.

[0004] This invention provides a control method for a cleaning device, the cleaning device including a drive mechanism and a roller brush mechanism, the roller brush mechanism including a first roller brush, a second roller brush, a first operating member, and a second operating member, the first operating member being connected to the first roller brush, and the second operating member being connected to the second roller brush; the control method includes:

[0005] Control the movement of the drive mechanism so that the drive mechanism drives at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate.

[0006] When the first current position information of the first operating member and the second current position information of the second operating member satisfy the first position condition, the drive mechanism is controlled to stop rotating; wherein, the first position condition includes: the first operating part of the first operating member and the second operating part of the second operating member are at least partially exposed outside the cleaning equipment.

[0007] In the control method of this embodiment of the invention, the first position condition further includes: the second operating part is located on a preset plane, the preset plane passing through the axis of the roller brush mechanism and the first operating part; or, the first position condition further includes: the second operating part and the first operating part are arranged along a preset straight line, the preset straight line being parallel to the axis of the roller brush mechanism.

[0008] In the control method of this invention embodiment, controlling the drive mechanism to rotate so that the drive mechanism drives at least one of the first roller brush and the second roller brush to rotate includes:

[0009] When the first current position information and the second current position information satisfy the second position condition, the drive mechanism is controlled to rotate so that the drive mechanism drives at least one of the first roller brush and the second roller brush to rotate; wherein, the second position condition includes at least one of the following: at least one of the first operating part and the second operating part is not exposed outside the cleaning device; the second operating part is not located on the preset plane.

[0010] In the control method of this embodiment of the invention, the first position condition further includes: the central angle of the projection of the first operating part and the second operating part onto the cross section of the roller brush mechanism is less than or equal to 40°.

[0011] In the control method of this invention embodiment, the first roller brush includes a first roller brush body and a first telescopic member; the second roller brush includes a second roller brush body and a second telescopic member; the control method further includes:

[0012] When the first current position information and the second current position information satisfy the first position condition, the first operating member can drive the first telescopic member to move so that the first roller brush can be detached from the driving mechanism; the second operating member can drive the second telescopic member to move so that the second roller brush can be detached from the driving mechanism.

[0013] In the control method of this invention embodiment, the roller brush mechanism further includes a first elastic member and a second elastic member; when the first current position information and the second current position information satisfy the first position condition, the first operating member can drive the first telescopic member to move along the axial direction of the first roller brush body, so that the first telescopic member located outside the first roller brush body is at least partially retracted into the first roller brush body, thereby enabling the first roller brush to be detached from the driving mechanism; the first telescopic member can apply a force to the first elastic member under the drive of the first operating member;

[0014] When the first current position information and the second current position information satisfy the first position condition, the second operating member can drive the second telescopic member to move along the axial direction of the second roller brush body, so that the second telescopic member located outside the second roller brush body is at least partially retracted into the second roller brush body, thereby allowing the second roller brush to be detached from the driving mechanism; the second telescopic member can apply a force to the second elastic member under the drive of the second operating member.

[0015] In the control method of this invention embodiment, the driving mechanism includes a first driving member and a second driving member. Controlling the movement of the driving mechanism to cause it to rotate at least one of the first roller brush and the second roller brush, thereby causing at least one of the first operating member and the second operating member to rotate, includes:

[0016] Controlling the movement of at least one of the first driving member and the second driving member to drive the rotation of at least one of the first roller brush and the second roller brush, thereby driving the rotation of at least one of the first operating member and the second operating member.

[0017] In the control method of this invention embodiment, controlling at least one of the first driving member and the second driving member to move, so as to drive at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate, includes:

[0018] The first driving member is controlled to move with a first motion parameter and the second driving member is controlled to move with a second motion parameter, so that the first driving member and the second driving member drive the first roller brush and the second roller brush to rotate respectively, thereby driving the first operating member and the second operating member to rotate respectively.

[0019] In the control method of this invention embodiment, the first motion parameter includes at least one of the following: a first rotational angular velocity and a first rotational direction; the second motion parameter includes at least one of the following: a second rotational angular velocity and a second rotational direction.

[0020] In the control method of this invention embodiment, controlling the movement of at least one of the first driving member and the second driving member includes:

[0021] The first driving member and the second driving member are controlled to move at a first rotational angular velocity and a second rotational angular velocity, respectively, wherein the magnitudes of the first rotational angular velocity and the second rotational angular velocity are different.

[0022] In the control method of this invention embodiment, the first roller brush and the second roller brush are rotatably connected; controlling the drive mechanism to move so that the drive mechanism drives at least one of the first roller brush and the second roller brush to rotate includes:

[0023] The drive mechanism is controlled to rotate so that it can drive the first and second roller brushes to rotate independently.

[0024] The control method in this embodiment of the invention further includes:

[0025] The first current position information of the first operating component and the second current position information of the second operating component are obtained by the position detection mechanism.

[0026] The control method in this embodiment of the invention further includes:

[0027] Upon receiving a preset removal signal, the operating status of the cleaning equipment detected by the status sensor is obtained, including the rotational angular velocity of the drive mechanism.

[0028] If the current rotational angular velocity of the drive mechanism is greater than a preset speed threshold, the drive mechanism is controlled to decelerate at least twice so that the rotational angular velocity of the drive mechanism after deceleration is less than or equal to the preset speed threshold.

[0029] In the control method of this embodiment of the invention, the control method further includes:

[0030] The user's hand usage habits are obtained, and the relative positional relationship between the first operating part and the second operating part is determined based on the hand usage habits. The relative positional relationship includes a first relative positional relationship or a second relative positional relationship. The first relative positional relationship includes: the first operating part and the second operating part are spaced apart along a first line, and the first operating part is closer to the bottom of the cleaning device relative to the second operating part. The second relative positional relationship includes: the first operating part and the second operating part are spaced apart along a second line, and the second operating part is closer to the bottom of the cleaning device relative to the first operating part. The first line and the second line intersect.

[0031] In the control method of this embodiment of the invention, the control method further includes:

[0032] Upon receiving a preset removal signal, the operating state of the cleaning equipment detected by the status sensor is acquired. The operating state includes a first state and a second state, and the second state includes a side-tilting state or a flipping state. The cleaning equipment is capable of performing cleaning operations in the first state. The area of ​​the first operating part exposed to the outside in the second state is greater than the area of ​​the first operating part exposed to the outside in the first state, and the area of ​​the second operating part exposed to the outside in the second state is greater than the area of ​​the second operating part exposed to the outside in the first state.

[0033] When the cleaning equipment is in the first working state, the drive mechanism is controlled to switch the cleaning equipment to the second state.

[0034] This invention also provides a cleaning device, comprising:

[0035] Drive mechanism;

[0036] The roller brush mechanism includes a first roller brush, a second roller brush, a first operating member, and a second operating member, wherein the first operating member is connected to the first roller brush, and the second operating member is connected to the second roller brush.

[0037] The cleaning equipment is used to perform the steps of the control method described above.

[0038] In the cleaning device of this embodiment of the invention, the cleaning device further includes:

[0039] The first position sensor includes a first trigger and a first sensing element. The first trigger is disposed on the roller brush mechanism. The position of the first sensing element is set to correspond to the position of the first trigger. The first sensing element is used to sense the position information of the first trigger to detect the first current position information of the first operating element.

[0040] The second position sensor includes a second trigger and a second sensing element. The second trigger is disposed on the roller brush mechanism, and the second sensing element is used to sense the position information of the second trigger to detect the second current position information of the second operating element.

[0041] In the cleaning device of this invention embodiment, the first trigger and the second trigger are respectively disposed at both ends of the roller brush mechanism; or, the first trigger and the second trigger are both disposed in the middle of the roller brush mechanism.

[0042] In the cleaning device of this invention embodiment, both the first trigger and the second trigger are located in the middle of the roller brush mechanism, the central angle between the first trigger and the first operating part is greater than zero, and the central angle between the second trigger and the second operating part is greater than zero.

[0043] The present invention provides a control method and a cleaning device for a cleaning device. By controlling the movement of the drive mechanism to rotate at least one of the first and second roller brushes, the drive mechanism drives at least one of the first and second operating components to rotate. The method acquires first current position information of the first operating component and second current position information of the second operating component detected by the position detection mechanism. When the first and second current position information satisfy a first position condition, the drive mechanism is controlled to stop rotating. At this time, the user can conveniently operate the first and second operating components to drive at least a portion of the first and second roller brushes to move, respectively, thereby facilitating the removal of the first and second roller brushes. The roller brush mechanism is easy to disassemble.

[0044] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of the present invention. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention;

[0048] Figure 3(A) is a schematic diagram of the structure of a roller brush mechanism provided in an embodiment of the present invention;

[0049] Figure 3(B) is a schematic diagram of the structure of a roller brush mechanism provided in an embodiment of the present invention;

[0050] Figure 4 This is a cross-sectional view of a roller brush mechanism provided in an embodiment of the present invention;

[0051] Figure 5 This is a partial structural schematic diagram of a cleaning device provided in an embodiment of the present invention;

[0052] Figure 6 This is a partial structural schematic diagram of a roller brush mechanism provided in an embodiment of the present invention;

[0053] Figure 7 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention;

[0054] Figure 8 This is a partial structural schematic diagram of a cleaning device provided in an embodiment of the present invention;

[0055] Figure 9 This is a cross-sectional view of a cleaning device provided in an embodiment of the present invention;

[0056] Figure 10 This is a schematic diagram of a control method for a cleaning device provided in an embodiment of the present invention;

[0057] Figure 11 This is a schematic diagram of the structure of a roller brush mechanism provided in an embodiment of the present invention;

[0058] Figure 12 This is a schematic diagram of the structure of a roller brush mechanism provided in an embodiment of the present invention.

[0059] Explanation of reference numerals in the attached figures:

[0060] 100. Cleaning equipment;

[0061] 10. Main body of the equipment;

[0062] 20. Power mechanism; 21. Drive wheel; 22. Driven wheel; 23. Transmission belt;

[0063] 30. Drive mechanism; 31. First drive component; 32. Second drive component; 33. Second assembly part;

[0064] 40. Roller brush mechanism; 41. First roller brush; 411. First roller brush body; 412. First telescopic component; 42. Second roller brush; 421. Second roller brush body; 422. Second telescopic component; 43. First operating component; 431. First operating part; 432. First connecting part; 44. Second operating component; 441. Second operating part; 442. Second connecting part; 45. Elastic structure; 451. First elastic component; 452. Second elastic component; 46. Connector; 47. Position detection mechanism; 471. First position sensor; 4711. First trigger; 4712. First sensing component; 472. Second position sensor; 4721. Second trigger; 4722. Second sensing component;

[0065] 50. Control unit; 60. Receiving slot. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0068] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0069] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0070] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0071] Please see Figure 1 This invention provides a cleaning device 100 that can clean dirt and grime.

[0072] For example, the cleaning device 100 can travel in at least one of underwater, on water, and on land, thereby enabling the cleaning device 100 to move to the target area to carry out cleaning operations.

[0073] In some embodiments, the cleaning device 100 is capable of cleaning dirt from at least one of the pool walls and the liquid within the pool. Exemplarily, the pool may include at least one of the following: swimming pool, fish pond, landscape pond, etc. Exemplarily, the liquid within the pool may include water or other liquids. Exemplarily, the dirt includes at least one of the following: sediments adhering to the pool walls, floating debris (such as fallen leaves), suspended matter in the water, settled debris (such as sand and gravel), etc.

[0074] For example, the cleaning device 100 is capable of cleaning dirt and grime adhering to the walls of a pool.

[0075] For example, the cleaning device 100 can clean the liquid in the pool. For instance, the cleaning device 100 can suck up liquid containing dirt, filter the liquid containing dirt, leave the dirt in the cleaning device 100, and discharge the filtered liquid back into the pool, thereby cleaning the liquid in the pool.

[0076] Please see Figure 1 In some embodiments, the cleaning device 100 includes a device body 10 and a power mechanism 20, which drives the device body 10 to move, such as driving the device body 10 to travel and / or turn. Exemplarily, the power mechanism 20 includes at least one of the following: a motor drive structure, a propeller structure, etc.

[0077] Please see Figure 1 For example, the power mechanism 20 includes a power motor (not shown) and a drive wheel 21. The power motor is located on the equipment body 10 and is used to drive the drive wheel 21 to move, thereby driving the equipment body 10 to move and / or turn.

[0078] The number of drive wheels 21 and the number of power motors can be designed according to actual needs. For example, the number of drive wheels 21 and the number of power motors can both include one, two, three, four, or more. For instance, there are two drive wheels 21, each corresponding to a power motor. For example, the same power motor can drive both drive wheels 21.

[0079] Please see Figure 1 In some embodiments, the power mechanism 20 further includes a driven wheel 22 and a transmission belt 23. The transmission belt 23 is connected to the drive wheel 21 and the driven wheel 22. When the power motor drives the drive wheel 21 to rotate, the drive wheel 21 can drive the transmission belt 23 and the driven wheel 22 to rotate, thereby enabling the main body of the equipment 10 to move and / or turn.

[0080] Please see Figure 1In some embodiments, the cleaning device 100 includes a drive mechanism 30 (see [link]). Figure 2 The cleaning equipment 100 is equipped with a roller brush mechanism 40 and a drive mechanism 30 for driving the roller brush mechanism 40 to move, so that the roller brush mechanism 40 can clean dirt and provide a guarantee for the cleaning equipment 100 to ...

[0081] For example, the drive mechanism 30 may include a power motor from any of the above embodiments to reduce the number of components, which is beneficial for miniaturization and lightweight design of the product. For example, the drive mechanism 30 may also be different from the power motor described above, and this is not limited here. For example, a power motor for driving the drive wheel 21 and a drive motor for driving the roller brush mechanism 40 may be provided respectively.

[0082] Please see Figure 2 In some embodiments, the drive mechanism 30 includes a first drive member 31 and a second drive member 32. The first drive member 31 drives the first roller brush 41 to rotate, and the second drive member 32 drives the second roller brush 42 to rotate. Exemplarily, both the first drive member 31 and the second drive member 32 include drive motors. Exemplarily, the first drive member 31 corresponds to the motor powering one of the drive wheels 21, and the second drive member 32 corresponds to the motor powering the other drive wheel 21. That is, the first drive member 31 can drive the first roller brush 41 and one drive wheel 21 to move, and the second drive member 32 can drive the second roller brush 42 and the other drive wheel 21 to move. In other embodiments, one of the first drive member 31 and the second drive member 32 may be omitted, for example, the first roller brush 41 and the second roller brush 42 can be driven to rotate synchronously by a single drive member.

[0083] Please see Figure 1 As shown in Figures 3(A) and 3(B), in some embodiments, the roller brush mechanism 40 includes a first roller brush 41, a second roller brush 42, a first operating member 43, and a second operating member 44. The first operating member 43 is connected to the first roller brush 41, and the second operating member 44 is connected to the second roller brush 42. Exemplarily, at least one of the first roller brush 41 and the second roller brush 42 is connected to the drive mechanism 30.

[0084] Please see Figure 4 In some embodiments, the first roller brush 41 is detachably connected to at least one of the drive mechanism 30, the power mechanism 20, and the equipment body 10, and the second roller brush 42 is detachably connected to at least one of the drive mechanism 30, the power mechanism 20, and the equipment body 10. In this way, when the roller brush mechanism 40 needs maintenance or replacement, the roller brush mechanism 40 can be disassembled and reassembled to maintain or replace the roller brush mechanism 40, thus ensuring that the cleaning equipment 100 can perform cleaning operations efficiently.

[0085] Please see Figure 4For example, the first roller brush 41 includes a first roller brush body 411 and a first telescopic member 412, and the second roller brush 42 includes a second roller brush body 421 and a second telescopic member 422. The first telescopic member 412 is connected to the first operating member 43, and the second telescopic member 422 is connected to the second operating member 44. The first telescopic member 412 and the second telescopic member 422 can be detachably connected to the drive mechanism 30, so that the drive mechanism 30 can drive the first telescopic member 412 and the second telescopic member 422 to move, thereby driving the first roller brush body 411 and the second roller brush body 421 to rotate, so as to clean dirt. When the roller brush mechanism 40 needs maintenance or replacement, the first operating member 43 and the second operating member 44 can respectively drive the first telescopic member 412 and the second telescopic member 422 to move, so that the connection between the first telescopic member 412 and the drive mechanism 30 is loosened, and the connection between the second telescopic member 422 and the drive mechanism 30 is loosened, so that the roller brush mechanism 40 can be easily and quickly removed. Understandably, the first telescopic member 412 can drive the first roller brush body 411 to rotate under the drive of the drive mechanism 30, and the second telescopic member 422 can drive the second roller brush body 421 to rotate under the drive of the drive mechanism 30; in addition, the first telescopic member 412 can be operated by the first operating member 43. For example, the first telescopic member 412 passes through the first roller brush body 411, and the second telescopic member 422 passes through the second roller brush body 421.

[0086] For example, the first operating member 43 can drive the first telescopic member 412 to move, so that the first telescopic member 412 located inside the first roller brush body 411 can extend at least partially out of the first roller brush body 411 along the axial direction of the first roller brush 41; or, the first operating member 43 can drive the first telescopic member 412 to move, so that the first telescopic member 412 located outside the first roller brush body 411 can retract at least partially into the first roller brush body 411 along the axial direction of the first roller brush 41, so as to facilitate the disassembly and assembly of the roller brush mechanism 40 and the drive mechanism 30. For example, the second operating member 44 can drive the second telescopic member 422 to move, so that the second telescopic member 422 located inside the second roller brush body 421 can extend at least partially out of the second roller brush body 421 along the axial direction of the second roller brush 42; or, the second operating member 44 can drive the second telescopic member 422 to move, so that the second telescopic member 422 located outside the second roller brush body 421 can retract at least partially into the second roller brush body 421 along the axial direction of the second roller brush 42, so as to facilitate the disassembly and assembly of the roller brush mechanism 40 and the drive mechanism 30.

[0087] For example, the first operating member 43 can move along the axial direction of the first roller brush 41 under the action of an external force, so as to drive the first telescopic member 412 to extend or retract. For example, the second operating member 44 can move along the axial direction of the second roller brush 42 under the action of an external force, so as to drive the second telescopic member 422 to extend or retract.

[0088] Please see Figure 5 In some embodiments, the drive mechanism 30 includes a first assembly portion (not shown) and a second assembly portion 33. The first assembly portion is configured to be detachably connected to the first telescopic member 412, and the second assembly portion 33 is configured to be detachably connected to the second telescopic member 422. Exemplarily, the detachable connection between the first assembly portion and the first telescopic member 412 includes at least one of the following methods: snap-fit ​​connection, plug-in connection, magnetic connection, etc. The detachable connection between the second assembly portion 33 and the second telescopic member 422 includes at least one of the following methods: snap-fit ​​connection, plug-in connection, magnetic connection, etc. Exemplarily, the first drive member 31 is drive-connected to the first assembly portion, and the second drive member 32 is drive-connected to the second assembly portion 33.

[0089] Please see Figure 4 and Figure 6 In some embodiments, the roller brush mechanism 40 further includes an elastic structure 45 disposed between the first telescopic member 412 and the second telescopic member 422, for providing a reset force for at least one of the first telescopic member 412 and the second telescopic member 422, so that after the force on at least one of the first operating member 43 and the second operating member 44 is removed, at least one of the first telescopic member 412 and the second telescopic member 422 can be reset under the action of the elastic force of the elastic structure 45, thereby ensuring a reliable connection between the roller brush mechanism 40 and the drive mechanism 30.

[0090] Please see Figure 4 In some embodiments, the elastic structure 45 includes a first elastic element 451 and a second elastic element 452, and a first telescopic element 412 and a second telescopic element 422 are respectively provided with the first elastic element 451 and the second elastic element 452. For example, one end of the first elastic element 451 abuts against the first roller brush body 411, and the other end abuts against the first telescopic element 412. One end of the second elastic element 452 abuts against the second roller brush body 421, and the other end abuts against the second telescopic element 422.

[0091] For example, when the first operating member 43 moves the first telescopic member 412 under the action of an external force to disassemble the roller brush mechanism 40, the first telescopic member 412 can apply a force to the first elastic member 451, causing the first elastic member 451 to undergo elastic deformation; when the external force applied to the first operating member 43 is removed, the first telescopic member 412 can move under the elastic force of the first elastic member 451, so that the first telescopic member 412 located inside the first roller brush body 411 extends out of the first roller brush body 411, thereby enabling the first roller brush 41 to be reliably connected to the first assembly part. When the second operating member 44 moves the second telescopic member 422 under the action of an external force to disassemble the roller brush mechanism 40, the second telescopic member 422 can apply a force to the second elastic member 452, causing the second elastic member 452 to undergo elastic deformation; when the external force applied to the second operating member 44 is removed, the second telescopic member 422 can move under the elastic force of the second elastic member 452, so that the second telescopic member 422 located in the second roller brush body 421 extends out of the second roller brush body 421, thereby enabling the second roller brush 42 to be reliably connected to the second assembly part 33.

[0092] Please see Figure 6 In some embodiments, the first operating member 43 includes a first operating portion 431 and a first connecting portion 432, the first operating portion 431 being connected to the first connecting portion 432, and the first connecting portion 432 being connected to the first telescopic member 412; operating the first operating portion 431 causes the first operating portion 431 to drive the first telescopic member 412 to move via the first connecting portion 432. The second operating member 44 includes a second operating portion 441 and a second connecting portion 442, the second operating portion 441 being connected to the second connecting portion 442, and the second connecting portion 442 being connected to the second telescopic member 422; operating the second operating portion 441 causes the second operating portion 441 to drive the second telescopic member 422 to move via the second connecting portion 442. Exemplarily, the first operating portion 431 can be pressed or pushed to cause the first operating member 43 to drive the first telescopic member 412 to move; and the second operating portion 441 can be pressed or pushed to cause the second operating portion 44 to drive the second telescopic member 422 to move, thereby allowing the roller brush mechanism 40 to be detached.

[0093] Please see Figure 4 In some embodiments, the roller brush mechanism 40 further includes a connector 46, through which the first roller brush 41 is connected to the second roller brush 42. Thus, after the roller brush mechanism 40 is connected to the drive mechanism 30, the first roller brush 41 and the second roller brush 42 can rotate more smoothly and reliably under the action of the drive mechanism 30.

[0094] In some embodiments, the first roller brush 41 is rotatably connected to the second roller brush 42 via a connector 46, so that the drive mechanism 30 can drive the first roller brush 41 and the second roller brush 42 to rotate via the first telescopic member 412 and the second telescopic member 422, respectively. The rotation speeds of the first roller brush 41 and the second roller brush 42 can be the same or different, and are not limited herein. For example, a first bearing (not shown) is provided between the first roller brush 41 and the connector 46, and a second bearing (not shown) is provided between the second roller brush 42 and the connector 46, to ensure the smooth rotation of the first roller brush 41 and the second roller brush 42 relative to the connector 46, reduce the friction between the connector 46 and the first roller brush 41, and reduce the friction between the connector 46 and the second roller brush 42.

[0095] Please see Figure 7 In some embodiments, the cleaning device 100 further includes a position detection mechanism 47, which is used to detect the first current position information of the first operating member 43 and the second current position information of the second operating member 44. For example, when the first current position information and the second current position information satisfy a first position condition, the drive mechanism 30 is controlled to stop rotating; wherein, the first position condition includes: the first operating part 431 of the first operating member 43 and the second operating part 441 of the second operating member 44 are at least partially exposed outside the cleaning device 100. Thus, the user can conveniently operate the first operating member 43 and the second operating member 44 to drive at least a portion of the first roller brush 41 and at least a portion of the second roller brush 42 to move respectively, thereby making it easy to remove the first roller brush 41 and the second roller brush 42. The removal of the roller brush mechanism 40 is convenient, easy, and simple.

[0096] Please see Figure 7 In some embodiments, the position detection mechanism 47 may include a first position sensor 471 and a second position sensor 472. The first position sensor 471 is used to detect the first current position information of the first operating member 43, and the second position sensor 472 is used to detect the second current position information of the second operating member 44. The first position sensor 471 and the second position sensor 472 can respectively acquire the first current position information of the first operating member 43 and the second current position information of the second operating member 44, reducing mutual interference when acquiring the first and second current position information, improving the detection accuracy of the first and second current position information, and providing a guarantee for the cleaning equipment 100 to accurately control the drive mechanism 30 to drive the first operating member 43 and the second operating member 44 to move.

[0097] For example, the first position sensor 471 may be at least partially disposed in at least one of the drive mechanism 30, the first roller brush body 411, the first telescopic member 412, and the first operating member 43, and the second position sensor 472 may be at least partially disposed in at least one of the drive mechanism 30, the second roller brush body 421, the second telescopic member 422, and the second operating member 44.

[0098] In some embodiments, both the first position sensor 471 and the second position sensor 472 may include at least one of the following: a magnetic position sensor, a potentiometric position sensor, a capacitive position sensor, an optical position sensor, etc. For example, by way of example, the first position sensor 471 and / or the second position sensor 472 may include an encoder. As another example, the first position sensor 471 may include a Hall element (not shown) and a magnetic element (not shown), the magnetic element being disposed at the first assembly portion, the first brush body 411, the first telescopic member 412, or the first operating member 43. By way of example, the magnetic element may include a magnet. The second position sensor is described with reference to the first position sensor and will not be repeated here.

[0099] Please see Figure 8 In some embodiments, the first position sensor 471 includes a first trigger 4711 and a first sensing element 4712. The first trigger 4711 is disposed on the brush mechanism 40, and the position of the first sensing element 4712 corresponds to the position of the first trigger 4711. The first sensing element 4712 is used to sense the position information of the first trigger 4711 to detect the first current position information of the first operating element 43. The second position sensor 472 includes a second trigger 4721 and a second sensing element 4722. The second trigger 4721 is disposed on the brush mechanism 40, and the second sensing element 4722 is used to sense the position information of the second trigger 4721 to detect the second current position information of the second operating element 44.

[0100] For example, the first trigger 4711 and / or the second trigger 4721 include magnetic elements or magnets, and the first sensing element 4712 and / or the second sensing element 4722 include Hall elements.

[0101] The first position sensor 471 and the second position sensor 472 can be set at any suitable location. For example, please refer to... Figure 8 The first trigger 4711 and the second trigger 4721 are respectively located at both ends of the brush mechanism 40. For example, please refer to... Figure 9The first trigger 4711 and the second trigger 4721 are both located in the middle of the roller brush mechanism 40 to facilitate the arrangement of the wires of the position detection mechanism 47. It can be understood that the first trigger 4711 is located on the first roller brush 41, and the first trigger 4711 is located at any suitable position between the two ends of the roller brush mechanism 40; the second trigger 4721 is located on the second roller brush 42, and the second trigger 4721 is located at any suitable position between the two ends of the roller brush mechanism 40.

[0102] In some embodiments, the first trigger 4711 and the second trigger 4721 are both located in the middle of the brush mechanism 40. The central angle between the first trigger 4711 and the first operating part 431 is greater than zero, and the central angle between the second trigger 4721 and the second operating part 4441 is greater than zero. This is beneficial to improving the position detection accuracy of the position detection mechanism 47.

[0103] Please see Figure 7 In some embodiments, the cleaning device 100 further includes a control unit 50, which is signal-connected to the position detection mechanism 47 and the drive mechanism 30. The control unit 50 can control the drive mechanism 30 to move based on the first current position information of the first operating member 43 and the second current position information of the second operating member 44 detected by the position detection mechanism 47, so that at least one of the first operating member 43 and the second operating member 44 is adjusted to a suitable position to facilitate the user's disassembly of the roller brush mechanism 40. Exemplarily, the control unit 50 includes a control circuit or circuit board, etc.

[0104] Please see Figure 5 For example, the cleaning device 100 has a receiving groove 60 for accommodating at least part of the roller brush mechanism 40, and the receiving groove 60 may be formed in the device body 10; or, the device body 10 and the power mechanism 20 cooperate to form the receiving groove 60.

[0105] In some embodiments, the cleaning device 100 includes a cleaning mode and a removal mode. The cleaning device 100 can switch between the cleaning mode and the removal mode according to actual needs. In the cleaning mode, the cleaning device 100 can control the drive mechanism 30 to move, so that the drive mechanism 30 drives the roller brush mechanism 40 to rotate, thereby enabling at least one of the first roller brush body 411 and the second roller brush body 421 to clean dirt. In the removal mode, the cleaning device 100 can control the drive mechanism 30 to move, so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, so as to adjust the position of the first operating member 43 and the second operating member 44 to a suitable position, so as to facilitate the user to disassemble the roller brush mechanism 40.

[0106] In some embodiments, the first operating member 43 is movable relative to the first roller brush body 411 under the action of an external force, so that the first operating member 43 can drive the first telescopic member 412 to move; the second operating member 44 is movable relative to the second roller brush body 421 under the action of an external force, so that the second operating member 44 can drive the second telescopic member 422 to move. In addition, the drive mechanism 30 can drive the first roller brush 41 and the second roller brush 42 to rotate, and the first operating member 43 and the second operating member 44 can rotate in accordance with the rotation of the first roller brush 41 and the second roller brush 42, respectively.

[0107] Understandably, when the cleaning device 100 completes the cleaning operation in cleaning mode, the position of the first operating member 43 (or the second operating member 44) may make it inconvenient for the user to disassemble the roller brush mechanism 40. For example, the first operating member 43 (or the second operating member 44) may face the inner wall of the receiving groove 60 or be blocked by other parts of the cleaning device 100. In this case, it is difficult for the user to access the first operating member 43 (or the second operating member 44), and therefore the user cannot easily and quickly operate the first operating member 43 (or the second operating member 44), thus making it difficult to easily and quickly disassemble the roller brush mechanism 40. To this end, this embodiment of the invention provides a control method for the cleaning device 100 to facilitate the disassembly and assembly of the roller brush mechanism 40.

[0108] In some embodiments, the cleaning device 100 is used to perform the steps of the control method of the cleaning device 100 according to any embodiment of the present invention. The cleaning device 100 includes the cleaning device 100 of any of the above embodiments. Exemplarily, the cleaning device 100 includes a drive mechanism 30 and a roller brush mechanism 40. The roller brush mechanism 40 includes a first roller brush 41, a second roller brush 42, a first operating member 43, and a second operating member 44. The first operating member 43 is connected to the first roller brush 41, and the second operating member 44 is connected to the second roller brush 42.

[0109] Please see Figure 10 In some embodiments, the control method of the cleaning device 100 includes steps S101 and S102.

[0110] S101. Control the drive mechanism 30 to move so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate.

[0111] Understandably, in scenarios where the roller brush mechanism 40 needs to be replaced or maintained, the drive mechanism 30 can be controlled to move so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate; when the first roller brush 41 rotates, the first operating member 43 located at the first roller brush 41 rotates with the first roller brush 41; when the second roller brush 42 rotates, the second operating member 44 located at the second roller brush 42 rotates with the second roller brush 42.

[0112] In some embodiments, upon receiving a preset removal signal, the cleaning device 100 can control the drive mechanism 30 to move so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate. The preset removal signal may include at least one of the following: a press signal of a user pressing a preset button, a touch signal of a user touching a preset touch area, a user gesture signal, etc.

[0113] In some embodiments, controlling the drive mechanism 30 to move such that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate includes: controlling the drive mechanism 30 to rotate such that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate.

[0114] In some embodiments, the drive mechanism 30 includes a first drive member 31 and a second drive member 32. Controlling the drive mechanism 30 to move so that it drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the movement of at least one of the first drive member 31 and the second drive member 32 to drive at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate. In this way, the movement of the first drive member 31 and the second drive member 32 can be flexibly controlled according to actual needs, thereby enabling flexible control of the rotation of at least one of the first operating member 43 and the second operating member 44.

[0115] For example, controlling the drive mechanism 30 to move so that it drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the first driving member 31 to move so that it drives the first roller brush 41 to rotate, thereby driving the first operating member 43 to rotate; the second driving member 32 is not working. As another example, controlling the drive mechanism 30 to move so that it drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the second driving member 32 to move so that it drives the second roller brush 42 to rotate, thereby driving the second operating member 44 to rotate; the first driving member 31 is not working. For example, controlling the drive mechanism 30 to move so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the first drive member 31 to move so that the first drive member 31 drives the first roller brush 41 to rotate, thereby driving the first operating member 43 to rotate; and controlling the second drive member 32 to move so that the second drive member 32 drives the second roller brush 42 to rotate, thereby driving the second operating member 44 to rotate.

[0116] In some embodiments, controlling the movement of at least one of the first driving member 31 and the second driving member 32 to drive the rotation of at least one of the first roller brush 41 and the second roller brush 42, thereby driving the rotation of at least one of the first operating member 43 and the second operating member 44, includes: controlling the first driving member 31 to move with a first motion parameter and controlling the second driving member 32 to move with a second motion parameter, such that the first driving member 31 and the second driving member 32 respectively drive the first roller brush 41 and the second roller brush 42 to rotate, thereby driving the first operating member 43 and the second operating member 44 to rotate. Exemplarily, the first motion parameter and the second motion parameter may be the same or different.

[0117] In some embodiments, the first motion parameter includes at least one of the following: a first rotational angular velocity, a first rotational direction, etc.; the second motion parameter includes at least one of the following: a second rotational angular velocity, a second rotational direction, etc.

[0118] In some embodiments, controlling the movement of at least one of the first driving member 31 and the second driving member 32 includes controlling the first driving member 31 and the second driving member 32 to move at a first rotational angular velocity and a second rotational angular velocity, respectively, wherein the magnitudes of the first rotational angular velocity and the second rotational angular velocity are different. In other embodiments, the first rotational angular velocity may also be the same as the second rotational angular velocity.

[0119] For example, the first rotational angular velocity may be the same as or different from the rotational angular velocity of the first drive member 31 in cleaning mode. The second rotational angular velocity may be the same as or different from the rotational angular velocity of the second drive member 32 in cleaning mode.

[0120] Understandably, in disassembly mode, the magnitude of the first rotational angular velocity of the first drive member 31 at different times can be the same or different. Similarly, in disassembly mode, the magnitude of the second rotational angular velocity of the second drive member 32 at different times can be the same or different.

[0121] In some embodiments, the first roller brush 41 and the second roller brush 42 are rotatably connected. Controlling the drive mechanism 30 to rotate so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate includes: controlling the drive mechanism 30 to rotate so that the drive mechanism 30 can drive the first roller brush 41 and the second roller brush 42 to rotate independently. In this way, the rotation of the first roller brush 41 and the second roller brush 42 can be flexibly controlled according to actual needs, thereby flexibly controlling the rotation of the first operating member 43 and the second operating member 44. The position adjustment of the first operating member 43 and the position adjustment of the second operating member 44 can be performed independently, which is beneficial for accurately and quickly adjusting the position of the first operating member 43 and / or the second operating member 44 to the required position to facilitate the user's disassembly of the roller brush mechanism 40, and also helps to reduce the power consumption of the drive mechanism 30.

[0122] S102. When the first current position information and the second current position information satisfy the first position condition, the control drive mechanism 30 stops rotating; wherein, the first position condition includes: the first operating part 431 of the first operating member 43 and the second operating part 441 of the second operating member 44 are at least partially exposed outside the cleaning equipment 100.

[0123] When the first current position information and the second current position information meet the first position condition, the user can conveniently, quickly and easily access the first operating part 431 of the first operating member 43 and the second operating part 441 of the second operating member 44, so that the user can remove the roller brush mechanism 40 by operating the first operating member 43 and the second operating member 44.

[0124] For example, the first operating portion 431 of the first operating member 43 and the second operating portion 441 of the second operating member 44 are at least partially exposed to the outside of the cleaning device 100, including at least one of the following: the first operating portion 431 and the second operating portion 441 are at least partially not covered by the cleaning body, the power mechanism 20 and the drive mechanism 30; the first operating portion 431 and the second operating portion 441 are at least partially facing outwards from the receiving groove 60.

[0125] In some embodiments, the first position condition further includes: the second operating part 441 is located on a preset plane, the preset plane passing through the axis of the roller brush mechanism 40 and the first operating part 431; or, the first position condition further includes: the second operating part 441 and the first operating part 431 are arranged along a preset straight line, the preset straight line being parallel to the axis of the roller brush mechanism 40. Thus, the user can easily and quickly move at least a portion of the first roller brush 41 (e.g., the first telescopic member 412) and at least a portion of the second roller brush 42 (e.g., the second telescopic member 422) by operating the first operating member 43 and the second operating member 44 with one hand, thereby enabling convenient and quick removal of the first roller brush 41 and the second roller brush 42 without the need for two hands or other auxiliary tools. The removal and installation of the roller brush mechanism 40 is convenient, quick, and simple.

[0126] For example, the preset plane is the δ plane in Figure 3(B). For example, the preset straight line is as follows: Figure 1 The dashed line m is shown in the figure. For example, the preset straight line is parallel to the axis of the first brush 41 or the axis of the second brush 42.

[0127] For example, when the first current position information and the second current position information satisfy the first position condition, the user can apply force to the first operating member 43 and the second operating member 44 with two fingers of the same hand, so that the first telescopic member 412 and the second telescopic member 422 are at least partially retracted into the first roller brush body 411 and the second roller brush body 421, respectively, thereby detaching the roller brush mechanism 40 from the drive mechanism 30 and realizing the one-handed assembly and disassembly of the roller brush mechanism 40; after releasing the force applied to the first operating member 43 and the second operating member 44, the first telescopic member 412 can move under the elastic force of the first elastic member 451, so that the first telescopic member 412 located in the first roller brush body 411 partially extends out of the first roller brush body 411; the second telescopic member 422 can move under the elastic force of the second elastic member 452, so that the second telescopic member 422 located in the second roller brush body 421 partially extends out of the second roller brush body 421. In this way, the roller brush mechanism 40 can be disassembled and assembled with one hand, making the disassembly and assembly of the roller brush mechanism 40 convenient, quick, and simple.

[0128] In some embodiments, the first position condition further includes: the central angle of the projection of the first operating part 431 and the second operating part 441 onto the cross section of the brush mechanism 40 is less than or equal to 40°. In this way, the position requirements of the first operating part 431 and the second operating part 441 are reduced, and the control difficulty of the drive mechanism 30 is also reduced, making it easier to implement.

[0129] In some embodiments, controlling the drive mechanism 30 to rotate so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate includes: when the first current position information and the second current position information satisfy a second position condition, controlling the drive mechanism 30 to rotate so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate; wherein the second position condition includes at least one of the following: at least one of the first operating part 431 and the second operating part 441 is not exposed outside the cleaning device 100; the second operating part 441 is not located on a preset plane.

[0130] For example, at least one of the first operating part 431 and the second operating part 441 is not exposed outside the cleaning device 100, including at least one of the following: at least one of the first operating part 431 and the second operating part 441 is shielded by at least one of the cleaning body, the power mechanism 20, and the drive mechanism 30; at least one of the first operating part 431 and the second operating part 441 faces into the receiving groove 60.

[0131] In some embodiments, the first roller brush 41 includes a first roller brush body 411 and a first telescopic member 412; the second roller brush 42 includes a second roller brush body 421 and a second telescopic member 422; the control method further includes: when the first current position information and the second current position information satisfy a first position condition, the first operating member 43 can drive the first telescopic member 412 to move, so that the first roller brush 41 can be detached from the drive mechanism 30; the second operating member 44 can drive the second telescopic member 422 to move, so that the second roller brush 42 can be detached from the drive mechanism 30. Thus, the assembly and disassembly of the roller brush mechanism 40 is simple and convenient.

[0132] In some embodiments, the roller brush mechanism 40 further includes a first elastic member 451 and a second elastic member 452. When the first current position information and the second current position information satisfy the first position condition, the first operating member 43 can drive the first telescopic member 412 to move axially along the first roller brush body 411, so that the first telescopic member 412 located outside the first roller brush body 411 is at least partially retracted into the first roller brush body 411, thereby allowing the first roller brush 41 to be detached from the driving mechanism 30. The first telescopic member 412 can apply a force to the first elastic member 451 under the action of the first operating member 43. When the first current position information and the second current position information satisfy the first position condition, the second operating member 44 can drive the second telescopic member 422 to move axially along the second roller brush body 421, so that the second telescopic member 422 located outside the second roller brush body 421 is at least partially retracted into the second roller brush body 421, thereby allowing the second roller brush 42 to be detached from the driving mechanism 30. The second telescopic member 422 can apply a force to the second elastic member 452 under the action of the second operating member 44. Thus, the disassembly and assembly of the roller brush mechanism 40 are convenient, easy, and quick, and the connection between the roller brush mechanism 40 and the drive mechanism 30 is reliable after the roller brush mechanism 40 is assembled with the drive mechanism 30.

[0133] In some embodiments, the control method of the cleaning device 100 further includes: acquiring first current position information of the first operating element 43 and second current position information of the second operating element 44 detected by the position detection mechanism 47.

[0134] For example, the first current position information of the first operating element 43 and the second current position information of the second operating element 44 detected by the position detection mechanism 47 can be obtained in real time or at regular intervals as needed.

[0135] In some embodiments, the position detection mechanism 47 includes a first position sensor 471 and a second position sensor 472. Acquiring the first current position information of the first operating element 43 and the second current position information of the second operating element 44 detected by the position detection mechanism 47 includes: acquiring the first current position information of the first operating element 43 detected by the first position sensor 471; and acquiring the second current position information of the second operating element 44 detected by the second position sensor 472. Thus, the first current position information of the first operating element 43 and the second current position information of the second operating element 44 can be obtained from the first position sensor 471 and the second position sensor 472 respectively, reducing mutual interference when acquiring the first and second current position information, improving the detection accuracy of the first and second current position information, and providing a guarantee for the cleaning equipment 100 to accurately control the drive mechanism 30.

[0136] For example, after obtaining the first current position information of the first operating element 43 and the second current position information of the second operating element 44 detected by the position detection mechanism 47, the method further includes:

[0137] Based on the first and second current position information, the relative position information of the first operating member 43 and the second operating member 44 is confirmed; the drive mechanism 30 is controlled to move according to the relative position information so that the first operating member 43 and the second operating member 44 can meet the first position condition. For example, the relative position information includes the circumferential distance between the projections of the second operating member 44 and the first operating member 43 onto the cross-section of the brush mechanism 40.

[0138] In some embodiments, the control method of the cleaning device 100 further includes: upon receiving a preset removal signal, acquiring the operating state of the cleaning device 100 detected by a state sensor (not shown), the operating state including the rotational angular velocity of the drive mechanism 30; if the current rotational angular velocity of the drive mechanism 30 is greater than a preset speed threshold, controlling the drive mechanism 30 to decelerate at least twice, so that the rotational angular velocity of the drive mechanism 30 after deceleration is less than or equal to the preset speed threshold, thereby reducing damage to the drive mechanism 30 caused by excessively rapid deceleration. For example, the rotational angular velocity of the drive mechanism 30 is a preset speed threshold, which can prevent liquid or stains on the roller brush mechanism 40 from splashing due to centrifugal force, improving the user experience. For example, the preset speed threshold can be set according to actual needs, such as 0.3-1 second / revolution, such as 0.3, 0.5, 0.7, 1, or any other suitable value between 0.3-1 second / revolution. For example, the state sensor may include an encoder, etc.

[0139] In other embodiments, if the current rotational angular velocity of the drive mechanism 30 is greater than a preset speed threshold, the drive mechanism 30 can also be controlled to decelerate once, so that the rotational angular velocity of the drive mechanism 30 after deceleration is less than or equal to the preset speed threshold.

[0140] In some embodiments, the control method further includes: acquiring a user-defined hand gesture, and determining the relative positional relationship between the first operating part 431 and the second operating part 441 based on the hand gesture. The relative positional relationship includes a first relative positional relationship or a second relative positional relationship; the first relative positional relationship includes: the first operating part 431 and the second operating part 441 are spaced apart along a first line, with the first operating part 431 being closer to the bottom of the cleaning device 100 relative to the second operating part 441; the second relative positional relationship includes: the first operating part 431 and the second operating part 441 are spaced apart along a second line, with the second operating part 441 being closer to the bottom of the cleaning device 100 relative to the first operating part 431, and the first line and the second line intersect. For example, please refer to... Figure 11The first relative positional relationship includes: the first operating part 431 and the second operating part 441 are spaced apart along the first line n1, with the first operating part 431 being closer to the bottom of the cleaning device 100 relative to the second operating part 441; if the cleaning device 100 obtains a hand habit corresponding to the first relative positional relationship, it controls the drive mechanism 30 to move, so that the drive mechanism 30 drives the first operating member 43 and the second operating member 44 to move until the positional relationship between the first operating part 431 and the second operating part 441 is in the first relative positional relationship. At this time, it is convenient for the right-handed user to operate the first operating part 431 and the second operating part 441, thereby causing the first operating member 43 and the second operating member 44 to drive the first roller brush and the second roller brush to move respectively, thus making it easy to remove the first roller brush and the second roller brush. The removal of the roller brush mechanism 40 is simple, easy, and convenient. For example, please refer to Figure 12 The second relative positional relationship includes: the first operating part 431 and the second operating part 441 are spaced apart along the second line n2, with the second operating part 441 being closer to the bottom of the cleaning device 100 relative to the first operating part 431; if the cleaning device 100 obtains a hand habit corresponding to the second relative positional relationship, it controls the drive mechanism 30 to move, so that the drive mechanism 30 drives the first operating member 43 and the second operating member 44 to move until the positional relationship between the first operating part 431 and the second operating part 441 is in the second relative positional relationship. At this time, it is convenient for left-handed users to operate the first operating part 431 and the second operating part 441, thereby causing the first operating member 43 and the second operating member 44 to drive the first roller brush and the second roller brush to move respectively, thus making it easy to remove the first roller brush and the second roller brush. The removal of the roller brush mechanism 40 is simple, easy, and convenient. Therefore, users can control the drive mechanism 30 to adjust the relative position of the first operating member 43 and the second operating member 44 according to their own hand habits, improving the user experience.

[0141] In some embodiments, the control method for the cleaning device 100 further includes: upon receiving a preset removal signal, acquiring the operating state of the cleaning device 100 detected by a state sensor, the operating state including a first state and a second state, the second state including a side-tilting state or a flipping state. When the cleaning device 100 is in the first state, controlling the drive mechanism 30 to operate so that the cleaning device 100 switches to the second state. In the first state, the cleaning device 100 can perform cleaning operations. The area exposed to the outside by the first operating part 431 in the second state is larger than the area exposed to the outside by the first operating part 431 in the first state, and the area exposed to the outside by the second operating part 441 in the second state is larger than the area exposed to the outside by the second operating part 441 in the first state. When the cleaning device 100 is in the second state, the exposed areas of the first operating part 431 and the second operating part 441 are larger, thereby providing a larger operating space, facilitating the user to remove the roller brush mechanism 40. For example, the operating state includes the position of the cleaning device 100 relative to the surface to be cleaned. For instance, when the cleaning device 100 is in a first state, both the drive wheel 21 and the driven wheel 22 of the cleaning device 100 are in contact with the surface to be cleaned; when the cleaning device 100 is in a second state, at least one of the two drive wheels 21 and the two driven wheels 22 of the cleaning device 100 is not in contact with the surface to be cleaned. The operating state may also include the rotational angular velocity of the drive mechanism 30.

[0142] Understandably, the execution subject of the control method of the cleaning device 100 in any embodiment of the present invention can be the control unit 50 of the cleaning device 100, or other controllers, such as the controller of an external device.

[0143] The control method of the cleaning device 100 in the above embodiment controls the drive mechanism 30 to rotate, thereby causing at least one of the first roller brush 41 and the second roller brush 42 to rotate, which in turn causes at least one of the first operating member 43 and the second operating member 44 to rotate; the position detection mechanism 47 acquires the first current position information of the first operating member 43 and the second current position information of the second operating member 44; when the first current position information and the second current position information satisfy the first position condition, the drive mechanism 30 is controlled to stop rotating. At this time, the user can conveniently operate the first operating member 43 and the second operating member 44 to drive at least a part of the first roller brush 41 and at least a part of the second roller brush 42 to move, thereby making it easy to remove the first roller brush 41 and the second roller brush 42. The removal of the roller brush mechanism 40 is convenient, easy and simple.

[0144] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," "mechanical coupling," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and can refer to the internal communication of two components or the interaction between two components. Mechanical coupling or coupling of two components includes direct coupling and indirect coupling, such as a direct fixed connection or a connection through a transmission mechanism. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0145] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0146] The foregoing disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described above. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0147] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific method step, feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0148] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning device includes a drive mechanism and a roller brush mechanism. The roller brush mechanism includes a first roller brush, a second roller brush, a first operating member, and a second operating member. The first operating member is connected to the first roller brush, and the second operating member is connected to the second roller brush. The first roller brush is detachably connected to at least one of the drive mechanism, the power mechanism of the cleaning device, and the main body of the cleaning device. The second roller brush is detachably connected to at least one of the drive mechanism, the power mechanism, and the main body of the cleaning device. The control method includes: Control the movement of the drive mechanism so that the drive mechanism drives at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate. When the first current position information of the first operating member and the second current position information of the second operating member satisfy the first position condition, the drive mechanism is controlled to stop rotating, so that the first operating member can drive the first roller brush to move, and the second operating member can drive the second roller brush to move, thereby causing the roller brush mechanism to be detached from at least one of the drive mechanism, the power mechanism, and the device body; wherein, the first position condition includes: the first operating part of the first operating member and the second operating part of the second operating member are at least partially exposed to the outside of the cleaning device.

2. The control method according to claim 1, characterized in that, The first position condition further includes: the second operating part is located on a preset plane, the preset plane passing through the axis of the roller brush mechanism and the first operating part; or, the first position condition further includes: the second operating part and the first operating part are arranged along a preset straight line, the preset straight line being parallel to the axis of the roller brush mechanism.

3. The control method according to claim 2, characterized in that, The step of controlling the drive mechanism to rotate so that the drive mechanism drives at least one of the first roller brush and the second roller brush to rotate includes: When the first current position information and the second current position information satisfy the second position condition, the drive mechanism is controlled to rotate so that the drive mechanism drives at least one of the first roller brush and the second roller brush to rotate; wherein, the second position condition includes at least one of the following: at least one of the first operating part and the second operating part is not exposed outside the cleaning device; the second operating part is not located on the preset plane.

4. The control method according to claim 1, characterized in that, The first position condition further includes: the central angle of the projection of the first operating part and the second operating part onto the cross section of the roller brush mechanism is less than or equal to 40°.

5. The control method according to claim 1, characterized in that, The first roller brush includes a first roller brush body and a first telescopic member; the second roller brush includes a second roller brush body and a second telescopic member; the control method further includes: When the first current position information and the second current position information satisfy the first position condition, the first operating member can drive the first telescopic member to move so that the first roller brush can be detached from the driving mechanism; the second operating member can drive the second telescopic member to move so that the second roller brush can be detached from the driving mechanism.

6. The control method according to claim 1, characterized in that, The driving mechanism includes a first driving member and a second driving member. Controlling the movement of the driving mechanism to cause it to rotate at least one of the first roller brush and the second roller brush, thereby causing at least one of the first operating member and the second operating member to rotate, includes: Controlling the movement of at least one of the first driving member and the second driving member to drive the rotation of at least one of the first roller brush and the second roller brush, thereby driving the rotation of at least one of the first operating member and the second operating member.

7. The control method according to claim 6, characterized in that, Controlling at least one of the first driving member and the second driving member to move, thereby causing at least one of the first roller brush and the second roller brush to rotate, and further causing at least one of the first operating member and the second operating member to rotate, includes: The first driving member is controlled to move with a first motion parameter and the second driving member is controlled to move with a second motion parameter, so that the first driving member and the second driving member drive the first roller brush and the second roller brush to rotate respectively, thereby driving the first operating member and the second operating member to rotate respectively.

8. The control method according to claim 7, characterized in that, The first motion parameter includes at least one of the following: a first rotational angular velocity and a first rotational direction; the second motion parameter includes at least one of the following: a second rotational angular velocity and a second rotational direction.

9. The control method according to claim 6, characterized in that, Controlling the movement of at least one of the first driving member and the second driving member includes: The first driving member and the second driving member are controlled to move at a first rotational angular velocity and a second rotational angular velocity, respectively, wherein the magnitudes of the first rotational angular velocity and the second rotational angular velocity are different.

10. The control method according to claim 1, characterized in that, The first roller brush and the second roller brush are rotatably connected; controlling the drive mechanism to move so that the drive mechanism drives at least one of the first roller brush and the second roller brush to rotate includes: The drive mechanism is controlled to rotate so that it can drive the first and second roller brushes to rotate independently.

11. The control method according to any one of claims 1-10, characterized in that, Also includes: The first current position information of the first operating component and the second current position information of the second operating component are obtained from the position detection mechanism.

12. The control method according to any one of claims 1-10, characterized in that, Also includes: Upon receiving a preset removal signal, the operating status of the cleaning equipment detected by the status sensor is obtained, including the rotational angular velocity of the drive mechanism. If the current rotational angular velocity of the drive mechanism is greater than a preset speed threshold, the drive mechanism is controlled to decelerate at least twice so that the rotational angular velocity of the drive mechanism after deceleration is less than or equal to the preset speed threshold.

13. The control method according to any one of claims 1-10, characterized in that, The control method further includes: The user's hand usage habits are obtained, and the relative positional relationship between the first operating part and the second operating part is determined based on the hand usage habits. The relative positional relationship includes a first relative positional relationship or a second relative positional relationship. The first relative positional relationship includes: the first operating part and the second operating part are spaced apart along a first line, and the first operating part is closer to the bottom of the cleaning device relative to the second operating part. The second relative positional relationship includes: the first operating part and the second operating part are spaced apart along a second line, and the second operating part is closer to the bottom of the cleaning device relative to the first operating part. The first line and the second line intersect.

14. The control method according to any one of claims 1-10, characterized in that, The control method further includes: Upon receiving a preset removal signal, the operating state of the cleaning equipment detected by the status sensor is acquired. The operating state includes a first state and a second state, and the second state includes a side-tilting state or a flipping state. The cleaning equipment is capable of performing cleaning operations in the first state. The area of ​​the first operating part exposed to the outside in the second state is greater than the area of ​​the first operating part exposed to the outside in the first state, and the area of ​​the second operating part exposed to the outside in the second state is greater than the area of ​​the second operating part exposed to the outside in the first state. When the cleaning equipment is in the first working state, the drive mechanism is controlled to switch the cleaning equipment to the second state.

15. A cleaning device, characterized in that, include: Drive mechanism; The roller brush mechanism includes a first roller brush, a second roller brush, a first operating member, and a second operating member, wherein the first operating member is connected to the first roller brush, and the second operating member is connected to the second roller brush. The cleaning equipment is used to perform the steps of the control method according to any one of claims 1-14.

16. The cleaning equipment according to claim 15, characterized in that, The cleaning equipment also includes: The first position sensor includes a first trigger and a first sensing element. The first trigger is disposed on the roller brush mechanism. The position of the first sensing element is set to correspond to the position of the first trigger. The first sensing element is used to sense the position information of the first trigger to detect the first current position information of the first operating element. The second position sensor includes a second trigger and a second sensing element. The second trigger is disposed on the roller brush mechanism, and the second sensing element is used to sense the position information of the second trigger to detect the second current position information of the second operating element.

17. The cleaning equipment according to claim 16, characterized in that, The first trigger and the second trigger are respectively located at both ends of the roller brush mechanism; or, the first trigger and the second trigger are both located in the middle of the roller brush mechanism.

18. The cleaning equipment according to claim 17, characterized in that, Both the first trigger and the second trigger are located in the middle of the roller brush mechanism. The central angle between the first trigger and the first operating part is greater than zero, and the central angle between the second trigger and the second operating part is greater than zero.

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