Control method, device, equipment, base station, cleaning device, cleaning system of cutting device and storage medium

Abstract

The present disclosure provides a control method, device, equipment, base station, cleaning device, cleaning system and storage medium of a cutting device, the control method comprising: controlling the cutting device to execute a cutting process, wherein the cutting process comprises a cutting process moving in a first direction and a homing process moving in a second direction, and the first direction and the second direction are opposite; when the cutting device is in a stop state in the cutting process, determining whether the stop state of the cutting device is normal; if the stop state of the cutting device is normal, controlling the cutting device to move in the second direction; and if the stop state of the cutting device is abnormal, outputting an abnormal prompt. The control method can detect the abnormality of the cutting device in time and accurately, remind the user to take protective measures, and minimize the probability of damage to the cutting device.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning equipment, and in particular to a control method, device, equipment, base station, cleaning equipment, cleaning system and storage medium for a cutting device. Background Art

[0002] Cleaning equipment typically requires maintenance of its cleaning components, such as the roller brush. When the roller brush is entangled with debris, such as hair, it can be difficult to clean. In such cases, a cutting device is required to cut the hair and other entanglements. However, if the cutting device malfunctions during the process, it can easily damage the cutting device and affect the efficiency of the roller brush cleaning. Summary of the Invention

[0003] The present disclosure provides a control method, a control device, a cutting device, a base station, a cleaning device, a cleaning system and a storage medium for a cutting device, which can timely and accurately detect abnormalities in the cutting device and take protective measures to avoid damage to the cutting device and improve the efficiency of the cleaning roller brush.

[0004] The present disclosure provides a control method for a cutting device, the control method being applied to a cleaning device or a base station, the base station being used to maintain the cleaning device; the cleaning device including a roller brush, which rotates to clean a surface to be cleaned when the cleaning device performs a cleaning task, and the cutting device being used to cut at least part of entangled matter on the roller brush, the control method comprising:

[0005] Control the cutting device to execute a cutting process, wherein the cutting process includes a cutting process of moving along a first direction and a returning process of moving along a second direction, and the first direction and the second direction are opposite; in the cutting process, when the cutting device is in a stopped state, confirm whether the stopped state of the cutting device is normal; if it is confirmed that the stopped state of the cutting device is normal, control the cutting device to move along the second direction; if it is confirmed that the stopped state of the cutting device is abnormal, output an abnormal prompt.

[0006] In one embodiment, the cleaning device or the base station includes a driving component, which is connected to the cutting device to drive the cutting device to move along the first direction or the second direction, and the first direction and the second direction are both parallel to the axial direction of the roller brush.

[0007] In one embodiment, when the cutting device stops during the cutting process, confirming whether the stop state of the cutting device is normal includes: when the cutting device stops while moving along the first direction, confirming whether the first time length is a first preset time length, wherein the first time length is the time length from the start of the cutting process to the time when the cutting device stops while moving along the first direction, and the first preset time length is the time length from the start of the cutting process to the time when the cutting device normally completes the cutting process; when the first time length is not the first preset time length, confirming that the stop state of the cutting device is abnormal; when the first time length is the first preset time length, confirming whether the current of the driving component meets the first current condition; when the current of the driving component meets the first current condition, confirming that the stop state of the cutting device is normal; wherein the first current condition is that the current is not less than the first current threshold, and the duration of the current being not less than the first current threshold is not less than the first threshold.

[0008] In one embodiment, when it is confirmed that the stopping state of the cutting device is abnormal, the cleaning device or the base station is controlled to output an abnormal prompt, including: when the cutting device stops when moving along the first direction, and the first time length is not the first preset time length, a first abnormal prompt is output, and the first abnormal prompt is used to prompt that the cutting device has an abnormality when performing the cutting process.

[0009] In one embodiment, in the cutting process, when the cutting device stops, confirming whether the stopping state of the cutting device is normal includes: when the cutting device stops while moving along the first direction, confirming whether the cutting device is in an initial position, wherein the cutting device is located outside the first end of the roller brush and facing the first end of the roller brush at the initial position; when the cutting device is at the initial position, confirming that the stopping state of the cutting device is abnormal.

[0010] In one embodiment, when it is confirmed that the stopping state of the cutting device is abnormal, the cleaning device or the base station is controlled to output an abnormal prompt, including: when the cutting device is still in the initial position when moving along the first direction, a second abnormal prompt is output, and the second abnormal prompt is used to indicate that there is an abnormality in the placement of the roller brush.

[0011] In one embodiment, in the cutting process, when the cutting device stops, confirming whether the stopping state of the cutting device is normal includes: when the cutting device stops when moving along the second direction, confirming whether the cutting device is in an initial position, wherein the cutting device is located outside the first end of the roller brush and facing the first end of the roller brush at the initial position; when the cutting device is not in the initial position, confirming that the stopping state of the cutting device is abnormal; when the cutting device is in the initial position, confirming that the stopping state of the cutting device is normal; or, when the cutting device stops when moving along the second direction, confirming that the second time length Whether it is the second preset time length, wherein the second time length is the time length from the start of the cutting process to the time when the cutting device moves along the second direction and stops, and the second preset time length is the time length from the start of the cutting process to the time when the cutting device normally completes the returning process; when the second time length is not the second preset time length, confirm that the stop state of the cutting device is abnormal; when the second time length is the second preset time length, confirm whether the cutting device is in the initial position; when the cutting device is not in the initial position, confirm that the stop state of the cutting device is abnormal; when the cutting device is in the initial position, confirm that the stop state of the cutting device is normal.

[0012] In one embodiment, when it is confirmed that the stopping state of the cutting device is abnormal, the cleaning device or the base station is controlled to output an abnormal prompt, including: when the cutting device stops when moving along the second direction, and the cutting device is not in the initial position, a third abnormal prompt is output, and the third abnormal prompt is used to prompt that the cutting device has an abnormality when performing the homing process.

[0013] In one embodiment, the control method further includes: before the cutting process begins, confirming whether the cutting device is in an initial position, wherein the cutting device is located outside the first end of the roller brush and facing the first end of the roller brush when in the initial position; upon confirming that the cutting device is not in the initial position, controlling the cutting device to move along the second direction to the initial position, and / or controlling the output of a fourth abnormal prompt, wherein the fourth abnormal prompt is used to prompt that the cutting device is not in the initial position.

[0014] In one embodiment, the cleaning device or the base station further includes an in-position detection mechanism, and the in-position detection mechanism is used to detect whether the cutting device is in the initial position. The control method further includes: when the in-position detection mechanism receives an in-position signal, confirming that the cutting device is in the initial position; when the in-position detection mechanism does not receive an in-position signal, confirming that the cutting device is not in the initial position.

[0015] In one embodiment, the in-position detection mechanism includes a limit switch, and the in-position detection mechanism receiving an in-position signal includes: the limit switch is in a closed state; the in-position detection mechanism not receiving an in-position signal includes: the limit switch is in an open state.

[0016] In one embodiment, the control method further includes: when the cutting device moves along the first direction or along the second direction, confirming whether the current of the driving component meets the second current condition: when the driving component meets the second current condition, outputting a fifth abnormal prompt, and the fifth abnormal prompt is used to prompt the cutting device to disconnect; wherein, the second current condition is that the current is not greater than the second current threshold, and the duration of the current not greater than the second current threshold is not less than the second threshold.

[0017] In one embodiment, the control method further includes: when the cutting device stops in the cutting process, confirming whether the third time length is the first preset time length or the second preset time length, wherein the third time length is the time length from the start of the cutting process to the time when the cutting device stops, the first preset time length is the time length from the start of the cutting process to the time when the cutting device normally completes the cutting process, and the second preset time length is the time length from the start of the cutting process to the time when the cutting device normally completes the returning process; when the third time length is not the first preset time length and is not the second preset time length, confirming whether the current of the drive component meets the third current condition: when the drive component meets the third current condition, the drive component is controlled to stop running, and / or a sixth abnormal prompt is output, and the sixth abnormal prompt is used to prompt that the drive component is abnormal; wherein the third current condition is that the current is not less than a third current threshold, and the duration of the current not less than the third current threshold is not less than the third threshold.

[0018] In a second aspect, the present disclosure provides a control device for a cutting device, the control device comprising: a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to execute the computer program to implement the above-mentioned control method for the cutting device.

[0019] In a third aspect, the present disclosure provides a cutting device, comprising: a cutting device; and the above-mentioned control device, wherein the control device is communicatively connected to the cutting device.

[0020] In one embodiment, the cutting device comprises:

[0021] a base; a cutting piece, at least part of which is connected to the base; the cutting piece includes a fixed blade and a movable blade; the cutting device reciprocates along a direction parallel to the axis of the roller brush under the action of a first external force; at least when the cutting device moves to within the length range of the roller brush, the fixed blade abuts against the roller brush; wherein, at least during the process of the reciprocating movement of the cutting device within the length range of the roller brush: the fixed blade peels off at least part of the entanglement on the roller brush from the roller brush, and the movable blade moves relative to the fixed blade so that the movable blade cooperates with the fixed blade to shear the entanglement.

[0022] In one embodiment, the cutting device comprises:

[0023] A base; a cutting member for cutting at least part of the winding on the roller brush; an adjusting member, respectively connected to the base and at least part of the cutting member, so that at least part of the cutting member moves relative to the base in a preset direction to abut against the roller brush.

[0024] In a fourth aspect, the present disclosure provides a base station, comprising: a housing; the aforementioned control device; and the aforementioned cutting device, wherein the cutting device is connected to the housing and is in communication connection with the control device.

[0025] In one embodiment, the base station includes:

[0026] The shell, the interior of the shell forms an inner cavity, the exterior of the shell forms a cleaning cavity, the cleaning cavity is used to place the roller brush, and the cleaning cavity has a cavity opening for the roller brush to enter; the cavity wall of the cleaning cavity is provided with a slide groove, the slide groove connects the inner cavity and the cleaning cavity, and the slide groove is arranged corresponding to the roller brush; the cutting device is arranged in the slide groove, at least part of the cutting device is located in the cleaning cavity for maintaining the roller brush; a first seal, the first seal is connected to the cutting device; a first drive assembly, the first drive assembly is arranged in the inner cavity and connected to the cutting device and / or the first seal to drive the cutting device and at least part of the first seal to move along the slide groove together; wherein, in the process of the cutting device and at least part of the first seal moving along the slide groove together, the first seal at least partially closes the slide groove to separate the cleaning cavity and the inner cavity.

[0027] In one embodiment, the shell further includes a storage cavity, which is located outside the length range of the slide groove and is connected to the inner cavity; the cutting device enters the storage cavity after moving along the slide groove, and the storage cavity is used for parking the cutting device. When the cutting device is parked in the storage cavity, the cutting device is in an initial position.

[0028] In a fifth aspect, the present disclosure provides a cleaning device, comprising a device body; a roller brush, which is rotatably connected to the device body and is used to clean the surface to be cleaned; the above-mentioned control device; and the above-mentioned cutting device, which is connected to the device body and communicatively connected to the control device, and the cutting device is used to cut at least part of the entanglement on the roller brush.

[0029] In a sixth aspect, the present disclosure provides a cleaning system, comprising: a cleaning device; and a base station, the base station being used to maintain the cleaning device; wherein the base station is the above-mentioned base station, and / or the cleaning device is the above-mentioned cleaning device.

[0030] In a seventh aspect, the present disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, enables the processor to implement the control method of the cutting device.

[0031] The present disclosure provides a control method, a control device, a cutting device, a base station, a cleaning device, a cleaning system and a storage medium for a cutting device. When the cutting device stops during a cleaning process, the method confirms whether the stop state of the cutting device is normal. If the stop state of the cutting device is confirmed to be normal, the cutting device is controlled to move in a second direction; if the stop state of the cutting device is confirmed to be abnormal, an abnormal prompt is output. This can timely and accurately detect abnormalities in the cutting device and remind the user to take protective measures, thereby minimizing the probability of damage to the cutting device and improving the efficiency of the cleaning roller brush.

[0032] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and are not intended to limit the disclosure of the embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 is a partial structural diagram of a cleaning system provided by an embodiment of the present disclosure;

[0035] Figure 2 is a structural schematic diagram of a cutting device provided by an embodiment of the present disclosure;

[0036] Figure 3 This is a partial structural diagram of a cleaning system provided in an embodiment of the application;

[0037] Figure 4 is a cross-sectional view of a cutting device provided by an embodiment of the present disclosure;

[0038] Figure 5 A partially disassembled schematic diagram of a base station provided in an embodiment of the present disclosure;

[0039] Figure 6 A schematic cross-sectional view of a base station provided in an embodiment of the present disclosure;

[0040] Figure 7 for Figure 6 A is an enlarged schematic diagram;

[0041] Figure 8 is a schematic flow chart of another method for controlling a cutting device provided in an embodiment of the present disclosure;

[0042] Figure 9 is a schematic flowchart of sub-steps for confirming whether the stopping state of a cutting device is normal, provided by an embodiment of the present disclosure;

[0043] Figure 10 is a schematic flowchart of another sub-step of confirming whether the stopping state of the cutting device is normal, provided by an embodiment of the present disclosure;

[0044] Figure 11 is a schematic flowchart of another sub-step of confirming whether the stopping state of the cutting device is normal, provided by an embodiment of the present disclosure;

[0045] Figure 12 is a schematic flowchart of another sub-step of confirming whether the stopping state of the cutting device is normal, provided by an embodiment of the present disclosure;

[0046] Figure 13 It is a structural schematic diagram of a control device of a cutting device provided in an embodiment of the present disclosure.

[0047] Description of reference numerals:

[0048] 1000, base station; 100, cutting device; 10, base; 20, cutting member; 21, fixed blade; 22, movable blade; 30, adjusting member; 200, first drive assembly; 301, storage chamber; 400, shell; 401, inner chamber; 402, cleaning chamber; 403, slide groove; 404, opening; 405, cavity wall; 500, shell; 501, first sealing member; 600, control device; 2000, cleaning device; 2001, roller brush; 2002, device body. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0050] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0051] It should also be understood that the terms used in this disclosure are for the purpose of describing particular embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0052] It should be further understood that the term "and / or" used in this disclosure and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0053] The following describes some embodiments of the present disclosure in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0054] See also Figure 1, an embodiment of the present disclosure provides a cleaning system, including a cleaning device 2000 and a base station 1000, the base station 1000 is used to maintain the cleaning device 2000, and the maintenance includes but is not limited to charging, dust collection, adding clean water, emptying dirty water, cleaning cleaning parts (such as cleaning a roller brush, mopping, cutting hair on the roller brush), etc. The cleaning device 2000 includes the cleaning device 2000 of any embodiment herein, the base station 1000 includes a docking position, and the cleaning device 2000 can be docked at the docking position. Alternatively, the cleaning system includes the cleaning device 2000 and the base station 1000 of any embodiment herein, the base station 1000 includes a docking position, and the cleaning device 2000 can be docked at the docking position.

[0055] See also Figure 1 and Figure 2 The present disclosure provides a cutting device 100 for use with a base station 1000 or a cleaning device 2000. The cleaning device 2000 includes a roller brush 2001. When the cleaning device 2000 performs a cleaning task, the roller brush 2001 rotates to clean the surface to be cleaned. The cutting device 100 is configured to cut at least a portion of entangled material on the roller brush 2001.

[0056] For example, the cleaning device 2000 may include but is not limited to: a vacuum cleaner, a mite remover, a robot, a floor scrubber, a floor sweeper, a floor mop, a sweeper-mop all-in-one, etc. The entangled objects include but are not limited to hair, silk threads, flocs, etc.

[0057] See also Figure 1 For example, the cleaning device 2000 is placed on the base station 1000 for maintenance, and the maintenance includes cutting the entanglement on the roller brush 2001, and the cutting device 100 is set on the cleaning device 2000 or the base station 1000.

[0058] In one embodiment, the cutting device 100 may be provided at the base station 1000. When the cleaning device 2000 returns to the base station 1000, the cutting device 100 is controlled to cut at least part of the entangled material on the roller brush 2001. When the cutting process is completed or the cleaning device 2000 leaves the base station 1000, the cutting device 100 stops working.

[0059] In other embodiments, the cutting device 100 can be provided in the cleaning device 2000. The cutting device 100 can cut at least part of the entanglements on the roller brush 2001 during the working interval of the cleaning device 2000 to avoid affecting the working efficiency of the cleaning device 2000. It can also cut at least part of the entanglements on the roller brush 2001 before the cleaning device 200 starts the cleaning task or after completing the cleaning task.

[0060] See also Figures 2 to 4In some embodiments, the cutting device 100 comprises a base 10 and a cutting piece 20, at least part of the cutting piece 20 is connected with the base 10; the cutting piece 20 comprises a fixed blade 21 and a moving blade 22. The cutting device 100 is capable of reciprocating along a direction parallel to the axis of the rolling brush 2001 under the action of a first external force; at least when the cutting device 100 moves to the length range of the rolling brush 2001, the fixed blade 21 abuts against the rolling brush 2001. In which, at least during the process that the cutting device 100 moves to the length range of the rolling brush 2001: the fixed blade 21 can strip at least part of the winding on the rolling brush 2001 from the rolling brush 2001, and the moving blade 22 moves relative to the fixed blade 21 so that the moving blade 22 cooperates with the fixed blade 21 to shear the winding.

[0061] The cutting device 100 of the above-mentioned embodiments, since at least during the process that the cutting device 100 moves to the length range of the rolling brush 2001: the fixed blade 21 abuts against the rolling brush 2001, the fixed blade 21 can strip at least part of the winding on the rolling brush 2001 from the rolling brush 2001, and the moving blade 22 moves relative to the fixed blade 21 so that the moving blade 22 cooperates with the fixed blade 21 to shear the winding, the fixed blade 21 and the moving blade 22 cooperate to act on the winding, so that they have the effect of gathering the winding, and the cutting efficiency of the cutting device 100 for cutting the winding is improved. In addition, the cutting device 100 is capable of moving along a direction parallel to the axis of the rolling brush 2001 under the action of a first external force, and at least when the cutting device 100 moves to the length range of the rolling brush 2001, the fixed blade 21 abuts against the rolling brush 2001, so that the cutting device 100 can cut the winding at different positions in the axial direction of the rolling brush 2001, which is conducive to more comprehensively cleaning the winding on the rolling brush 2001. Furthermore, at least when the cutting device 100 moves to the length range of the rolling brush 2001, the fixed blade 21 abuts against the rolling brush 2001, so that the fixed blade 21 can both strip at least part of the winding on the rolling brush 2001 from the rolling brush 2001 and cooperate with the moving blade 22 to shear the winding, which expands the function of the fixed blade 21, without the need to separately provide two independent structural components for two functions, thereby saving the number of components, which is conducive to improving the assembly efficiency of the cutting device 100, reducing the mass of the cutting device 100, and reducing the volume of the cutting device 100.

[0062] For example, after the cutting device 100 cuts the winding, even if the cut winding remains on the rolling brush 2001, the cleaning equipment 2000 can clean the cut winding on the rolling brush 2001. Thus, by cooperating with the cleaning equipment 2000 to clean the cut winding on the rolling brush 2001, the cutting device 100 shears the winding on the rolling brush 2001, thereby realizing automatic cleaning of the winding on the rolling brush 2001 without manual operation of the user, which improves the user experience.

[0063] For example, the axis of the roller brush 2001 is as follows Figure 3 The axis direction of the roller brush 2001 is parallel to Figure 3 The length range of the roller brush 2001 is as follows: Figure 3 As shown in n.

[0064] See also Figure 2 and Figure 4 In some embodiments, the cutting device 100 includes a base 10, a cutting member 20 and an adjusting member 30, wherein the cutting member 20 is used to cut at least part of the entanglement on the roller brush 2001; the adjusting member 30 is respectively connected to the base 10 and at least part of the cutting member 20, so that at least part of the cutting member 20 moves relative to the base 10 in a preset direction to abut the roller brush 2001.

[0065] The cutting device 100 of the above embodiment, since at least a portion of the cutting member 20 can abut against the roller brush 2001, can peel at least a portion of the entangled material on the roller brush 2001 from the roller brush 2001, making it easier for the cutting member 20 to cut the entangled material, thereby cleaning the entangled material on the roller brush 2001. Secondly, since the cutting device 100 includes an adjusting member 30, the adjusting member 30 is respectively connected to the base 10 and at least a portion of the cutting member 20, so that at least a portion of the cutting member 20 moves relative to the base 10 in a preset direction to abut against the roller brush 2001. Therefore, even if there is a deviation in the assembly position of the roller brush 2001 when the cleaning device 2000 is assembled, or there is a deviation in the placement position of the roller brush 2001 relative to the base 10, or the cutting device 100 is used to clean roller brushes 2001 of different specifications, the adjusting member 30 can adjust at least a portion of the cutting member 20 along a preset direction. The position of the cutting element 20 in the preset direction allows at least a portion of the cutting element 20 to abut against the roller brush 2001, thereby enabling the cutting device 100 to peel off and cut at least a portion of the entangled material on the roller brush 2001, thereby improving the cleaning effect of the entangled material on the roller brush 2001. This also helps reduce or even eliminate the assembly deviation requirements for the roller brush 2001 when assembling the cleaning device 2000, reduces or even eliminates the placement deviation requirements for the roller brush 2001, and can clean roller brushes 2001 of different specifications, thereby expanding the application range of the cutting device 100. In addition, when the cutting device 100 is cleaning the entangled material on the roller brush 2001, because the adjusting element 30 can adjust the position of at least a portion of the cutting element 20 along the preset direction so that at least a portion of the cutting element 20 abuts against the roller brush 2001, it can prevent the cutting element 20 from rigidly colliding with the roller brush 2001, ensuring that the cutting device 100 does not damage the roller brush 2001 during the cleaning process, thereby improving the user experience.

[0066] See also Figures 5 to 7In some embodiments, the base station 100 includes a housing 400, a cutting device 100, a first seal 501, and a first drive assembly 200. The housing 400 defines an inner cavity 401, and the outer cavity 402 defines a cleaning chamber 402. The cleaning chamber 402 is used to house a roller brush and has an opening for the roller brush to enter. A wall 405 of the cleaning chamber 402 defines a chute 403 and an opening 404. The chute 403 connects the inner cavity 401 and the cleaning chamber 402, and the chute 403 corresponds to the roller brush 2001. The cutting device 100 is disposed within the chute 403, with at least a portion of the cutting device 100 located within the cleaning chamber 402 to maintain the roller brush 2001, such as cutting at least a portion of entanglements on the roller brush 2001.

[0067] The first seal 501 is connected to the cutting device 100. The first drive assembly 200 is disposed within the inner cavity 401 and is connected to the cutting device 100 and / or the first seal 501 to drive the cutting device 100 and at least a portion of the first seal 501 to move along the chute 403. During the movement of the cutting device 100 and at least a portion of the first seal 501 along the chute 403, the first seal 501 at least partially closes the chute 403 to separate the cleaning chamber 402 from the inner cavity 401. In this way, the first seal 501 can dynamically close at least a portion of the chute 403, to a certain extent preventing dust or liquid from entering the inner cavity 401 through the chute 403, thereby ensuring that the electrical components within the inner cavity 401 can function normally.

[0068] In this embodiment, the first sealing member 501 is connected to the cutting device 100 in a fixed or detachable manner. For example, a snap-fit ​​connection can be used to allow the first sealing member 501 to be installed or removed from the cutting device 100, making replacement and maintenance easier for the user. Of course, other connection methods can also be used, as long as the first sealing member 501 and the cutting device 100 can be connected and move together, and the present embodiment is not limited thereto.

[0069] It should be noted that, in some embodiments, the first drive assembly 200 can be connected to the cutting device 100, and in other embodiments, it can also be connected to the first seal 501, or connected to the cutting device 100 and the first seal 501 at the same time. As long as the first drive assembly 200 can drive the cutting device 100 and at least part of the first seal 501 to move along the slide groove 403, the embodiments of the present disclosure are not limited here.

[0070] See also Figure 5 and Figure 7In some embodiments, the housing 400 further comprises a receiving cavity 301 located outside the length range of the sliding groove 404 and in communication with the inner cavity 401; the cutting device 100 enters the receiving cavity 301 after moving along the sliding groove 404 to achieve parking and storage, facilitating the next use, that is, when the cutting device 100 is not needed, the cutting device 100 can be parked in the receiving cavity 301 to achieve the storage of the cutting device 100, and the receiving cavity 301 is used for parking the cutting device 100, and the cutting device 100 is parked in the receiving cavity 301 corresponding to the initial position of the cutting device 100.

[0071] The number of receiving cavities 301 can be one, two or more, which can be designed according to actual conditions, and the embodiments of the present disclosure are not limited herein. For example, the receiving cavity 301 is one and is located on one side of the sliding groove 403 outside the length range and in communication with the inner cavity 401. Compared with the arrangement of multiple receiving cavities 301, the arrangement of one receiving cavity 301 can save space and facilitate the layout of the overall structure.

[0072] The above embodiments can ensure that at least part of the cutting device 100 can move into the receiving cavity 301 to achieve the storage of the cutting device 100, facilitate the placement of the cleaning equipment 2000 into the base station 1000, avoid the cutting device 100 from easily hurting the cleaning equipment 2000 or the user, and improve the use safety of the cutting device 100 when the cutting device 100 does not need to cut the winding object; and can also ensure that the cutting device 100 can extend to the cleaning cavity 402 so that the cutting device 100 can strip and cut the winding object on the roller brush 2001, and the structure of the base station 1000 is simple.

[0073] Please refer to Figure 8 , Figure 8 is a schematic flowchart of a control method of a cutting device provided by the embodiments of the present disclosure. The control method is applied to the cleaning equipment 2000 or the base station 1000, and the base station 1000 is used for maintaining the cleaning equipment 2000, for example, maintaining the roller brush 2001 of the cleaning equipment 2000, which includes but is not limited to injecting cleaning liquid into the roller brush 2001 of the cleaning equipment 2000 or cutting at least part of the winding object on the roller brush. The cleaning equipment 2000 comprises a roller brush 2001, and the roller brush 2001 rotates to clean the surface to be cleaned when the cleaning equipment 2000 performs a cleaning task. The cutting device 100 is used for cutting at least part of the winding object on the roller brush 2001. As shown in Figure 8 , the control method of the cutting device comprises steps S101 to S104.

[0074] Step S101, controlling the cutting device to execute a cutting process, wherein the cutting process comprises a cutting process moving in a first direction and a homing process moving in a second direction, and the first direction and the second direction are opposite.

[0075] For example, the cutting process is triggered by a cutting instruction. When the cutting instruction is received, the cutting device is controlled to execute the cutting process. Of course, the cutting process can also be triggered by a self-cleaning instruction. When the self-cleaning instruction is received, the self-cleaning process is started, and the self-cleaning process includes the cutting process. It should be noted that the self-cleaning process can include a pre-cleaning process, a cutting process, a cleaning process, a heating process, a rinsing process, a water-spinning process, etc.

[0076] In some embodiments, the cleaning device or base station includes a driving assembly connected to the cutting device to drive the cutting device to move in a first direction or a second direction, and the first direction and the second direction are both parallel to the axial direction of the roller brush.

[0077] Exemplarily, when the cutting device is provided on the cleaning equipment, the driving component is provided on the cleaning equipment; when the cutting device is provided on the base station, the driving component is provided on the base station.

[0078] The drive assembly is used to provide external force to drive the cutting device to reciprocate in a direction parallel to the axis of the roller brush. For example, the drive assembly may include a drive motor, which can automatically drive the cutting device to reciprocate in a direction parallel to the axis of the roller brush without manual operation by the user, thereby improving the user experience.

[0079] Step S102: During the cutting process, when the cutting device stops, confirm whether the stopping state of the cutting device is normal.

[0080] It should be noted that the cutting process includes a cutting process of moving along a first direction and a homing process of moving along a second direction, wherein the cutting process includes the cutting device moving from an initial position to an end position, and the homing process includes the cutting device moving from an end position to an initial position, and the line connecting the initial position and the end position is substantially parallel to the axial direction of the roller brush. When the cutting device moves to the end position (for example, the cutting process ends and the homing process is about to begin) or returns to the initial position (for example, the homing process ends, that is, the entire cutting process has ended), a stop state will occur, and the stop state of the cutting device is normal at this time; and when the cutting device stops at other positions, the stop state of the cutting device is abnormal, for example, it stops in the middle of the cutting process or the homing process. It is understandable that in a normal cutting process, when the cutting device moves from the initial position to the end position, there will be a brief stop state. For a better user experience, it can be designed to be a stop that is not observable to the naked eye of the user, for example, it stops for 0.1s, and then stops when it continues to move from the end position to the initial position. The stop state that appears at this time is after the cutting process has ended; therefore, in a normal cutting process (excluding after the cutting process has ended), the stop state will only occur at the end position. Other stops may be due to abnormalities in the cutting device, for example, the cutting device is blocked by external force (for example, the cutting device is blocked by the roller brush, entangled by hair, etc. and cannot move).

[0081] For example, whether the stopping state of the cutting device is normal can be confirmed based on parameters such as the position of the cutting device, the duration of the movement, or the current of the driving component.

[0082] Step S103: confirming that the stopping state of the cutting device is normal, and then controlling the cutting device to move along the second direction.

[0083] Exemplarily, when it is confirmed that the stopping state of the cutting device is normal, such as stopping when reaching the end position, the cutting device can be controlled to move along the second direction to the initial position.

[0084] Step S104: confirm that the stopping state of the cutting device is abnormal, and output an abnormal prompt.

[0085] For example, when it is determined that the stopping state of the cutting device is abnormal, an abnormality prompt can be output. The device that outputs the abnormality prompt includes but is not limited to a cleaning device, a base station, a terminal, etc. For example, if the cutting device is set in a cleaning device, the cleaning device can be controlled to output an abnormality prompt. Of course, the base station or terminal can also be controlled to output an abnormality prompt. For another example, if the cutting device is set in a base station, the base station can be controlled to output an abnormality prompt. Of course, the cleaning device or terminal can also be controlled to output an abnormality prompt.

[0086] The terminal is connected to the cleaning equipment and / or base station in communication, and the terminal can obtain relevant data of the cleaning equipment and / or base station, such as operating status, operating parameters, abnormal conditions, abnormal prompts, etc.; in addition, the user can control the cleaning equipment and / or base station through the terminal to facilitate remote control of the cleaning equipment and / or base station, for example, to control the cleaning equipment to start or pause the cleaning task, and for example, to control the base station to start or pause the self-cleaning task. It should be noted that the terminals involved in this article include but are not limited to mobile phones, tablets, PDAs, laptops, desktop computers, PDAs, in-vehicle smart terminals, smart wearable devices (such as smart watches, smart headphones), smart home devices (such as smart speakers, smart TVs), etc.

[0087] Exemplary, the ways of outputting abnormal prompts may include but are not limited to flashing indicator lights, buzzer alarms, voice broadcasts, pop-up messages on a display screen, etc. One or more of indicator lights, buzzers, speakers, display screens, etc. may be set in the cleaning equipment, base station, and terminal; at least one of the indicator lights, buzzers, speakers, display screens, etc. and the cutting device may be set on the same device, for example, both are set on the cleaning device; or they may be set on different devices, for example, the cutting device is set on the base station, and the buzzer or speaker is set on the cleaning device. When it is confirmed that the stopping state of the cutting device is abnormal, the buzzer alarm or the speaker can be controlled to emit a voice; for another example, the cutting device is set on the cleaning device. When it is confirmed that the stopping state of the cutting device is abnormal, the prompt message "The cutting knife is abnormal, please check" can be controlled to pop up on the display screen of the cleaning device or the terminal.

[0088] For example, the abnormality prompt may be one or a combination of two or more. For example, only voice broadcast is used to prompt the abnormality; for another example, voice broadcast and pop-up message on the display screen are used simultaneously to prompt the abnormality.

[0089] For example, the output device of the abnormality prompt can be one or a combination of two or more. For example, only the cleaning device outputs a voice broadcast as an abnormality prompt; for another example, the cleaning device outputs a voice broadcast and a pop-up message on the terminal display screen simultaneously as an abnormality prompt.

[0090] In the above embodiment, when the cutting device stops during the cleaning process, it is confirmed whether the stopping state of the cutting device is normal. If it is confirmed that the stopping state of the cutting device is normal, the cutting device is controlled to move in the second direction; if it is confirmed that the stopping state of the cutting device is abnormal, an abnormal prompt is output. The abnormality of the cutting device can be detected in a timely and accurate manner and the user can be reminded to take protective measures, thereby minimizing the probability of damage to the cutting device and improving the cleaning efficiency of the roller brush.

[0091] See also Figure 9 , Figure 9 This is a schematic flow chart of the sub-steps of confirming whether the stopping state of the cutting device is normal provided by the embodiment of the present disclosure. Figure 9 As shown, step S102 may include steps S201 to S204.

[0092] Step S201: The cutting device stops while moving in a first direction, and it is confirmed whether the first time duration is the first preset time duration.

[0093] The first duration is the duration from the start of the cutting process to the time when the cutting device stops moving in the first direction, and the first preset duration is the duration from the start of the cutting process to the time when the cutting device completes the cutting process normally.

[0094] It should be noted that, under normal circumstances, the time from the start of the cutting process (i.e., the start of the cutting process) to the time when the cutting device stops moving in the first direction should be the same as the time from the start of the cutting process to the time when the cutting device normally completes the cutting process, that is, the first time should be equal to the first preset time. If the first time is not the first preset time, it indicates that the cutting device has an abnormality during the cutting process, resulting in the cutting device being unable to normally complete the cutting process.

[0095] For example, when controlling the cutting device to execute the cutting process, the timer may be used to record the duration from the start of the cutting process to the time when the cutting device stops moving along the first direction as the first duration.

[0096] Step S202: When the first time duration is not the first preset time duration, confirm that the stopping state of the cutting device is abnormal.

[0097] Exemplarily, when the first time period is greater than or less than a first preset time period, it can be confirmed that the stopping state of the cutting device is abnormal.

[0098] Step S203: When the first time duration is the first preset time duration, confirm whether the current of the driving component meets the first current condition.

[0099] For example, when the first duration equals the first preset duration, it is necessary to reconfirm whether the current of the drive assembly satisfies the first current condition. It should be noted that when the first duration equals the first preset duration, it indicates that the cutting device has completed the cutting process normally and should have reached the end position. However, when the cutting device reaches the end position, the drive assembly may become stalled. For example, the cutting device may be blocked by the cleaning equipment or a structure on the base station and unable to continue moving forward. Therefore, in order to further improve the accuracy of detecting whether the stopped state of the cutting device is normal, it is also necessary to confirm whether the current of the drive assembly satisfies the first current condition.

[0100] Step S204: When the current of the driving component meets the first current condition, confirm that the stopping state of the cutting device is normal.

[0101] The first current condition is that the current is not less than a first current threshold, and the duration of the current being not less than the first current threshold is not less than the first threshold. It should be noted that the first current threshold may be the stalled rotor current of the drive component. The first current threshold and the first threshold may be set based on actual conditions, and the specific values ​​are not limited herein.

[0102] Exemplarily, the first current threshold may be 800mA, and the first threshold may be 300ms. When the current of the driving component is greater than or equal to 800mA, and the duration of the current of the driving component being greater than or equal to 800mA is greater than or equal to 300ms, it can be confirmed that the stopping state of the cutting device is normal.

[0103] In the above embodiment, when the cutting device moves in the first direction and stops, first confirming whether the first time length is the first preset time length, and when the first time length is the first preset time length, then confirming whether the current of the driving component meets the first current condition, it is possible to combine the time length of the cutting device movement and the current of the driving component to jointly judge whether the stop state of the cutting device is normal, which can effectively reduce the probability of misjudgment, thereby improving the accuracy of detecting whether the stop state of the cutting device is normal.

[0104] In some embodiments, if it is confirmed that the stopping state of the cutting device is abnormal, an abnormal prompt is output, which may include: when the cutting device stops when moving along the first direction, and the first time length is not the first preset time length, a first abnormal prompt is output, and the first abnormal prompt is used to prompt that the cutting device has an abnormality when performing the cutting process.

[0105] Exemplarily, the manner of outputting the first abnormality prompt may include but is not limited to a flashing indicator light, a buzzer alarm, a voice broadcast, a pop-up message on a display screen, and the like.

[0106] For example, the base station or cleaning equipment may be equipped with an indicator light. When the stopping state of the cutting device is confirmed to be abnormal, the indicator light may be controlled to flash to indicate that the cutting device has an abnormality during the cutting process. The flashing frequency, number of flashes, and flashing time of the indicator light may be set according to actual conditions and are not limited here.

[0107] For another example, the base station or cleaning equipment or terminal is provided with a voice broadcasting device, such as a speaker. When it is confirmed that the stopping state of the cutting device is abnormal, the voice broadcasting device can be controlled to broadcast a voice, wherein the voice content played can be "The cutting device has an abnormality."

[0108] In the above embodiment, by outputting a first abnormal prompt when the cutting device stops moving along the first direction and the first time length is not the first preset time length, the user can be reminded in time that the cutting device has an abnormality when executing the cutting process, which facilitates the user to deal with the abnormality in a targeted manner, thereby effectively improving the user experience.

[0109] It should be noted that the first duration being equal to the first preset duration can be understood as being completely equal to each other, or it can be understood as being within a preset range of the first preset duration. For example, if the first preset duration is 6 seconds (including the 6 seconds of the cutting process), and the preset range of the first preset duration is 6±0.3 seconds, then the first duration is considered equal to the first preset duration if it is within a range of greater than or equal to 5.7 seconds and less than or equal to 6.3 seconds. The first preset duration and its preset range can be set according to actual conditions, and the specific values ​​are not limited here.

[0110] See also Figure 10 , Figure 10 This is a schematic flow chart of another sub-step of confirming whether the stopping state of the cutting device is normal provided by the embodiment of the present disclosure. Figure 10 As shown, step S102 may further include step S301 and step S302.

[0111] Step S301: The cutting device stops while moving in a first direction, and it is confirmed whether the cutting device is in an initial position, wherein the cutting device is located outside the first end of the roller brush and faces the first end of the roller brush in the initial position.

[0112] It should be noted that after the cutting device starts to execute the cutting process, the cutting device should normally move to the end position along the first direction parallel to the axial direction of the roller brush. If the cutting device is still in the initial position, it means that the movement of the cutting device is obstructed, for example, there is an abnormality in the placement of the roller brush, which causes the cutting device to be unable to move normally and cut the entanglement on the roller brush.

[0113] In some embodiments, the cleaning equipment or base station also includes an in-place detection mechanism, which is used to detect whether the cutting device is in the initial position; confirming whether the cutting device is in the initial position may include: when the in-place detection mechanism receives an in-place signal, confirming that the cutting device is in the initial position; when the in-place detection mechanism does not receive an in-place signal, confirming that the cutting device is not in the initial position.

[0114] For example, the presence signal may be a high-level signal or a low-level signal, and may be set according to actual conditions.

[0115] Exemplarily, the in-position detection mechanism may include but is not limited to a limit switch, a visual sensor, a collision sensor, and the like.

[0116] In some embodiments, the position detection mechanism may include a limit switch, and the receipt of an in-position signal by the in-position detection mechanism includes: the limit switch is in a closed state; the failure of the in-position detection mechanism to receive an in-position signal includes: the limit switch is in an open state.

[0117] Exemplarily, when the cutting device is in the initial position, the limit switch is in a closed state; when the cutting device is not in the initial position, the limit switch is in an open state.

[0118] In the above embodiment, whether the cutting device is in the initial position is determined based on whether the in-position detection mechanism receives the in-position signal. The determination logic is simple, and the reliability of confirming whether the cutting device is in the initial position can be improved.

[0119] Step S302: When the cutting device is at the initial position, confirm that the stopping state of the cutting device is abnormal.

[0120] For example, after the cutting device starts to execute the cutting process, if the cutting device is still at the initial position, it can be confirmed that the stopping state of the cutting device is abnormal.

[0121] In the above embodiment, by confirming whether the cutting device is in the initial position when the cutting device stops moving along the first direction, it is possible to detect whether the placement of the roller brush is abnormal, thereby avoiding the problem that the cutting device cannot cut the entanglement on the roller brush due to the deviation of the roller brush position.

[0122] In some embodiments, if it is confirmed that the stopping state of the cutting device is abnormal, an abnormal prompt is output, which may include: when the cutting device is still in the initial position when moving along the first direction, a second abnormal prompt is output, and the second abnormal prompt is used to indicate that there is an abnormality in the placement of the roller brush.

[0123] For example, in the cutting process, when the cutting device stops while moving in the first direction, if it is confirmed that the cutting device is still in the initial position, a second abnormal prompt is output, and the second abnormal prompt is used to prompt that there is an abnormality in the placement of the roller brush.

[0124] The output method of the second abnormality prompt may be different from the output method of the first abnormality prompt. For example, when an indicator light is used for the abnormality prompt, the output method of the second abnormality prompt and the output method of the first abnormality prompt can be distinguished by the color, flashing frequency, number of flashes, or flashing duration of the indicator light. When a buzzer is used for the abnormality prompt, the output method of the second abnormality prompt and the output method of the first abnormality prompt can be distinguished by the sound type or volume of the buzzer.

[0125] In the above embodiment, by determining that the cutting device is still in the initial position when moving along the first direction, and outputting a second abnormal prompt for prompting that there is an abnormality in the placement of the roller brush, the user can be reminded in time that there is an abnormality in the placement of the roller brush, which facilitates the user to deal with the abnormality in a targeted manner, thereby effectively improving the user experience.

[0126] See also Figure 11 , Figure 11 This is a schematic flow chart of another sub-step of confirming whether the stopping state of the cutting device is normal provided by the embodiment of the present disclosure. Figure 11 As shown, step S102 may further include steps S401 to S403.

[0127] Step S401: The cutting device stops while moving in the second direction, and it is confirmed whether the cutting device is in an initial position, wherein the cutting device is located outside the first end of the roller brush and faces the first end of the roller brush in the initial position.

[0128] For example, when the cutting device completes the cutting process and returns to its original position while moving in the second direction, if the cutting device stops, it can be confirmed whether the cutting device is in the initial position. The specific process of confirming whether the cutting device is in the initial position can be found in the detailed description of the above embodiment, and the specific process is not limited here.

[0129] Step S402: When the cutting device is not in the initial position, confirm that the stopping state of the cutting device is abnormal.

[0130] Step S403: When the cutting device is at the initial position, confirm that the stopping state of the cutting device is normal.

[0131] It should be noted that when the cutting device moves in the second direction, it stops. If the cutting device stops at the initial position, that is, it returns to the initial position normally, then it means that the stopping of the cutting device is normal; if the cutting device does not stop at the initial position, for example, the cutting device has stopped before reaching the initial position, then it means that the stopping of the cutting device is abnormal, that is, an abnormality occurs during the returning process of the cutting device.

[0132] In the above embodiment, by confirming whether the cutting device is in the initial position when the cutting device stops moving along the second direction, it is possible to confirm whether the stopping state of the cutting device is abnormal based on whether the cutting device is in the initial position, and then it is possible to timely detect whether there is any abnormality in the returning process of the cutting device.

[0133] See also Figure 12 , Figure 12 This is a schematic flow chart of another sub-step of confirming whether the stopping state of the cutting device is normal provided by the embodiment of the present disclosure. Figure 12As shown, step S102 may further include steps S501 to S505.

[0134] Step S501: The cutting device stops while moving in the second direction, and it is confirmed whether the second time period is the second preset time period.

[0135] Among them, the second time length is the time length from the start of the cutting process to the time when the cutting device stops moving along the second direction, and the second preset time length is the time length from the start of the cutting process to the time when the cutting device completes the normal return process.

[0136] It should be noted that, under normal circumstances, the time from the start of the cutting process to the time the cutting device stops moving in the second direction should be the same as the time from the start of the cutting process to the time the cutting device normally completes the return process, that is, the second time should be equal to the second preset time. During the return process of the cutting device, if the second time is not the second preset time, it indicates that there is an abnormality in the return process of the cutting device, resulting in the cutting device being unable to normally complete the return process.

[0137] For example, when controlling the cutting device to execute the cutting process, the timer may be used to record the duration from the start of the cutting process to the time when the cutting device stops moving in the second direction as the second duration.

[0138] Step S502: When the second time period is not the second preset time period, confirm that the stopping state of the cutting device is abnormal.

[0139] Exemplarily, when the second time period is greater than or less than the second preset time period, it can be confirmed that the stopping state of the cutting device is abnormal.

[0140] Step S503: When the second time period is the second preset time period, confirm whether the cutting device is in the initial position.

[0141] For example, when the second duration equals the second preset duration, it is necessary to reconfirm whether the cutting device is in the initial position. It should be noted that when the second duration equals the second preset duration, it indicates that the cutting device has completed the return process normally and should have reached the initial position. To further improve the accuracy of detecting whether the cutting device is in a normal stopped state, it is necessary to confirm whether the cutting device is in the initial position.

[0142] Exemplarily, whether the cutting device is in the initial position can be detected through the in-situ detection result. The specific process of detecting whether the cutting device is in the initial position can be found in the detailed description of the above embodiment, and the specific process will not be repeated here.

[0143] Step S504: When the cutting device is not in the initial position, confirm that the stopping state of the cutting device is abnormal.

[0144] Exemplarily, when the second time period is the second preset time period and the cutting device is not at the initial position, it can be confirmed that the stopping state of the cutting device is abnormal.

[0145] Step S505: When the cutting device is at the initial position, confirm that the stopping state of the cutting device is normal.

[0146] Exemplarily, when the second time period is the second preset time period and the cutting device is at the initial position, it can be confirmed that the stopping state of the cutting device is normal.

[0147] In the above embodiment, when the cutting device moves along the second direction and stops, first confirming whether the second time length is the second preset time length, and when the second time length is the second preset time length, then confirming whether the cutting device is in the initial position, it is possible to combine the time length of the cutting device movement and the position where the cutting device stops to jointly judge whether the stop state of the cutting device is normal, which can effectively reduce the probability of misjudgment, thereby improving the accuracy of detecting whether the stop state of the cutting device is normal.

[0148] It should be noted that the second duration being equal to the second preset duration can be understood as the two being completely equal, or it can be understood as the second duration being within the preset range of the second preset duration. For example, the second preset duration is 12.1s (including 6s for the cutting process, 0.1s for the initial position stop, and 6s for the homing process), and the preset range of the second preset duration is 12.1±0.3s, that is, the second duration is considered to be equal to the second preset duration within the range of greater than or equal to 11.8s and less than or equal to 12.4s. Among them, the second preset duration and its preset range can be set according to actual conditions, and the specific values ​​are not limited here.

[0149] In some embodiments, if it is confirmed that the stopping state of the cutting device is abnormal, an abnormal prompt is output, which may include: when the cutting device stops when moving along the second direction and the cutting device is not in the initial position, a third abnormal prompt is output, and the third abnormal prompt is used to prompt that there is an abnormality in the cutting device when performing the homing process.

[0150] For example, when the cutting device stops while moving in the second direction and is not in the initial position, it indicates that an abnormality has occurred in the homing process of the cutting device. At this time, a third abnormality prompt can be output to prompt that an abnormality has occurred in the homing process of the cutting device.

[0151] In some embodiments, the third abnormal prompt is output in a manner different from the first abnormal prompt and the second abnormal prompt. For example, when an indicator light is used to output the abnormal prompt, the third abnormal prompt can be output in a manner different from the first abnormal prompt and the second abnormal prompt by using different colors, different flashing frequencies, different flashing times, or different flashing times. When a buzzer is used to output the abnormal prompt, the third abnormal prompt can be output in a manner different from the first abnormal prompt and the second abnormal prompt by using different sound types or different volumes.

[0152] In the above embodiments, by determining that the cutting device is in a stopped state when moving in the second direction and that the cutting device is not in the initial position, the third abnormal prompt for prompting that the cutting device is abnormal when performing the homing process is output, so that the user can be reminded that the cutting device is abnormal when performing the homing process, the user can deal with the abnormality in a targeted manner, and the user experience can be effectively improved.

[0153] In some embodiments, the control method of the cutting device in the embodiments of the present disclosure further includes: before the cutting process starts, determining whether the cutting device is in the initial position, wherein the cutting device is located outside the first end of the roller brush and towards the first end of the roller brush when the cutting device is in the initial position; if it is determined that the cutting device is not in the initial position, controlling the cutting device to move in the second direction to the initial position, and / or outputting a fourth abnormal prompt, the fourth abnormal prompt being for prompting that the cutting device is not in the initial position.

[0154] In the embodiments of the present disclosure, in order to ensure that the cutting device can effectively cut the entanglements on each position of the roller brush, it is necessary to ensure that the cutting device is in the initial position before the cutting device starts to perform the cutting process. It can be understood that, when the cutting process starts, if the cutting device does not move in the first direction from the initial position, part of the entanglements on the roller brush will be missed, thereby reducing the cleaning effect.

[0155] For example, before the cutting process starts, it is determined whether the cutting device is in the initial position. The specific process of determining whether the cutting device is in the initial position can be referred to the detailed description of the above embodiments, and the specific process is not limited herein.

[0156] In an embodiment, when it is determined that the cutting device is not in the initial position, the cutting device can be controlled to move in the second direction to the initial position. By controlling the cutting device to move in the second direction to the initial position, the cutting device can move in the first direction from the initial position when the cutting process starts, so that the cutting device can effectively cut the entanglements on each position of the roller brush, thereby improving the cleaning effect.

[0157] In another embodiment, when it is confirmed that the cutting device is not in the initial position, a fourth abnormal prompt is output, and the fourth abnormal prompt is used to prompt that the cutting device is not in the initial position.

[0158] In other embodiments, when it is confirmed that the cutting device is not in the initial position, the cutting device can be controlled to move to the initial position along the second direction and a fourth abnormal prompt can be output, which is used to prompt that the cutting device is not in the initial position.

[0159] In some embodiments, the output method of the fourth abnormality prompt is different from the output methods of the first abnormality prompt, the second abnormality prompt, and the third abnormality prompt. For example, when an indicator light is used for the abnormality prompt, the output method of the fourth abnormality prompt can be distinguished from the output methods of the first abnormality prompt, the second abnormality prompt, and the third abnormality prompt by the color, flashing frequency, number of flashes, or flashing time of the indicator light.

[0160] In the above embodiment, by confirming whether the cutting device is in the initial position before the cutting process starts, when it is confirmed that the cutting device is not in the initial position, a fourth abnormal prompt for prompting that the cutting device is not in the initial position can be output, thereby reminding the user that there is an abnormality in the position of the cutting device, making it easier for the user to deal with the abnormality in a targeted manner, thereby effectively improving the user experience.

[0161] In some embodiments, the control method of the cutting device provided by the embodiment of the present disclosure also includes: when the cutting device moves in the first direction or the second direction, confirming whether the current of the driving component meets the second current condition: when the driving component meets the second current condition, outputting a fifth abnormal prompt, and the fifth abnormal prompt is used to prompt the cutting device to disconnect.

[0162] For example, when the cutting device is performing a cutting process or a homing process, the circuit of the drive component can be collected to determine whether the current of the drive component meets the second current condition. The second current condition is that the current is not greater than the second current threshold, and the duration of the current not greater than the second current threshold is not less than the second threshold. The second current threshold and the second threshold can be set according to actual conditions, and the specific values ​​are not limited here.

[0163] It should be noted that when the cutting device is driven by the drive assembly to perform a cutting process or a homing process, the cutting device acts as a load on the drive assembly and requires a certain current to drive the cutting device. When the cutting device is disconnected from the drive assembly, the drive assembly is unloaded and the current of the drive assembly is significantly reduced. Therefore, it is possible to detect whether the cutting device is disconnected based on the current of the drive assembly. In the disclosed embodiment, whether the cutting device is disconnected can be detected by determining whether the current of the drive assembly satisfies a second current condition.

[0164] Exemplarily, the second current threshold can be 60mA, and the second threshold can be 1.5s. When the current of the driving component is less than or equal to 60mA, and the duration of the current of the driving component being less than or equal to 60mA is greater than or equal to 1.5s, it can be confirmed that the current of the driving component meets the second current condition, that is, the cutting device is disconnected, and the fifth abnormal prompt can be output at this time.

[0165] In some embodiments, the output method of the fifth abnormality prompt is different from the output methods of the first abnormality prompt, the second abnormality prompt, the third abnormality prompt, and the fourth abnormality prompt. For example, when an indicator light is used for abnormality prompting, the output method of the fifth abnormality prompt can be distinguished from the output methods of the first abnormality prompt, the second abnormality prompt, the third abnormality prompt, and the fourth abnormality prompt by the color, flashing frequency, number of flashes, or flashing time of the indicator light.

[0166] The above embodiment confirms whether the current of the driving component meets the second current condition when the cutting device moves along the first direction or the second direction, and outputs the fifth abnormal prompt for prompting the cutting device to disconnect when the driving component meets the second current condition. This can remind the user that the cutting device is disconnected, facilitate the user to deal with the abnormality in a targeted manner, and effectively improve the user experience.

[0167] In some embodiments, the control method of the cutting device provided by the embodiment of the present disclosure further includes: when the cutting device stops in the cutting process, confirming whether the third time length is the first preset time length or the second preset time length; when the third time length is not the first preset time length and is not the second preset time length, confirming whether the current of the drive component meets the third current condition: when the drive component meets the third current condition, the drive component is controlled to stop running, and / or a sixth abnormal prompt is output, and the sixth abnormal prompt is used to prompt that the drive component is abnormal. Among them, the third time length is the time length from the start of the cutting process to the time when the cutting device stops, the first preset time length is the time length from the start of the cutting process to the time when the cutting device normally completes the cutting process, and the second preset time length is the time length from the start of the cutting process to the time when the cutting device normally completes the return process. The third current condition is that the current is not less than the third current threshold, and the duration of the current not less than the third current threshold is not less than the third threshold. The third current threshold and the third threshold can be set according to actual conditions, and the specific values ​​are not limited here.

[0168] It should be noted that if the current of the drive component suddenly increases before the cutting device moves in the first direction to reach the end position or the cutting device moves in the second direction to reach the initial position, it indicates that the drive component is abnormal, such as the drive component is stalled.

[0169] For example, when the third time length is neither the first preset time length nor the second preset time length, it indicates that the cutting device is neither at the end position nor at the initial position.

[0170] In an embodiment, when the driving assembly meets the third current condition, the driving assembly is controlled to stop running. By controlling the driving assembly to stop running when the driving assembly meets the third current condition, damage of the driving assembly due to stalling can be avoided.

[0171] In another embodiment, when the driving assembly meets the third current condition, a sixth abnormality prompt for prompting an abnormality of the driving assembly is output.

[0172] In some other embodiments, when the driving assembly meets the third current condition, the driving assembly is controlled to stop running, and a sixth abnormality prompt for prompting an abnormality of the driving assembly is output.

[0173] In an embodiment, the output mode of the sixth abnormality prompt is different from the output modes of the first abnormality prompt, the second abnormality prompt, the third abnormality prompt, the fourth abnormality prompt, and the fifth abnormality prompt. For example, when an indicator light is used for abnormality prompting, the output modes of the first abnormality prompt, the second abnormality prompt, the third abnormality prompt, the fourth abnormality prompt, and the fifth abnormality prompt can be distinguished by the color, the flashing frequency, the number of flashes, or the flashing time of the indicator light.

[0174] The above embodiments can not only avoid damage of the driving assembly due to stalling, but also remind the user of the abnormality of the driving assembly, so that the user can deal with the abnormality in a targeted manner, thereby effectively improving the user experience.

[0175] It should be noted that the output methods of the first abnormal prompt, the second abnormal prompt, the third abnormal prompt, the fourth abnormal prompt, the fifth abnormal prompt, and the sixth abnormal prompt can be exactly the same or completely different, or some of them can be the same and the remaining several different; for example, when the output methods of the above six abnormal prompts are exactly the same, they can be uniformly set to a voice prompt of "cutting knife abnormality"; for another example, when the output methods of the above six abnormal prompts are completely different, they can be respectively set to indicator lights, buzzer alarms, voice broadcasts, pop-up messages on a display screen, etc. The output devices of the first abnormal prompt, the second abnormal prompt, the third abnormal prompt, the fourth abnormal prompt, the fifth abnormal prompt, and the sixth abnormal prompt can be exactly the same or completely different, or some of them can be the same and the remaining several different; for example, when the output devices of the above six abnormal prompts are exactly the same, they can be uniformly set to be output by cleaning equipment; for another example, when the above six abnormal prompts are completely different, they can be respectively set to be output by cleaning equipment, base stations, different types of terminals, etc. The above-mentioned each abnormal prompt can be set according to actual conditions, and the specific method is not limited here.

[0176] See also Figure 13 , Figure 13 Schematic diagram of the structure of a control device for a cutting device provided by an embodiment of the present disclosure. Figure 13 As shown, the control device 600 may include a processor and a memory, wherein the processor and the memory may be connected via a bus, and the bus may be any applicable bus such as an Inter-integrated Circuit (I2C) bus.

[0177] The memory may include a storage medium and internal memory. The storage medium may be either a non-volatile storage medium or a volatile storage medium. The storage medium may store an operating system and a computer program, while the internal memory provides an environment for executing the computer program stored in the storage medium. The computer program includes program instructions that, when executed, cause the processor to execute the cutting device control method described in any embodiment.

[0178] The processor is used to provide computing and control capabilities and support the operation of the entire control device.

[0179] The processor may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or any conventional processor.

[0180] An embodiment of the present disclosure also provides a cutting device, which may include a cutting device 100 and a control device 600. The cutting device 100 is the cutting device in any one of the above embodiments, and the control device 600 is the control device in any one of the above embodiments. The cutting device 100 is communicatively connected to the control device 600.

[0181] The present disclosure also provides a base station 1000, comprising a housing 500, a cutting device 100, and a control device 600. The cutting device 100 is connected to the housing 500; the control device 600 is in communication with the cutting device 100, and the control device 600 is any of the control devices in the above embodiments.

[0182] An embodiment of the present disclosure provides a cleaning device 2000, which includes a device body 2002, a cutting device 100, a roller brush 2001 and a control device 600. The roller brush 2001 is rotatably connected to the device body 2002 and is used to clean the surface to be cleaned. The cutting device 100 is connected to the device body 2002 and is used to cut at least part of the entanglement on the roller brush 2001. The control device 600 is communicatively connected to the cutting device 100. The control device 600 is the control device in any of the above embodiments.

[0183] The present disclosure provides a cleaning system, comprising: a cleaning device 2000; and a base station 1000, wherein the base station 2000 is a base station in any one of the above embodiments, and / or the cleaning device 2000 is a cleaning device in any one of the above embodiments.

[0184] A computer-readable storage medium is also provided in an embodiment of the present disclosure. The computer-readable storage medium stores a computer program. The computer program includes program instructions. The processor executes the program instructions to implement any cutting device control method provided in the embodiment of the present disclosure.

[0185] For example, when the program is loaded by the processor, the following steps may be performed:

[0186] Control the cutting device to execute a cutting process, wherein the cutting process includes a cutting process of moving along a first direction and a returning process of moving along a second direction, and the first direction and the second direction are opposite; in the cutting process, when the cutting device stops, confirm whether the stopping state of the cutting device is normal; if it is confirmed that the stopping state of the cutting device is normal, control the cutting device to move along the second direction; if it is confirmed that the stopping state of the cutting device is abnormal, output an abnormal prompt.

[0187] The computer-readable storage medium may be an internal storage unit of the cleaning device or base station in the aforementioned embodiment, such as a hard disk or memory of the cleaning device or base station. The computer-readable storage medium may also be an external storage device of the cleaning device or base station, such as a plug-in hard disk, a smart memory card (SMC), a secure digital card (SD card), a flash card, etc., equipped on the cleaning device or base station.

[0188] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0189] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "mechanically coupled", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, etc. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0190] In the present disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0191] The disclosure above provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0192] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific method steps, features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations 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 any one or more embodiments or examples.

[0193] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or replacements within the technical scope disclosed in this disclosure, and such modifications or replacements should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A method for controlling a cutting device, characterized in that: The control method is applied to a cleaning device or a base station, and the base station is used to maintain the cleaning device; The cleaning device includes a roller brush. When the cleaning device performs a cleaning task, the roller brush rotates to clean the surface to be cleaned. The cutting device is used to cut at least part of the entanglement on the roller brush. The control method includes: Controlling the cutting device to execute a cutting process, wherein the cutting process includes a cutting process of moving along a first direction and a homing process of moving along a second direction, the first direction and the second direction being opposite; During the cutting process, when the cutting device is in a stopped state, confirming whether the stopped state of the cutting device is normal; confirming that the stopping state of the cutting device is normal, controlling the cutting device to move along the second direction; If it is confirmed that the stopping state of the cutting device is abnormal, an abnormal prompt is output.

2. The control method of the cutting device according to claim 1, characterized in that: The cleaning device or the base station includes a driving component, which is connected to the cutting device to drive the cutting device to move along the first direction or the second direction, and the first direction and the second direction are both parallel to the axial direction of the roller brush.

3. The control method of the cutting device according to claim 2, characterized in that: In the cutting process, when the cutting device is in a stopped state, confirming whether the stopped state of the cutting device is normal includes: When the cutting device stops while moving in the first direction, confirm whether a first time duration is a first preset time duration, wherein the first time duration is the time duration from the start of the cutting process to the time when the cutting device stops while moving in the first direction, and the first preset time duration is the time duration from the start of the cutting process to the time when the cutting device normally completes the cutting process; When the first time period is not the first preset time period, confirming that the stopping state of the cutting device is abnormal; When the first time duration is the first preset time duration, confirming whether the current of the driving component satisfies a first current condition; When the current of the driving component meets the first current condition, the stopping state of the cutting device is confirmed to be normal; wherein, the first current condition is that the current is not less than the first current threshold, and the duration of the current not less than the first current threshold is not less than the first threshold.

4. The control method of the cutting device according to claim 3, characterized in that: The step of confirming that the stopping state of the cutting device is abnormal and outputting an abnormal prompt comprises: When the cutting device stops while moving along the first direction and the first time length is not the first preset time length, a first abnormality prompt is output, and the first abnormality prompt is used to prompt that the cutting device has an abnormality when performing the cutting process.

5. The control method of the cutting device according to claim 2, characterized in that: In the cutting process, when the cutting device is in a stopped state, confirming whether the stopped state of the cutting device is normal includes: The cutting device stops when moving in the first direction, and confirms whether the cutting device is in an initial position, wherein the cutting device is located outside the first end of the roller brush and toward the first end of the roller brush in the initial position; When the cutting device is at the initial position, it is confirmed that the stopped state of the cutting device is abnormal.

6. The control method of the cutting device according to claim 5, characterized in that: The step of confirming that the stopping state of the cutting device is abnormal and outputting an abnormal prompt comprises: When the cutting device is still in the initial position when moving along the first direction, a second abnormality prompt is output, and the second abnormality prompt is used to prompt that there is an abnormality in the placement of the roller brush.

7. The control method of the cutting device according to claim 2, characterized in that: In the cutting process, when the cutting device is in a stopped state, confirming whether the stopped state of the cutting device is normal includes: The cutting device stops when moving in the second direction, and confirms whether the cutting device is in an initial position, wherein the cutting device is located outside the first end of the roller brush and toward the first end of the roller brush at the initial position; When the cutting device is not in the initial position, confirming that the stopping state of the cutting device is abnormal; when the cutting device is in the initial position, confirming that the stopping state of the cutting device is normal; Alternatively, when the cutting device stops while moving in the second direction, confirming whether the second time duration is a second preset time duration, wherein the second time duration is the time duration from the start of the cutting process to the time when the cutting device stops while moving in the second direction, and the second preset time duration is the time duration from the start of the cutting process to the time when the cutting device normally completes the homing process; When the second time period is not the second preset time period, confirming that the stopping state of the cutting device is abnormal; When the second time period is equal to the second preset time period, confirming whether the cutting device is in the initial position; When the cutting device is not at the initial position, confirming that the stopping state of the cutting device is abnormal; When the cutting device is at the initial position, it is confirmed that the stopping state of the cutting device is normal.

8. The control method of the cutting device according to claim 7, characterized in that: The step of confirming that the stopping state of the cutting device is abnormal and outputting an abnormal prompt comprises: When the cutting device stops while moving along the second direction and is not in the initial position, a third abnormal prompt is output, and the third abnormal prompt is used to prompt that there is an abnormality in the cutting device when performing the homing process.

9. The control method of the cutting device according to claim 2, characterized in that: The control method further includes: Before the cutting process begins, confirming whether the cutting device is in an initial position, wherein the cutting device is located outside the first end of the roller brush and facing the first end of the roller brush in the initial position; After confirming that the cutting device is not in the initial position, the cutting device is controlled to move along the second direction to the initial position, and / or a fourth abnormal prompt is controlled to be output, where the fourth abnormal prompt is used to prompt that the cutting device is not in the initial position.

10. The control method of a cutting device according to any one of claims 5 to 9, characterized in that: The cleaning device or the base station further includes an on-site detection mechanism, which is used to detect whether the cutting device is in the initial position. The control method further includes: When the in-position detection mechanism receives the in-position signal, it confirms that the cutting device is in the initial position; When the in-position detection mechanism does not receive the in-position signal, it is confirmed that the cutting device is not in the initial position.

11. The control method of the cutting device according to claim 10, characterized in that: The in-position detection mechanism includes a limit switch. When the in-position detection mechanism receives an in-position signal, it includes: the limit switch is in a closed state; when the in-position detection mechanism does not receive an in-position signal, it includes: the limit switch is in an open state.

12. The control method of the cutting device according to claim 2, characterized in that: The control method further includes: During the movement of the cutting device along the first direction or along the second direction, confirming whether the current of the driving component meets the second current condition: When the driving component meets the second current condition, a fifth abnormal prompt is output, wherein the fifth abnormal prompt is used to prompt the cutting device to disconnect; The second current condition is that the current is not greater than a second current threshold, and the duration of the current not greater than the second current threshold is not less than the second threshold.

13. The control method of the cutting device according to claim 2, characterized in that: The control method further includes: When the cutting device stops during the cutting process, confirm whether the third time period is the first preset time period or the second preset time period, wherein the third time period is the time period from the start of the cutting process to the time when the cutting device stops, the first preset time period is the time period from the start of the cutting process to the time when the cutting device normally completes the cutting process, and the second preset time period is the time period from the start of the cutting process to the time when the cutting device normally completes the returning process; When the third time duration is neither the first preset time duration nor the second preset time duration, confirming whether the current of the driving component satisfies a third current condition: When the drive component meets the third current condition, the drive component is controlled to stop running, and / or a sixth abnormality prompt is output, where the sixth abnormality prompt is used to prompt that the drive component is abnormal; The third current condition is that the current is not less than a third current threshold, and the duration for which the current is not less than the third current threshold is not less than the third threshold.

14. A control device for a cutting device, characterized in that: The control device includes: a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to execute the computer program to implement the control method of the cutting device according to any one of claims 1 to 13.

15. A cutting device, characterized in that: The cutting equipment comprises: cutting device; and The control device according to claim 14, wherein the control device is communicatively connected to the cutting device.

16. The cutting device according to claim 15, characterized in that The cutting device comprises: base; a cutting member, at least a portion of which is connected to the base; the cutting member comprises a fixed blade and a movable blade; The cutting device reciprocates along a direction parallel to the axis of the roller brush under the action of the first external force; At least when the cutting device moves to within the length range of the rolling brush, the fixed blade abuts against the rolling brush; Wherein, at least during the reciprocating motion of the cutting device within the length range of the roller brush: The fixed blade peels off at least part of the entanglement on the rolling brush from the rolling brush, and the movable blade moves relative to the fixed blade so that the movable blade cooperates with the fixed blade to shear the entanglement.

17. The cutting device according to claim 15, characterized in that The cutting device comprises: base; a cutting member, for cutting at least a portion of the windings on the roller brush; The adjusting member is respectively connected to the base and at least a part of the cutting member, so that at least a part of the cutting member moves relative to the base along a preset direction to abut against the roller brush.

18. A base station, characterized in that: The base station includes: case; The control device of claim 14; and The cutting device according to claim 16 or 17, wherein the cutting device is connected to the housing and is in communication with the control device.

19. The base station according to claim 18, characterized in that The base station includes: The shell has an inner cavity formed inside the shell and a cleaning cavity formed outside the shell, the cleaning cavity is used to place a roller brush of a cleaning device, and the cleaning cavity has a cavity opening for the roller brush to enter; a cavity wall of the cleaning cavity is provided with a chute, the chute connects the inner cavity and the cleaning cavity, and the chute is arranged corresponding to the roller brush; The cutting device is provided in the chute, and at least a portion of the cutting device is located in the cleaning chamber for maintaining the roller brush; a first sealing member connected to the cutting device; a first drive assembly disposed in the inner cavity and connected to the cutting device and / or the first sealing member to drive the cutting device and at least a portion of the first sealing member to move along the slide groove; Wherein, when the cutting device and at least a portion of the first sealing member move together along the slide groove, the first sealing member at least partially closes the slide groove to separate the cleaning cavity and the inner cavity.

20. The base station according to claim 19, characterized in that The shell also includes a storage cavity, which is located outside the length range of the slide groove and is connected to the inner cavity; the cutting device enters the storage cavity after moving along the slide groove, and the storage cavity is used for parking the cutting device. When the cutting device is parked in the storage cavity, the cutting device is in an initial position.

21. A cleaning device, characterized in that: The cleaning equipment comprises: Equipment body; A roller brush, the roller brush being rotatably connected to the device body and being used to clean the surface to be cleaned; The control device of claim 14; and The cutting device according to claim 16 or 17 is connected to the device body and is in communication with the control device, and is used to cut at least part of the entanglement on the roller brush.

22. A cleaning system, characterized in that: The cleaning system comprises: cleaning equipment; and A base station, the base station is used to maintain the cleaning equipment; Wherein, the base station is the base station described in any one of claims 18-20, and / or the cleaning device is the cleaning device described in claim 21.

23. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement: the control method of the cutting device according to any one of claims 1 to 13.

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