Cleaning equipment control method and device, cleaning equipment and computer equipment

Abstract

The embodiment of the invention discloses a control method and device of cleaning equipment, the cleaning equipment and computer equipment, the cleaning equipment comprises a rolling brush and a dirt suction mechanism, the dirt suction mechanism comprises a sewage tank, a dirt suction fan and a dirt suction pipeline, and under the condition that the cleaning equipment is switched to a parking state from a running state, the dirt suction fan can suck dirt in the sewage tank. Firstly, the motion state of a rolling brush in the process that the cleaning equipment is switched from the running state to the parking state is obtained; secondly, according to the motion state of the rolling brush, the rolling brush is controlled to move by a first distance in the target direction, so that sewage left on the working face when the cleaning equipment stops is sucked to the rolling brush; and finally, the sewage suction fan is controlled to suck the sewage on the rolling brush into the sewage tank through the sewage suction pipeline. In this way, water stains left on the working face when the cleaning equipment stops can be reduced, and the cleaning effect of the cleaning equipment is improved.

Description

Technical Field

[0001] The present application relates to but is not limited to the technical field of cleaning equipment, and in particular to a control method and device for cleaning equipment, cleaning equipment and computer equipment. Background Art

[0002] When cleaning the floor, the cleaning device pumps water to wet the roller brush through the clean water pump, and rotates the roller brush to scrub the floor; the sewage on the roller brush is sucked back into the sewage tank through the sewage suction fan. In the related art, when the cleaning device switches from the running state to the parking state, water marks or foam will be generated at the position where the roller brush contacts the floor, and the distribution is uneven, thereby affecting the cleaning effect. Summary of the invention

[0003] In view of this, the embodiments of the present application at least provide a control method and device for a cleaning device, a cleaning device, and a computer device.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application provides a control method for a cleaning device, wherein the cleaning device includes a roller brush and a dirt suction mechanism, wherein the dirt suction mechanism includes a sewage tank, a dirt suction fan, and a dirt suction pipeline, and the method includes:

[0006] In response to the cleaning device switching from the running state to the parking state, acquiring the movement state of the roller brush during the process of the cleaning device switching from the running state to the parking state;

[0007] Based on the motion state, the roller brush is controlled to move a first distance in a target direction so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush;

[0008] The sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

[0009] The present application provides a control device for a cleaning device, the device comprising:

[0010] A first acquisition module, configured to acquire the motion state of the roller brush during the process of the cleaning device switching from the running state to the parking state in response to the cleaning device switching from the running state to the parking state;

[0011] A first control module is used to control the roller brush to move a first distance in a target direction based on the motion state, so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush;

[0012] The second control module is used to control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

[0013] The embodiment of the present application provides a cleaning device, which includes a controller, a roller brush and a sewage suction mechanism, wherein the sewage suction mechanism includes a sewage tank, a sewage suction fan and a sewage suction pipeline, wherein:

[0014] The controller is used to: in response to the cleaning device switching from the running state to the parked state, obtain the movement state of the roller brush during the process of the cleaning device switching from the running state to the parked state; based on the movement state, control the roller brush to move a first distance along the target direction to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

[0015] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0016] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, some or all of the steps in the above method are implemented.

[0017] An embodiment of the present application provides a computer program, including computer-readable codes. When the computer-readable codes are executed in a computer device, a processor in the display device executes some or all of the steps in the above method.

[0018] An embodiment of the present application provides a computer program product, including a computer program or instructions. When the computer program or instructions are executed by a processor, some or all of the steps in the above method are implemented.

[0019] In the embodiment of the present application, when the cleaning device switches from the running state to the parking state, the movement state of the roller brush during the switching of the cleaning device from the running state to the parking state is firstly obtained; secondly, according to the movement state of the roller brush, the roller brush is controlled to move a first distance along the target direction to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; finally, the sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe. In this way, the water stains remaining on the working surface when the cleaning device is parked can be reduced, and the cleaning effect of the cleaning device can be improved.

[0020] 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 technical solutions of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0022] Figure 1 A schematic diagram of the composition structure of a cleaning device provided in an embodiment of the present application Figure 1 ;

[0023] Figure 2 A schematic diagram of a control method for a cleaning device according to an embodiment of the present application;

[0024] Figure 3 A schematic diagram of the composition structure of a cleaning device provided in an embodiment of the present application Figure 2 ;

[0025] Figure 4 A schematic diagram of the composition structure of a cleaning device provided in an embodiment of the present application Figure 3 ;

[0026] Figure 5 A schematic diagram of the composition structure of a cleaning device provided in an embodiment of the present application Figure 4 ;

[0027] Figure 6 A schematic diagram of the structure of a control device for a cleaning device provided in an embodiment of the present application;

[0028] Figure 7 A hardware entity diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0030] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing this application and are not intended to limit this application.

[0032] In order to better understand the solution of the embodiment of the present application, the composition structure of the cleaning equipment is first described below.

[0033] Figure 1 A schematic diagram of the composition structure of a cleaning device provided in an embodiment of the present application Figure 1 ,like Figure 1 As shown, the cleaning device 100 includes a roller brush 110 and a sewage suction mechanism 120 , and the sewage suction mechanism 120 includes a sewage tank 121 , a sewage suction fan 122 and a sewage suction pipe 123 .

[0034] On this basis, the embodiment of the present application provides a control method for a cleaning device. Figure 2 A schematic diagram of a control method for a cleaning device according to an embodiment of the present application is shown in FIG. Figure 2 As shown, the method includes the following steps S201 to S203:

[0035] Step S201: in response to the cleaning device switching from the running state to the parking state, obtaining the movement state of the roller brush during the process of the cleaning device switching from the running state to the parking state;

[0036] In some embodiments, the cleaning device may be at least one of a floor scrubber, a high-pressure cleaner, a carpet cleaner, and the like.

[0037] In some embodiments, the cleaning device may be handheld or autonomously movable, which is not limited in the embodiments of the present application.

[0038] In some embodiments, the running state is the state in which the cleaning device is working; and the parked state is the state in which the cleaning device has finished running.

[0039] In some embodiments, the motion state of the roller brush may include at least one of a moving speed, a rotation speed, a moving direction, a rotation direction, etc. of the roller brush.

[0040] Step S202: Based on the motion state, controlling the roller brush to move a first distance along a target direction, so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush;

[0041] In some embodiments, the target direction is a direction in which the roller brush is controlled to move horizontally on the working surface.

[0042] In some embodiments, the first distance may be a suitable value set according to the actual application scenario. For example, the first distance of the roller brush movement should be set to enable the roller brush to move a sufficient distance to clean the sewage on the working surface, but not too far to cause a bad user experience.

[0043] In some embodiments, the target direction is the backward direction of the cleaning device. Here, the backward direction of the cleaning device can be set by default, or can be dynamically determined according to the moving direction of the cleaning device, which is not limited in the embodiments of the present application.

[0044] In some embodiments, when the user pushes the cleaning device forward during operation of the cleaning device, the backward direction of the cleaning device when the cleaning device is parked is a direction close to the user.

[0045] In some embodiments, when the user pulls the cleaning device backward during operation of the cleaning device, the backward direction of the cleaning device when the cleaning device is parked is a direction away from the user.

[0046] In some embodiments, the working surface of the cleaning equipment may be a relatively dry floor, or may be a bathroom with water on the floor.

[0047] It is understandable that when the cleaning device is stationary, there may be excessive water on the roller brush, resulting in water stains remaining at the contact point between the roller brush and the working surface, and the water stains may be unevenly distributed, thus affecting the cleaning effect of the cleaning device.

[0048] In some embodiments, the target direction of the roller brush is determined based on the movement state of the roller brush during the process of switching the cleaning device from the running state to the parked state. The target direction is opposite to the moving direction of the roller brush during the process of switching the cleaning device from the running state to the parked state. The roller brush is controlled to move a first distance in the target direction (i.e., the roller brush is reversed to move in the target direction) to suck the water stains on the ground onto the roller brush or drag it evenly.

[0049] In some embodiments, the duration of controlling the roller brush to move in the target direction may not take into account other factors such as the working mode of the cleaning device, which is equivalent to an additional action automatically performed by the cleaning device when the user stops cleaning the floor.

[0050] Step S203: controlling the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

[0051] In some embodiments, water stains on the ground are sucked onto the roller brush, and at the same time, the sewage suction fan is controlled to suck the water on the roller brush into the sewage tank.

[0052] In the embodiment of the present application, when the cleaning device switches from the running state to the parking state, the movement state of the roller brush during the switching of the cleaning device from the running state to the parking state is firstly obtained; secondly, according to the movement state of the roller brush, the roller brush is controlled to move a first distance along the target direction to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; finally, the sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe. In this way, the water stains remaining on the working surface when the cleaning device is parked can be reduced, and the cleaning effect of the cleaning device can be improved.

[0053] In some embodiments, the above step S202, based on the motion state, controlling the roller brush to move a first distance along the target direction, may include the following steps S211 and S212:

[0054] Step S211: determining whether the cleaning device has retreated based on the motion state of the roller brush;

[0055] In some embodiments, whether the cleaning device has retracted may be determined based on the motion state of the roller brush and the reference rotation direction of the roller brush before the cleaning device stops.

[0056] In some embodiments, the motion state of the roller brush may include a first rotation speed and a first rotation direction of the roller brush, and whether the cleaning device retracts is determined by comparing the relationship between the first rotation direction and the reference direction, as well as the magnitude of the first rotation speed.

[0057] In some embodiments, when at least one power-assisted wheel is provided under the cleaning device, the roller brush can be driven to move by controlling a plurality of power-assisted wheels. Therefore, the motion state of the roller brush can be determined by acquiring the motion state of the power-assisted wheels.

[0058] In some embodiments, when no power-assisting wheel is provided under the cleaning device, the roller brush is driven to move by controlling its rotation, and thus the motion state of the roller brush can be directly obtained.

[0059] In some embodiments, when at least one power-assisted wheel is provided below the cleaning device, whether the cleaning device moves backward may be determined by acquiring the motion state of the power-assisted wheel.

[0060] In some embodiments, when no power-assisting wheel is provided under the cleaning device, the movement state of the roller brush is directly acquired to determine whether the cleaning device has retracted.

[0061] In some embodiments, considering the relationship between the angle of the cleaning device and the user's feel, if the user has pulled the cleaning device very close to his or her body, forcing the cleaning device to retreat a certain distance (i.e., controlling the roller brush to move the first distance along the target direction) may cause inconvenience to the user. Therefore, when the cleaning device is parked, it is necessary to determine whether the cleaning device has retreated to determine whether to control the roller brush to move the first distance along the target direction.

[0062] Step S212: When the cleaning device does not retract, control the roller brush to move the first distance along the target direction.

[0063] In some embodiments, when the cleaning equipment does not retreat, the roller brush is controlled to move a first distance in the target direction to suck water stains remaining on the working surface when the cleaning equipment is stationary onto the roller brush, and the sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

[0064] In some embodiments, when the cleaning device moves backward, the roller brush is controlled to stop moving a first distance along the target direction, that is, the cleaning device is stopped from being controlled to move backward.

[0065] In some embodiments, the cleaning device may cause uneven water stains on the working surface due to inadequate cleaning at the forward end of the roller brush. By controlling the roller brush to move in the target direction, the forward end can be repeatedly cleaned with the roller brush to improve the water stain problem. If the cleaning device itself is detected to be in a backward state (i.e., it has retracted), it means that the user has pulled the cleaning device back after it has moved forward to the end. In theory, this has the same effect as controlling the roller brush to move the first distance in the target direction. The water stains at the forward end of the working surface are most likely not obvious, so the roller brush can no longer be controlled to move in the target direction.

[0066] In the embodiment of the present application, whether the cleaning device has retracted is determined according to the motion state of the roller brush; if the cleaning device has not retracted, the roller brush is controlled to move a first distance along the target direction. In this way, whether to control the roller brush to move a first distance along the target direction can be flexibly determined according to whether the cleaning device has retracted, so as to meet the needs of the cleaning device in various scenarios.

[0067] In some embodiments, the motion state of the roller brush includes a first rotation speed and a first rotation direction of the roller brush. The above method may further include the following steps S221 and S222:

[0068] Step S221: obtaining a reference rotation direction of the roller brush before the cleaning device stops;

[0069] In some embodiments, the reference rotation direction is the rotation direction of the roller brush during operation of the cleaning device before the cleaning device stops.

[0070] In some embodiments, the reference rotation direction is the rotation direction of the roller brush when the cleaning device moves forward.

[0071] Step S222: determining whether the cleaning device has retracted based on the motion state of the roller brush.

[0072] The above step S222 may include the following step S223:

[0073] Step S223: determining whether the cleaning device has retracted based on the first rotation speed and the first rotation direction of the roller brush and the reference rotation direction of the roller brush.

[0074] In some embodiments, whether the cleaning device has retracted is determined by determining whether the reference rotation direction of the roller brush before the cleaning device stops and the first rotation direction when stopped have changed, as well as the magnitude of the first rotation speed of the roller brush during the process of the cleaning device switching from the running state to the parked state.

[0075] In the embodiment of the present application, the motion state of the roller brush includes the first rotation speed and the first rotation direction of the roller brush, and the reference rotation direction of the roller brush before the cleaning device stops is obtained; based on the first rotation speed and the first rotation direction of the roller brush, and the reference rotation direction of the roller brush, it is determined whether the cleaning device has retracted. In this way, by judging the relationship between the reference rotation direction and the first rotation direction, and the magnitude of the first rotation speed, it is possible to accurately judge whether the cleaning device has retracted.

[0076] In some embodiments, the above step S201 may include the following steps S231 and S232:

[0077] Step S231: acquiring a plurality of rotation speeds and a plurality of rotation directions of the roller brush in a first time interval during a process in which the cleaning device switches from the running state to the parking state;

[0078] In some embodiments, in order to prevent a certain error in the movement speed and direction of the roller brush near the stationary state of the cleaning device, data within a certain time window may be collected to accurately determine the movement state of the roller brush.

[0079] For example, when the cleaning device switches from the running state to the parked state, the moving speed of the roller brush relative to the ground may be around 0. At this time, a small movement may lead to a misjudgment of the movement state of the roller brush before it stops. In order to more accurately judge the movement state and trend of the roller brush, the rotation speed and direction of the roller brush every 100 milliseconds (ms) within 1 second (s) before the cleaning device stops can be obtained. At the same time, because it is impossible to determine the time when the user ends the operation of the cleaning device, the rotation speed and direction of the roller brush for the last 10 consecutive 100ms will be continuously recorded during the operation of the cleaning device.

[0080] Step S232: Determine a first rotation speed and a first rotation direction of the roller brush based on the multiple rotation speeds and the multiple rotation directions.

[0081] In some implementations, an average value of multiple rotation speeds is taken as the first rotation speed of the roller brush, and a rotation direction that appears most frequently among multiple rotation directions is taken as the first rotation direction of the roller brush.

[0082] In the embodiment of the present application, multiple rotation speeds and multiple rotation directions of the roller brush in the first time interval during the process of switching the cleaning device from the running state to the parking state are obtained; based on the multiple rotation speeds and multiple rotation directions, the first rotation speed and the first rotation direction of the roller brush are determined. In this way, the first rotation speed and the first rotation direction of the roller brush are determined by the multiple rotation speeds and the multiple rotation directions of the roller brush in the first time interval, which improves the accuracy of the first rotation speed and the first rotation direction, thereby reducing the error in determining the first rotation speed and the first rotation direction of the roller brush.

[0083] In some embodiments, the above step S223 may include at least one of the following steps S241 and S242:

[0084] Step S241: when the first rotation direction is opposite to the reference rotation direction and the first rotation speed is greater than a first preset threshold, determining that the roller brush has retracted;

[0085] In some embodiments, when the cleaning device is switched from the running state to the parking state, if the roller brush rotates in a direction opposite to the reference rotation direction, it indicates that the roller brush has retreated.

[0086] Step S242: when the first rotation direction is the same as the reference rotation direction, or the first rotation speed is not greater than the first preset threshold, determining that the roller brush has not retracted.

[0087] In some embodiments, when the first rotation direction is the same as the reference rotation direction, it indicates that the roller brush does not rotate in the opposite direction of the reference rotation direction, and thus the roller brush does not retract.

[0088] In some embodiments, when the first rotation speed is not greater than the first preset threshold, the relationship between the first rotation direction of the roller brush and the reference rotation direction may not be considered, and it can be determined that the roller brush has not retracted. Even if the first rotation direction of the roller brush is opposite to the reference rotation direction, it only means that before the cleaning device stops, only the first rotation direction of the roller brush is changed, and the roller brush does not rotate, that is, the roller brush does not retract.

[0089] In the embodiment of the present application, when the first rotation direction is opposite to the reference rotation direction and the first rotation speed is greater than the first preset threshold, it is determined that the roller brush has retracted; when the first rotation direction is the same as the reference rotation direction or the first rotation speed is not greater than the first preset threshold, it is determined that the roller brush has not retracted. In this way, by judging the relationship between the reference rotation direction and the first rotation direction, and the magnitude of the first rotation speed, it is accurately determined whether the cleaning device has retracted.

[0090] In some embodiments, the motion state of the roller brush includes a first rotation direction of the roller brush; and the step S202 described above, based on the motion state, controlling the roller brush to move a first distance along a target direction may include the following steps S251 and S252:

[0091] Step S251: controlling the roller brush to stop rotating for a first preset time period;

[0092] In some embodiments, considering that the roller brush rotates forward when the cleaning device is running before it stops, the user experience will be abrupt if it reverses immediately when it stops, and there will be a large impact current when the roller brush switches directly from forward rotation to reverse rotation, affecting the life of the motor and the drive circuit, the roller brush can stop rotating for a period of time (a first preset time length) when the cleaning device stops, and then the roller brush is controlled to move a first distance in the target direction.

[0093] Step S252: After the first preset time period ends, based on the motion state, the roller brush is controlled to move a first distance along the target direction.

[0094] In some embodiments, the first preset duration of the pause and the time taken to move the first distance in the target direction are parameters determined based on the cleaning effect after repeated tests, so that the user experience is not too abrupt, and the roller brush can move a sufficient distance to clean the water marks remaining on the working surface, while the roller brush does not move too long to bring a bad experience.

[0095] In the embodiment of the present application, the roller brush is controlled to stop rotating for a first preset time; after the first preset time, the roller brush is controlled to move a first distance in a target direction based on the motion state. In this way, the abruptness of controlling the roller brush to move in the target direction can be reduced, and the impact current generated by directly controlling the roller brush to move in the target direction can be reduced, thereby increasing the service life of the cleaning device.

[0096] In some embodiments, the motion state of the roller brush includes a first rotation direction of the roller brush; and the step S202 of controlling the roller brush to move a first distance along a target direction based on the motion state may include the following step S253:

[0097] Step S253: Based on the first rotation direction, controlling the roller brush to move a first distance along the target direction, wherein the target direction is the moving direction of the roller brush when it rotates along a second rotation direction, and the second rotation direction is opposite to the first rotation direction.

[0098] In some implementations, a second rotation direction opposite to the first rotation direction may be determined first, and then the roller brush may be controlled to rotate along the second rotation direction so that the roller brush moves a first distance along the target direction.

[0099] In the embodiment of the present application, the motion state of the roller brush includes a first rotation direction of the roller brush; according to the first rotation direction, the roller brush is controlled to move a first distance along a target direction, the target direction being the moving direction when the roller brush rotates along a second rotation direction, and the second rotation direction is opposite to the first rotation direction. In this way, the residual sewage on the roller brush working surface can be cleaned by controlling the roller brush to rotate along the second rotation direction opposite to the first rotation direction so as to move along the target direction.

[0100] In some embodiments, Figure 3 As shown, at least one power-assisted wheel 130 is provided below the cleaning device 100; the above step S253, based on the first rotation direction, controlling the roller brush to move a first distance along the target direction, may include the following step S261:

[0101] Step S261: Based on the first rotation direction, control the plurality of power-assisting wheels to rotate along the second direction to drive the roller brush to move the first distance along the target direction.

[0102] In some embodiments, at least one power-assisting wheel is disposed below the cleaning device, and the rotation of the power-assisting wheel can be controlled to drive the roller brush to move a first distance along a target direction on the working surface.

[0103] In some implementations, the motion state of the roller brush may be determined by acquiring the motion state of the power-assisted wheel.

[0104] In the embodiment of the present application, at least one power-assisted wheel is arranged below the cleaning device; based on the first rotation direction, the plurality of power-assisted wheels are controlled to rotate in the second direction to drive the roller brush to move a first distance in the target direction. In this way, the roller brush is driven to move by the rotation of the power-assisted wheel to clean the sewage remaining on the working surface, which can reduce labor intensity and thus improve cleaning efficiency.

[0105] In some embodiments, the step S253 of controlling the roller brush to move a first distance along the target direction based on the first rotation direction may include the following step S262:

[0106] Step S262: Based on the first rotation direction, controlling the roller brush to rotate along the second rotation direction so that the roller brush moves the first distance along the target direction.

[0107] In some embodiments, when no power-assisting wheel is provided under the cleaning device, the roller brush can be directly controlled to rotate along the second rotation direction so that the roller brush moves a first distance on the working surface along the target direction.

[0108] In the embodiment of the present application, based on the first rotation direction, the roller brush is controlled to rotate in the second rotation direction so that the roller brush moves a first distance in the target direction. In this way, the sewage remaining on the working surface can be cleaned by controlling the roller brush to reverse.

[0109] In some embodiments, Figure 4 As shown, the cleaning device 100 further includes a mopping mechanism 140, the mopping mechanism 140 includes a clean water tank 141, a water supply pipe 143 and a clean water pump 142, the clean water pump 142 is used to rotate along a third rotation direction to drive the clean water in the clean water tank 141 to spray onto the roller brush 110 through the water supply pipe 143;

[0110] The above method further includes the following step S271:

[0111] Step S271: In response to the cleaning device switching from the running state to the parked state, controlling the clean water pump to rotate in a fourth rotation direction for a second preset time to suck the clean water in the water supply pipe into the clean water tank, and the fourth rotation direction is opposite to the third rotation direction.

[0112] In some embodiments, when the cleaning equipment is stationary, the clean water pump can be controlled to reverse (i.e., the clean water pump rotates along the fourth rotation direction) to suck the clean water in the water supply pipe into the clean water tank, so as to reduce unnecessary water flow onto the roller brush, thereby reducing the residual water stains at the contact position between the roller brush and the working surface.

[0113] In some implementations, the second preset time duration does not need to be adjusted according to the current of the clean water pump, and only needs to suck the clean water in the water supply pipe into the clean water tank.

[0114] In some embodiments, when the clean water pump is reversed, the clean water in the water supply pipe can be sucked back into the clean water tank, and the dirty water on the roller brush will not be sucked back into the clean water tank.

[0115] In the embodiment of the present application, the cleaning device further includes a mopping mechanism, which includes a clean water tank, a water supply pipe and a clean water pump. The clean water pump is used to rotate along a third rotation direction to drive the clean water in the clean water tank to spray onto the roller brush through the water supply pipe. In response to the cleaning device switching from the running state to the parking state, the clean water pump is controlled to rotate along a fourth rotation direction for a second preset time to suck the clean water in the water supply pipe into the clean water tank. The fourth rotation direction is opposite to the third rotation direction. In this way, when the cleaning device is parked, the clean water pump is controlled to reverse and suck the clean water in the water supply pipe into the clean water tank, thereby reducing unnecessary water flow to the roller brush, thereby reducing the residual water stains at the contact position between the roller brush and the working surface.

[0116] In some embodiments, the above method further includes the following step S281:

[0117] Step S281: In response to the cleaning device switching from the running state to the parked state, the sewage suction fan is controlled to operate at the first working power for a third preset time period to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe, and the first working power is greater than the second working power of the sewage suction fan before the cleaning device stops.

[0118] In some embodiments, when the cleaning equipment is stationary, the sewage suction fan is controlled to operate at a higher power (i.e., the sewage suction fan operates at the first operating power) for a third preset time period to suck the sewage on the roller brush into the sewage tank to reduce the water content of the roller brush body, thereby reducing the water stains remaining at the contact position between the roller brush and the working surface.

[0119] In the embodiment of the present application, in response to the cleaning device switching from the running state to the parked state, the sewage suction fan is controlled to work at the first working power for a third preset time to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe, and the first working power is greater than the second working power of the sewage suction fan before the cleaning device stops. In this way, when the cleaning device stops, the sewage suction fan is controlled to work at a higher power to suck the sewage on the roller brush into the sewage tank, reducing the water content of the roller brush body, thereby reducing the water stains remaining at the contact position between the roller brush and the working surface.

[0120] In some embodiments, the cleaning device further includes a mopping mechanism, the mopping mechanism including a clean water tank, a water supply pipe and a clean water pump, the clean water pump is used to rotate along a third rotation direction to drive the clean water in the clean water tank to spray onto the roller brush through the water supply pipe; the above method further includes the following steps S291 to S293:

[0121] Step S291: controlling the clean water pump to spray the clean water in the clean water tank onto the roller brush through the water supply pipe, and controlling the roller brush to rotate to clean the roller brush;

[0122] In some embodiments, when the cleaning device performs self-cleaning on the roller brush, the clean water pump is controlled to rotate to drive the clean water in the clean water tank to spray onto the roller brush through the water supply pipe, and the roller brush starts to rotate to clean the roller brush.

[0123] Step S292: controlling the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe to dry the roller brush;

[0124] In some embodiments, the sewage after cleaning the roller brush is sucked into the sewage tank through the sewage suction pipe by controlling the sewage suction fan to spin and dry the roller brush.

[0125] Step S293: In response to the roller brush cleaning being completed, controlling the clean water pump to rotate in a fourth rotation direction for a fourth preset time period to draw clean water in the water supply pipe into the clean water tank, the fourth rotation direction being opposite to the third rotation direction.

[0126] In some embodiments, after the roller brush is cleaned, the clean water pump is controlled to reverse (i.e., the clean water pump rotates in a fourth rotation direction opposite to the third rotation direction) for a period of time to suck the clean water in the water supply pipe into the clean water tank, thereby reducing unnecessary water flow to the roller brush and improving the spin-drying and drying effects of the roller brush.

[0127] In some embodiments, when the cleaning device automatically cleans the roller brush, it is not necessary to consider the excessive water residue on the roller brush and to optimize the water marks that have been formed. During self-cleaning, the cleaning device runs on the pile, and is not related to the water marks on the working surface when the cleaning device is parked. Here, too much water on the roller brush will affect the drying efficiency and drying effect.

[0128] In the embodiment of the present application, the cleaning device further includes a mopping and washing mechanism, which includes a clean water tank, a water supply pipe and a clean water pump. The clean water pump is used to rotate along a third rotation direction to drive the clean water in the clean water tank to spray onto the roller brush through the water supply pipe; the clean water pump is controlled to spray the clean water in the clean water tank onto the roller brush through the water supply pipe, and the roller brush is controlled to rotate to clean the roller brush; the sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe to dry the roller brush; in response to the roller brush cleaning is completed, the clean water pump is controlled to rotate along a fourth rotation direction for a fourth preset time to suck the clean water in the water supply pipe into the clean water tank, and the fourth rotation direction is opposite to the third rotation direction. In this way, the roller brush is cleaned, and after the cleaning is completed, the clean water pump is controlled to reverse to suck the clean water in the water supply pipe into the clean water tank, which reduces unnecessary water flowing onto the roller brush, thereby improving the drying efficiency and drying effect of the roller brush.

[0129] The present application embodiment provides a cleaning device, such as Figure 5 As shown, the cleaning device 100 includes a controller 150, a roller brush 110 and a sewage suction mechanism 120, wherein the sewage suction mechanism 120 includes a sewage tank 121, a sewage suction fan 122 and a sewage suction pipe 123, wherein:

[0130] The controller 150 is used to: in response to the cleaning device 100 switching from the running state to the parked state, obtain the movement state of the roller brush 110 during the process of the cleaning device 100 switching from the running state to the parked state; based on the movement state, control the roller brush 110 to move a first distance along the target direction to suck the sewage remaining on the working surface when the cleaning device 100 is parked onto the roller brush; control the sewage suction fan 122 to suck the sewage on the roller brush 110 into the sewage tank 121 through the sewage suction pipe 123.

[0131] The following describes the application of the control method of the cleaning device provided in the embodiment of the present application in an actual scenario, taking the scenario of controlling the cleaning device to eliminate residual water stains on the ground when it is parked or residual water during self-cleaning of the roller brush as an example.

[0132] The cleaning equipment usually includes a clean water tank, a sewage tank, a clean water pump, a sewage suction fan (corresponding to the sewage suction fan in the aforementioned embodiment) and a roller brush and other mechanisms, and has functions such as mopping the floor, automatically cleaning the roller brush and drying the roller brush. When cleaning the floor, the clean water pump is used to pump water to the roller brush to wet the roller brush, the roller brush is rotated to mop the floor, and the sewage on the roller brush is sucked back into the sewage tank by the sewage suction fan. When automatically cleaning the roller brush, the water in the clean water tank is pumped onto the roller brush by the clean water pump, the roller brush is cleaned by rotating it, and then the sewage is sucked back into the sewage tank by the sewage suction fan. The above two functions will have the following problems:

[0133] (1) When the cleaning equipment stops running (parking), water marks will be generated at the place where the roller brush contacts the ground, and the water marks are often unevenly distributed and generate foam, which is not only unsightly but also affects the cleaning effect.

[0134] (2) When the cleaning equipment automatically cleans the roller brush, a large amount of clean water is needed to complete the self-cleaning work. If there is too much water or leakage, too much water will remain on the roller brush, affecting the spin drying and drying effect.

[0135] Based on the above description, the embodiments of the present application combine strategies and devices such as peristaltic pumps (clean water pumps), sewage suction fans, power wheels or roller brushes to achieve the purpose of optimizing the water marks remaining when the cleaning equipment is stationary and the spinning and drying effects during self-cleaning of the roller brush, and provide a method for eliminating residual water stains on the ground when the equipment is stationary or residual water during self-cleaning of the roller brush.

[0136] When it is detected that the cleaning equipment has come to a stop, the sewage suction fan, power-assisted wheel and clean water pump work together to reduce residual water marks on the ground and improve the cleaning effect.

[0137] When the cleaning device is parked, there is still a lot of water on the roller brush and in the water supply pipe, and this residual water may flow onto the ground. The embodiment of the present application reduces and optimizes the parked water marks from the following three aspects to improve the user experience and cleaning effect.

[0138] (1) Reduce unnecessary water flow to the roller brush;

[0139] The controllable unnecessary water mainly refers to the water in the water supply pipe for the roller brush. When the cleaning equipment is detected to be stationary, the clean water pump for the roller brush is controlled to reverse for 1-3 seconds. It can be selected and determined according to the specific implementation situation to suck the water in the water supply pipe from the clean water tank to the roller brush back into the clean water tank, reducing the water in the water supply pipe flowing to the roller brush due to gravity, liquid tension and other factors, resulting in excessive water content in the roller brush. When the clean water pump reverses, the water in the water supply pipe of the roller brush can be sucked back into the clean water tank.

[0140] (2) Reduce water residue on the roller brush;

[0141] When it is detected that the cleaning equipment is stationary, the sewage suction fan is controlled to suck at a higher power for another 1-3 seconds. This can be determined according to the specific implementation situation, so that as much water as possible on the roller brush can be sucked into the sewage tank of the cleaning equipment, reducing the water content of the roller brush body.

[0142] (3) Optimize the water marks that have already formed.

[0143] The operation of cleaning equipment is complex and the working surface varies greatly. For example, if a user uses cleaning equipment in a bathroom with water on the floor, the water content of the roller brush is likely to be too high. The water content of the roller brush after operation is difficult to control, so the roller brush is needed to absorb and evenly mop the water marks remaining on the floor.

[0144] After the operation is completed, the cleaning equipment's roller brush is actively moved backwards for a short distance, and the water stains at the end are cleaned with the roller brush (at this time, the sewage suction fan is also working synchronously to suck the water sucked up by the roller brush back into the sewage tank).

[0145] In particular, for cleaning equipment equipped with power-assisted wheels, in order to prevent users from feeling abrupt about the movement of the cleaning equipment when it moves backward, the power-assisted wheels can be reversed at a certain angle to push the roller brush of the cleaning equipment backward a short distance to clean water stains. Currently, the power-assisted wheels will reverse at an angle of about 120° to 150°, which can be selected and determined based on the specific implementation situation. At the same time, taking into account the relationship between the angle of the cleaning equipment and the user's feel, if the user has pulled the cleaning equipment very close to his body, forcing the cleaning equipment to move backward a certain distance may cause inconvenience to the user. Therefore, the action of the power-assisted wheels must take into account the recognition of the current motion state of the cleaning equipment. When it is recognized that the cleaning equipment is moving backward, the power-assisted wheels will not perform forced reversal after the operation ends.

[0146] Specific method for identifying the backward state of the cleaning device: The cleaning device can obtain the current speed and direction of rotation of the power-assisting wheel by communicating with the power-assisting wheel. Combined with the installation position of the power-assisting wheel and the cleaning device (i.e., whether the information is reported by the left wheel or the right wheel of the cleaning device), the current movement direction of the cleaning device can be determined. When the movement direction of both power-assisting wheels is identified as the backward direction of the cleaning device when the operation stops, the cleaning device is considered to be in the backward state.

[0147] The specific behavior principle of the power-assisted wheel:

[0148] The brushless power-assisted wheel with a motor can report the current speed and direction of the power-assisted wheel in real time. By reading the relevant data (the current speed and direction of the power-assisted wheel) and combining it with the information sent by the controller on whether the cleaning device is in operation (whether the cleaning device is parked), the movement state of the cleaning device before the end of operation can be obtained. In order to prevent certain errors in the movement speed and direction of the cleaning device near the parked state, data in a certain time window can be collected to accurately judge the movement state of the cleaning device.

[0149] This is mainly for the cleaning equipment before the end of operation. The speed of the cleaning equipment relative to the ground may be around 0. At this time, a small movement may cause the power-assisted wheel to change its own speed direction measurement, resulting in a misjudgment of the movement state of the cleaning equipment before the operation stops. In order to more accurately judge the movement state and trend of the cleaning equipment, the average of the movement speed (with direction) of the cleaning equipment every 100ms within 1s before the end of the operation can be taken as the final movement speed and direction. At the same time, because it is impossible to determine the time when the user ends the operation, the operation speed and direction of 10 consecutive 100ms will be recorded during the operation.

[0150] When it is recognized that the cleaning device is not in the reverse state and the user has finished running, the controller controls the power-assisted wheel to rotate backward by a certain appropriate angle and move backward a certain distance to complete the cleaning of the end water stains by issuing a specified command.

[0151] The cleaning device may cause uneven water stains on the work surface due to inadequate cleaning at the forward end of the roller brush. By controlling the roller brush to move in the target direction, the forward end can be repeatedly cleaned with the roller brush to improve the water stain problem. If the cleaning device itself is detected to be in a backward state (i.e., it is retreating), it means that the user has pulled the cleaning device back after it has moved forward to the end. In theory, this has the same effect as the cleaning device controlling the roller brush to retreat a certain distance. The water stains at the forward end of the work surface are most likely not obvious, so the roller brush can no longer be controlled to retreat a certain distance.

[0152] Optionally, for cleaning equipment without power-assisted wheels, the roller brush can be directly controlled to reverse for a short distance to suck away and evenly scrape the water marks on the ground. Considering the user experience, when the cleaning equipment stops, the roller brush is first controlled to stop for 200ms and then reverse for 250ms. The above time selection can be determined according to the specific situation during implementation. While scraping away the water marks, it reduces the abrupt experience and high current risk caused by the roller brush switching from forward to reverse.

[0153] When the cleaning equipment is running before it stops, the roller brush rotates forward. If it reverses immediately when it stops, the user experience will be abrupt. In addition, there will be a large impact current when the roller brush switches directly from forward to reverse, which affects the life of the motor and the drive circuit. When the cleaning equipment stops, the roller brush can stop rotating for a period of time, and then control the roller brush to reverse.

[0154] The setting of the reversal time does not take into account other factors such as the working mode. It is equivalent to an additional action that the cleaning device automatically performs when the user stops cleaning the floor.

[0155] The pause time and reversal time are parameters determined after repeated experiments on the cleaning effect. This ensures that the user experience is not too abrupt, while allowing the roller brush to rotate back a sufficient distance to wipe off any remaining water marks on the ground. At the same time, the roller brush does not rotate too much to bring a bad experience.

[0156] When the cleaning device automatically cleans the roller brush, the peristaltic pump and strategy are used to reduce unnecessary water flow to the roller brush to improve the effect of spinning and drying the roller brush. Similar to a washing machine, the automatic cleaning of the roller brush by the cleaning device is divided into two major steps: cleaning and spinning. The former requires a large amount of water to clean the roller brush, and the latter requires that the water on the roller brush be thrown away as much as possible. At the end of the cleaning stage, the water supply pipe from the clean water tank to the roller brush will be full of water. During the spin-drying period, due to factors such as the vibration of the cleaning equipment, gravity, and liquid tension, the water in the water supply pipe will flow onto the roller brush, resulting in a poor spin-drying effect, thereby weakening the drying effect and reducing the user experience. When the automatic cleaning roller brush completes the cleaning stage, the embodiment of the present application controls the clean water pump to reverse for 2s to suck the water in the water supply pipe back into the clean water tank, reducing the water in the water supply pipe from flowing to the roller brush and affecting the spin-drying and drying effects.

[0157] When the cleaning device automatically cleans the roller brush, there is no need to consider the excessive water residue on the roller brush and optimize the water marks that have been formed. The cleaning device runs on the pile during self-cleaning, and has nothing to do with the water marks left on the ground when it is stopped. Here, the residual water in the water supply pipe during self-cleaning is sucked into the clean water tank, which improves the drying efficiency and drying effect.

[0158] In an embodiment of the present application, when the cleaning equipment is stationary, the clean water in the water supply pipe is sucked into the clean water tank by controlling the reverse direction of the clean water pump to reduce the excess water flowing onto the roller brush; the sewage suction fan is controlled to suck the water on the roller brush into the sewage tank at a higher power to reduce the water content of the roller brush; the end water stains remaining on the ground when the cleaning equipment is stationary are cleaned by retreating a short distance to reduce the water marks remaining on the ground when the cleaning equipment is stationary; through the above three operations, the water stains remaining on the ground when the cleaning equipment is stationary are reduced, and the cleaning effect of the cleaning equipment is improved.

[0159] In the embodiment of the present application, after the roller brush is cleaned, the clean water pump is controlled to reverse and suck the clean water in the water supply pipe into the clean water tank, thereby reducing excess water flowing onto the roller brush and improving the efficiency of the roller brush drying and the effect of the roller brush drying.

[0160] Based on the foregoing embodiments, the embodiments of the present application provide a control device for a cleaning device, which includes the modules included, and the units included in the modules, etc., which can be implemented by a processor in a computer device; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0161] Figure 6 A schematic diagram of the structure of a control device for a cleaning device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the control device 600 of the cleaning device includes: a first acquisition module 601, a first control module 602 and a second control module 603, wherein:

[0162] A first acquisition module 601 is used for acquiring the motion state of the roller brush in the process of the cleaning device switching from the running state to the parking state in response to the cleaning device switching from the running state to the parking state;

[0163] A first control module 602 is used to control the roller brush to move a first distance along a target direction based on the motion state, so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush;

[0164] The second control module 603 is used to control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

[0165] In some embodiments, the first control module includes: a first determination unit for determining whether the cleaning device has retracted based on the movement state of the roller brush; and a first control unit for controlling the roller brush to move the first distance along the target direction when the cleaning device has not retracted.

[0166] In some embodiments, the motion state of the roller brush includes a first rotation speed and a first rotation direction of the roller brush; the control device of the cleaning device also includes: a second acquisition module, used to obtain a reference rotation direction of the roller brush before the cleaning device stops; and a first determination module, used to determine whether the cleaning device retracts based on the motion state of the roller brush.

[0167] In some embodiments, the first determination module includes: a second determination unit, configured to determine whether the cleaning device retracts based on a first rotation speed and a first rotation direction of the roller brush and a reference rotation direction of the roller brush.

[0168] In some embodiments, the first acquisition module includes: an acquisition unit, used to acquire multiple rotation speeds and multiple rotation directions of the roller brush within a first time interval during the process of switching the cleaning device from the running state to the parked state; a third determination unit, used to determine the first rotation speed and the first rotation direction of the roller brush based on the multiple rotation speeds and the multiple rotation directions.

[0169] In some embodiments, the second determination unit includes at least one of the following: a first determination subunit, used to determine that the roller brush has retracted when the first rotation direction is opposite to the reference rotation direction and the first rotation speed is greater than a first preset threshold; a second determination subunit, used to determine that the roller brush has not retracted when the first rotation direction is the same as the reference rotation direction or the first rotation speed is not greater than the first preset threshold.

[0170] In some embodiments, the motion state of the roller brush includes a first rotation direction of the roller brush; the first control module also includes: a second control unit, used to control the roller brush to stop rotating for a first preset time period; and a third control unit, used to control the roller brush to move a first distance along the target direction based on the motion state after the first preset time period ends.

[0171] In some embodiments, the movement state of the roller brush includes a first rotation direction of the roller brush; the first control module also includes: a fourth control unit, used to control the roller brush to move a first distance along the target direction based on the first rotation direction, and the target direction is the moving direction of the roller brush when it rotates along a second rotation direction, and the second rotation direction is opposite to the first rotation direction.

[0172] In some embodiments, at least one power-assisting wheel is arranged under the cleaning device; the fourth control unit includes: a first control subunit, used to control multiple power-assisting wheels to rotate along the second direction based on the first rotation direction to drive the roller brush to move the first distance along the target direction.

[0173] In some embodiments, the fourth control unit further includes: a second control subunit, configured to control the roller brush to rotate along the second rotation direction based on the first rotation direction so that the roller brush moves the first distance along the target direction.

[0174] In some embodiments, the cleaning device also includes a mopping mechanism, which includes a clean water tank, a water supply pipe and a clean water pump, and the clean water pump is used to rotate along a third rotation direction to drive the clean water in the clean water tank to spray onto the roller brush through the water supply pipe; the control device of the cleaning device also includes: a third control module, which is used to control the clean water pump to rotate along a fourth rotation direction for a second preset time in response to the cleaning device switching from a running state to a parked state to suck the clean water in the water supply pipe into the clean water tank, and the fourth rotation direction is opposite to the third rotation direction.

[0175] In some embodiments, the control device of the cleaning equipment also includes: a fourth control module, which is used to control the sewage suction fan to operate at a first working power for a third preset time period in response to the cleaning equipment switching from an operating state to a parked state, so as to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe, and the first working power is greater than the second working power of the sewage suction fan before the cleaning equipment stops.

[0176] In some embodiments, the cleaning equipment also includes a mopping mechanism, which includes a clean water tank, a water supply pipe and a clean water pump, wherein the clean water pump is used to rotate along a third rotation direction to drive the clean water in the clean water tank to be sprayed onto the roller brush through the water supply pipe; the control device of the cleaning equipment also includes: a fifth control module, used to control the clean water pump to spray the clean water in the clean water tank onto the roller brush through the water supply pipe, and control the roller brush to rotate to clean the roller brush; a sixth control module, used to control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe to dry the roller brush; a seventh control module, used to control the clean water pump to rotate along a fourth rotation direction for a fourth preset time length in response to the completion of the cleaning of the roller brush, and the fourth rotation direction is opposite to the third rotation direction.

[0177] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the device provided in the embodiment of the present application can be used to execute the method described in the above method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0178] It should be noted that in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific hardware, software or firmware, or any combination of hardware, software, and firmware.

[0179] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0180] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0181] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0182] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0183] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0184] It should be noted that Figure 7 A schematic diagram of a hardware entity of a computer device in an embodiment of the present application is shown in FIG. Figure 7 As shown, the hardware entity of the computer device 700 includes: a processor 701, a communication interface 702 and a memory 703, wherein:

[0185] Processor 701 generally controls the overall operation of computer device 700 .

[0186] The communication interface 702 enables the computer device to communicate with other terminals or servers through a network.

[0187] The memory 703 is configured to store instructions and applications executable by the processor 701, and can also cache data to be processed or processed by the processor 701 and each module in the computer device 700 (for example, image data, audio data, voice communication data, and video communication data), which can be implemented by flash memory (FLASH) or random access memory (Random Access Memory, RAM). Data transmission can be performed between the processor 701, the communication interface 702, and the memory 703 through the bus 704.

[0188] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0189] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0190] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0191] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the embodiments of the present application may be all integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0192] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0193] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0194] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a roller brush and a dirt suction mechanism, the dirt suction mechanism comprises a sewage tank, a dirt suction fan and a dirt suction pipeline, and the method comprises: In response to the cleaning device switching from the running state to the parking state, acquiring the motion state of the roller brush during the process of the cleaning device switching from the running state to the parking state; Based on the motion state, controlling the roller brush to move a first distance in a target direction, so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; The sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

2. The method according to claim 1, characterized in that The step of controlling the rolling brush to move a first distance along a target direction based on the motion state includes: Based on the motion state of the roller brush, determining whether the cleaning device has retracted; When the cleaning device does not retreat, the roller brush is controlled to move the first distance along the target direction.

3. The method according to claim 2, characterized in that The motion state of the roller brush includes a first rotation speed and a first rotation direction of the roller brush; the method further includes: Obtaining a reference rotation direction of the roller brush before the cleaning device stops; The step of determining whether the cleaning device retracts based on the motion state of the roller brush includes: Based on the first rotation speed and the first rotation direction of the roller brush and the reference rotation direction of the roller brush, it is determined whether the cleaning device is retracted.

4. The method according to claim 1, characterized in that The obtaining of the motion state of the roller brush during the process of the cleaning device switching from the running state to the parking state includes: Acquire multiple rotation speeds and multiple rotation directions of the roller brush in a first time interval during the process of the cleaning device switching from the running state to the parked state; Based on the multiple rotation speeds and the multiple rotation directions, a first rotation speed and a first rotation direction of the roller brush are determined.

5. The method according to claim 3, characterized in that The determining whether the cleaning device retracts based on the first rotation speed and the first rotation direction of the roller brush and the reference rotation direction of the roller brush comprises at least one of the following: When the first rotation direction is opposite to the reference rotation direction and the first rotation speed is greater than a first preset threshold, determining that the roller brush has retracted; When the first rotation direction is the same as the reference rotation direction, or the first rotation speed is not greater than the first preset threshold, it is determined that the roller brush has not retracted.

6. A cleaning device, characterized in that: The cleaning device includes a controller, a roller brush and a sewage suction mechanism, wherein the sewage suction mechanism includes a sewage tank, a sewage suction fan and a sewage suction pipeline, wherein: The controller is used to: in response to the cleaning device switching from the running state to the parked state, obtain the movement state of the roller brush during the process of the cleaning device switching from the running state to the parked state; based on the movement state, control the roller brush to move a first distance along the target direction to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

7. A control device for a cleaning device, characterized in that: The device comprises: A first acquisition module, configured to acquire the motion state of the roller brush in the process of the cleaning device switching from the running state to the parking state in response to the cleaning device switching from the running state to the parking state; A first control module, configured to control the roller brush to move a first distance in a target direction based on the motion state, so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; The second control module is used to control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipe.

8. A computer device comprising a memory and a processor, characterized in that: The memory stores a computer program that can be run on the processor, and the processor implements the method according to any one of claims 1 to 5 when executing the program.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

10. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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