Control method of cleaning device and cleaning device

Abstract

The invention discloses a cleaning device control method and a cleaning device.The cleaning device is used for executing the cleaning device control method, and the cleaning device control method comprises the steps that in the process that a cleaning assembly of the cleaning device is switched to an external expansion position protruding out of an outer flange of the cleaning device from an internal shrinkage position of the inner side of the cleaning device; and when it is detected that the cleaning assembly is stopped by the obstacle, the cleaning assembly is controlled to move in the direction from the external expansion position to the internal contraction position. By means of the control method of the cleaning device and the cleaning device, the problem that in the prior art, a cleaning assembly is prone to damage during external expansion is solved.

Description

Technical Field

[0001] The present application relates to the field of floor cleaning, and in particular to a control method for a cleaning device and a cleaning device. Background Art

[0002] Cleaning devices include sweeping robots, floor scrubbers and multi-functional cleaning stations. Most cleaning devices are provided with cleaning components such as cleaning brushes and cleaning rollers. Most existing cleaning components usually have a position that expands outward to protrude from the outer edge of the cleaning device, thereby improving the edge cleaning ability of the cleaning device.

[0003] However, most cleaning devices are not provided with control logic for protecting the cleaning components, which causes the cleaning components to be easily damaged when expanded. Summary of the invention

[0004] The main purpose of the present application is to provide a control method and a cleaning device for a cleaning component, so as to at least solve the problem in the prior art that the cleaning component is easily damaged when expanding outward.

[0005] According to one aspect of the present application, a control method for a cleaning device is provided, the control method for the cleaning device comprising:

[0006] If the cleaning component of the cleaning device is detected to be stopped by an obstacle during the process of switching from a retracted position retracted to the inner side of the cleaning device to an expanded position protruding from the outer flange of the cleaning device, the cleaning component is controlled to move in the direction from the expanded position to the retracted position.

[0007] Furthermore, the step of detecting that the cleaning component is stopped by an obstacle includes:

[0008] It is determined whether the current of the external expansion motor is within a predetermined range. If the current of the external expansion motor is within the predetermined range, the cleaning component is not blocked by an obstacle; if the current of the external expansion motor exceeds the predetermined range, the cleaning component is blocked by an obstacle.

[0009] Furthermore, the step of controlling the cleaning component to move in the direction from the outwardly expanded position to the inwardly retracted position includes:

[0010] Step S11: controlling the cleaning assembly to move from the outwardly extending position to the inwardly extending position until it is detected that the current of the outwardly extending motor is within the predetermined range and executing step S12;

[0011] Step S12: Control the cleaning component to move in the direction from the retracted position to the outwardly expanded position until the cleaning component moves to the outwardly expanded position. If, during the process of controlling the cleaning component to move in the direction from the retracted position to the outwardly expanded position, it is detected that the current of the outwardly expanded motor exceeds the predetermined range, execute step S11.

[0012] Furthermore, the control method of the cleaning component also includes:

[0013] If the process of the cleaning component switching from the retracted position to the extended position exceeds a predetermined time, it is determined that the cleaning component is stopped by an obstacle.

[0014] Further, if the process of the cleaning component switching from the retracted position to the extended position exceeds a predetermined time, the steps after determining that the cleaning component is stopped by an obstacle include:

[0015] Step S13: controlling the cleaning component to move from the outwardly expanded position to the inwardly retracted position until the cleaning component is not stopped by an obstacle and executing step S14;

[0016] Step S14: Control the cleaning component to move from the retracted position to the expanded position until the cleaning component moves to the expanded position within the predetermined time. If the cleaning component does not move to the expanded position within the predetermined time, execute step S13.

[0017] Further, the cleaning component being stopped by an obstacle comprises:

[0018] The cleaning assembly is caught or blocked by an obstacle.

[0019] Furthermore, the control method of the cleaning device also includes:

[0020] According to the position state of the cleaning component, the lifting component that drives the cleaning component to rise and fall along the height direction of the cleaning device is controlled to be in different working states.

[0021] Furthermore, the step of controlling the lifting assembly to be in different working states includes:

[0022] If the cleaning component is not in the retracted position, controlling the lifting component to stop working;

[0023] If the cleaning component moves to the retracted position, the lifting component is controlled to perform the lifting work.

[0024] On the other hand, the present application provides a control method for a cleaning device, the control method for a cleaning device includes the control method for the above-mentioned cleaning device, and the control method for a cleaning device includes:

[0025] If it is detected that the cleaning component is stopped by an obstacle during the process of the cleaning component switching from the extended position to the retracted position, the cleaning component is controlled to move in the direction from the retracted position to the extended position.

[0026] Furthermore, the step of controlling the cleaning component to move in the direction from the retracted position to the expanded position includes:

[0027] Step S21: controlling the cleaning assembly to move from the retracted position to the expanded position until it is detected that the current of the expansion motor is within a predetermined range and executing step S22;

[0028] Step S22: Control the cleaning component to move in the direction from the outward-expanding position to the inward-retracting position until the cleaning component moves to the inward-retracting position. If, during the process of controlling the cleaning component to move in the direction from the outward-expanding position to the inward-retracting position, it is detected that the current of the outward-expanding motor exceeds a predetermined range, the cleaning component is controlled to stop working.

[0029] Furthermore, the control method of the cleaning component also includes:

[0030] If the process of the cleaning component switching from the outwardly extended position to the inwardly retracted position exceeds a predetermined time, it is determined that the cleaning component is stopped by an obstacle.

[0031] Further, if the process of the cleaning component switching from the outwardly extended position to the inwardly retracted position exceeds a predetermined time, the steps after determining that the cleaning component is stopped by an obstacle include:

[0032] Step S23: controlling the cleaning component to move from the retracted position to the expanded position until the cleaning component is not stopped by an obstacle and executing step S24;

[0033] Step S24: Control the cleaning component to move in the direction from the outwardly extended position to the inwardly retracted position until the cleaning component moves to the inwardly retracted position within the predetermined time. If the cleaning component does not move to the inwardly retracted position within the predetermined time, control the cleaning component to stop working.

[0034] Further, the subsequent steps of controlling the cleaning component to stop working include:

[0035] The alarm element of the cleaning device is controlled to send out a warning signal.

[0036] On the other hand, the present application provides a cleaning device, which is used to execute the above-mentioned cleaning device control method, and the cleaning device includes:

[0037] main body;

[0038] A cleaning component, wherein the cleaning component is arranged at the bottom of the main body;

[0039] An outward expansion motor, the outward expansion motor is arranged on the main body, the outward expansion motor is connected to the cleaning component, and the outward expansion motor drives the cleaning component so that the cleaning component has an inward position retracted inside the main body and an outward expansion position protruding from the outer edge of the main body;

[0040] A monitoring component is disposed on the main body and is electrically connected to the outward expansion motor. The monitoring component is used to monitor the current of the outward expansion motor and control the outward expansion motor according to the magnitude of the current of the outward expansion motor to drive the cleaning component to move in the direction from the retracted position to the outward expansion position, or in the direction from the outward expansion position to the retracted position.

[0041] Compared with the prior art, in the present application, the cleaning component being stopped by an obstacle includes the cleaning component being hooked by the obstacle or the cleaning component being blocked by the obstacle. When the outward expansion motor drives the cleaning component to expand outward, if it is detected that the cleaning component is blocked by an external obstacle, the outward expansion motor is controlled to drive the cleaning component to retract, thereby preventing the cleaning component from being damaged by the external force exerted by the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 It is a structural schematic diagram of the cleaning device disclosed in the present application at a first viewing angle;

[0044] Figure 2 It is a structural schematic diagram of the cleaning device disclosed in this application at a second viewing angle;

[0045] Figure 3 A schematic diagram of a connection relationship of the cleaning device disclosed in this application;

[0046] Figure 4 This is another schematic diagram of the connection relationship of the cleaning device disclosed in this application;

[0047] Figure 5 A schematic diagram of the connection relationship of the monitoring components disclosed in this application.

[0048] The above drawings include the following reference numerals:

[0049] 10. Main body; 20. Cleaning component; 30. External expansion motor; 40. Monitoring component; 41. Analog-to-digital converter; 42. Logic controller; 50. Alarm element; 60. Position detection component; 70. Power switch; 80. Lifting component; 90. Timer. DETAILED DESCRIPTION

[0050] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0052] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0053] See also Figures 1 to 5 As shown, according to an embodiment of the present application, a cleaning device is provided, which includes a main body 10, a cleaning component 20, an external expansion motor 30 and a monitoring component 40.

[0054] Among them, the cleaning component 20 is arranged at the bottom of the main body 10, the expansion motor 30 is arranged on the main body 10, the expansion motor 30 is connected to the cleaning component 20, and the expansion motor 30 drives the cleaning component 20 so that the cleaning component 20 has a retracted position folded inside the main body 10, and an expanded position protruding from the outer edge of the main body 10. The monitoring component 40 is arranged on the main body 10, and the monitoring component 40 is electrically connected to the expansion motor 30. The monitoring component 40 is used to monitor the current of the expansion motor 30, and control the expansion motor 30 according to the magnitude of the current of the expansion motor 30 to drive the cleaning component 20 to move in the direction from the retracted position to the expansion position, or from the expansion position to the retracted position.

[0055] It should be noted that the process of the cleaning component 20 moving from the retracted position to the outwardly expanded position is called outward expansion, and the process of the cleaning component 20 moving from the outwardly expanded position to the retracted position is called inward contraction. Specifically, in the present embodiment, the cleaning device may be a sweeping robot, a floor scrubber or a multi-functional cleaning station, and the cleaning component 20 includes a drum and a mop, and the mop is sleeved on the outer periphery of the drum, and when the drum rotates, the mop is used to clean the floor. When the cleaning component 20 is expanding outward, after the cleaning component 20 collides with an obstacle, an overcurrent may occur in the outward expansion motor 30 that drives the cleaning component 20 to expand outward, and if the outward expansion motor 30 is in an overcurrent state for a long time, the outward expansion motor 30 may be damaged, and the circuit of the cleaning device may be overcurrent, the power supply may be unstable, and other problems may occur. At the same time, the cleaning component 20 may also be damaged by the external force of the obstacle. In this embodiment, when the current on the outward expansion motor 30 increases or decreases, and the monitoring component 40 detects that the current on the outward expansion motor 30 exceeds a predetermined range, the monitoring component 40 controls the outward expansion motor 30 so that the outward expansion motor 30 drives the cleaning component 20 to retract, thereby preventing the cleaning component 20 from being damaged. Similarly, when the cleaning component 20 retracts, if the outward expansion end of the cleaning component 20 is hooked by an obstacle, or there is an obstacle in the installation slot of the cleaning component 20, thereby preventing the cleaning component 20 from retracting, the current of the outward expansion motor 30 increases or decreases, causing the current on the outward expansion motor 30 to overflow, and the monitoring component controls the outward expansion motor 30 so that the outward expansion motor 30 drives the cleaning component 20 to expand outward, thereby preventing the cleaning component 20 or the outward expansion motor 30 from being damaged.

[0056] The present application also provides a control method for a cleaning device. The control method for a cleaning device is performed by the above-mentioned cleaning device. The control method for a cleaning device includes:

[0057] If the cleaning component 20 of the cleaning device switches from a retracted position retracted to the inside of the cleaning device to an expanded position protruding from the outer flange of the cleaning device, and it is detected that the cleaning component 20 is stopped by an obstacle, the cleaning component 20 is controlled to move in the direction from the expanded position to the retracted position.

[0058] In this embodiment, the cleaning component 20 being stopped by an obstacle includes the cleaning component 20 being hooked by the obstacle or the cleaning component 20 being blocked by the obstacle. When the outward expansion motor 30 drives the cleaning component 20 to expand outward, if it is detected that the cleaning component 20 is blocked by an external obstacle, the outward expansion motor 30 is controlled to drive the cleaning component 20 to retract inward, thereby preventing the cleaning component 20 from being damaged by the external force exerted by the obstacle.

[0059] In addition, in this embodiment, the step of detecting whether the cleaning component 20 is stopped by an obstacle includes: determining whether the current of the outward expansion motor 30 is within a predetermined range. If the current of the outward expansion motor 30 is within the predetermined range, the cleaning component 20 is not stopped by the obstacle; if the current of the outward expansion motor 30 exceeds the predetermined range, the cleaning component 20 is stopped by the obstacle.

[0060] In a specific embodiment, the detection of whether the cleaning component 20 is blocked by an obstacle can be judged by the current of the expansion motor 30. Specifically, when the expansion motor 30 drives the cleaning component 20 to expand outward, the current on the expansion motor 30 is positive. During the expansion process of the cleaning component 20, if it collides with an obstacle, the current of the expansion motor 30 increases and exceeds the maximum value of the predetermined range. At this time, the monitoring component 40 determines that the cleaning component 20 is in the expansion state, and then controls and changes the current direction of the expansion motor 30, so that the expansion motor 30 drives the cleaning component 20 to retract. Of course, in some embodiments, a device for monitoring the external force on the cleaning component 20 can also be provided on the cleaning component 20, and the magnitude of the external force on the cleaning component 20 can be used to determine whether the cleaning component 20 is blocked by an obstacle.

[0061] In some specific embodiments, the step of controlling the cleaning component 20 to move in the direction from the outward expansion position to the inward expansion position includes: Step S11: Controlling the cleaning component 20 to move in the direction from the outward expansion position to the inward expansion position until the current of the outward expansion motor 30 is detected to be within a predetermined range and executing step S12. Step S12: Controlling the cleaning component 20 to move in the direction from the inward expansion position to the outward expansion position until the cleaning component 20 moves to the outward expansion position. If the current of the outward expansion motor 30 is detected to be beyond the predetermined range during the process of controlling the cleaning component 20 to move in the direction from the inward expansion position to the outward expansion position, step S11 is executed.

[0062] That is, when the cleaning component 20 is blocked by an obstacle when expanding, the monitoring component 40 controls the expansion motor 30 to drive the cleaning component 20 to retract. If the cleaning component 20 is free from the obstacle, that is, the current on the expansion motor 30 is normal, the monitoring component 40 controls the expansion motor 30 to drive the cleaning component 20 to expand again, so that the cleaning component 20 expands to the expanded position. If the cleaning component 20 is still blocked by an obstacle when expanding again, the cleaning component 20 is controlled to retract again, and the above process is repeated in sequence until the cleaning component 20 can expand to the expanded position.

[0063] In some embodiments, the control method of the cleaning component 20 further includes: if the process of switching the cleaning component 20 from the retracted position to the extended position exceeds a predetermined time, determining that the cleaning component 20 is stopped by an obstacle.

[0064] Specifically, under normal conditions, the time for the cleaning component 20 to switch from the retracted position to the extended position will not exceed the predetermined time. Therefore, when the cleaning component 20 switches from the retracted position to the extended position, if the cleaning component 20 has not reached the extended position after the predetermined time, it means that the cleaning component 20 may be blocked by an external obstacle when expanding, resulting in the cleaning component 20 being unable to expand normally. At this time, it is determined that the cleaning component 20 is blocked by an obstacle, and the predetermined time can be set to 2 seconds, 3 seconds or 4 seconds.

[0065] Further, if the process of the cleaning component 20 switching from the retracted position to the extended position exceeds the predetermined time, the steps after determining that the cleaning component 20 is stopped by an obstacle include: Step S13: Control the cleaning component 20 to move in the direction from the extended position to the retracted position until the cleaning component 20 is not stopped by an obstacle and execute step S14. Step S14: Control the cleaning component 20 to move in the direction from the retracted position to the extended position until the cleaning component 20 moves to the extended position within the predetermined time, if the cleaning component 20 is not moved to the extended position within the predetermined time, execute step S13.

[0066] Specifically, when the cleaning component 20 exceeds a predetermined time during the expansion process, the cleaning component 20 is first controlled to retract once, and then the cleaning component 20 is controlled to expand once again. During this expansion, if the cleaning component 20 does not reach the expanded position within the predetermined time, the cleaning component 20 is controlled to retract again, and the above process is repeated until the cleaning component 20 can reach the expanded position within the predetermined time.

[0067] Furthermore, the control method of the cleaning device further includes: according to the position state of the cleaning component 20, controlling the lifting component 80 that drives the cleaning component 20 to rise and fall along the height direction of the cleaning device to be in different working states.

[0068] Specifically, a lifting assembly 80 is provided on the cleaning device, and the lifting assembly 80 is used to control the lifting and lowering of the cleaning assembly 20 in the height direction of the cleaning device, so that when there is an obstacle in front of the cleaning device, the cleaning assembly 20 can cross the obstacle. If the cleaning assembly 20 is in the outward expansion position for lifting, since the cleaning assembly 20 is in the outward expansion state at this time, when the cleaning assembly 20 is lifted, it may cause the outward expansion end of the cleaning assembly 20 and the two ends of the inner end of the cleaning device to be uneven, so that when the cleaning assembly 20 crosses the obstacle, it may cause the outward expansion end to collide with the obstacle or the inner end of the main body 10 to interfere with other parts of the cleaning device, and finally cause the cleaning assembly 20 to be damaged. Therefore, in this embodiment, considering the above problems, it is necessary to determine the working state of the lifting assembly 80 according to the position state of the cleaning assembly 20.

[0069] Furthermore, the step of controlling the lifting assembly 80 to be in different working states includes: if the cleaning assembly 20 is not in the retracted position, controlling the lifting assembly 80 to stop working; if the cleaning assembly 20 moves to the retracted position, controlling the lifting assembly 80 to be able to perform the lifting work.

[0070] Specifically, since the cleaning component 20 is in the outward expansion position, lifting the cleaning component 20 may cause the outward expansion end of the cleaning component 20 to be not flush with the two ends of the inner end of the cleaning device. Therefore, in the present embodiment, when the cleaning component 20 has not reached the retracted position, the monitoring component 40 controls the lifting component 80 to be unable to lift the cleaning component 20, and only when the cleaning component 20 reaches the retracted position can the lifting component 80 perform the lifting operation on the cleaning component 20. The specific scenario is as follows: when there is an obstacle in front of the cleaning device, in order to avoid the obstacle from colliding with the cleaning component 20, the cleaning component 20 needs to be switched from the outward expansion position to the retracted position. When the cleaning component 20 is switched to the retracted position, the monitoring component 40 controls the lifting component 80 to start. At this time, the lifting component 80 can lift the cleaning component 20. After the lifting component 80 drives the cleaning component 20 to lift, the two ends of the cleaning component 20 are flush, and the cleaning component 20 can cross the obstacle without interfering with other parts of the cleaning device. In this embodiment, the lifting assembly 80 includes a motor of model H11 / PRI-310EV-10580, and the rated current of the motor is 75mA / -75mA when unloaded, and the rated current is 160mA / -160mA when loaded.

[0071] In addition, the present application also provides a control method for a cleaning device, which includes the above-mentioned control method for a cleaning device, and further includes: if the cleaning component 20 is detected to be stopped by an obstacle during the process of switching from the outward-expanded position to the inward-retracted position, the cleaning component 20 is controlled to move in the direction from the inward-retracted position to the outward-expanded position.

[0072] That is, when the cleaning component 20 moves from the outward-expanding position to the inward-retracting position, if it is detected that the cleaning component 20 is hooked by an external obstacle or the cleaning component 20 is blocked by an obstacle in the installation slot, the monitoring component 40 controls the outward-expanding motor to drive the cleaning component 20 to expand once, thereby preventing the cleaning component 20 from being damaged by the obstacle during the inward-retracting process. Similarly, in this embodiment, the detection of the cleaning component 20 being stopped by an obstacle can be performed by judging the current of the outward-expanding motor 30. In this embodiment, when the cleaning component 20 moves from the outward-expanding position to the inward-retracting position, the current of the outward-expanding motor is negative. If the current of the outward-expanding motor is less than the minimum value of the predetermined range, it indicates that the outward-expanding motor is overcurrent.

[0073] In a specific embodiment, the external expansion motor 30 uses a motor of model MGB12-254-S001, the rated working current of the external expansion motor 30 is 240mA / -240mA, and the predetermined range is [-400mA, 400mA]. In this embodiment, when the current of the external expansion motor 30 is higher than the maximum value of the predetermined range (400mA) or the current is lower than the minimum value of the predetermined range (-400mA), it is determined that the current of the external expansion motor 30 is overcurrent. It is worth noting that this embodiment only gives a specific scheme. In some schemes, when the working current of the external expansion motor 30 is higher than the positive rated current by more than 40%, it can be determined that the external expansion motor is overcurrent. Similarly, when the working current of the external expansion motor 30 is lower than the negative rated current by more than 40%, it can be determined that the external expansion motor is overcurrent. Of course, when using external expansion motors 30 of different models, the upper and lower limits of the predetermined range need to be formulated according to specific circumstances.

[0074] Further, the step of controlling the cleaning assembly 20 to move in the direction from the retracted position to the expanded position includes:

[0075] Step S21: Control the cleaning component 20 to move in the direction from the retracted position to the outward expansion position until the current of the outward expansion motor 30 is detected to be within a predetermined range and execute step S22; Step S22: Control the cleaning component 20 to move in the direction from the outward expansion position to the inward expansion position until the cleaning component 20 moves to the retracted position. If, during the process of controlling the cleaning component 20 to move in the direction from the outward expansion position to the inward expansion position, it is detected that the current of the outward expansion motor 30 exceeds the predetermined range, the cleaning component 20 is controlled to stop working.

[0076] Similarly, when the cleaning component 20 is retracted and is blocked by an obstacle in the inner mounting groove or is hooked by an external obstacle, the monitoring component 40 controls the outward expansion motor 30 to expand the cleaning component 20. When the cleaning component 20 is free from the obstacle, the monitoring component 40 controls the outward expansion motor 30 to retract the cleaning component 20. If the cleaning component 20 is retracted again and is hooked or blocked by an obstacle, it means that the cleaning component 20 is difficult to get rid of the obstacle. At this time, the monitoring component 40 controls the outward expansion motor 30 to stop working, thereby stopping the cleaning component 20 synchronously.

[0077] That is to say, when the cleaning component 20 switches from the retracted position to the extended position, if the current of the extended motor 30 is detected to be overcurrent, it means that the extended motor 30 is blocked by an external obstacle. At this time, the monitoring component 40 controls the extended motor 30 to retract the cleaning component 20; and when the cleaning component 20 switches from the extended position to the retracted position, if the current of the extended motor 30 is detected to be overcurrent, it means that the external obstacle inside the extended motor 30 is hooked or blocked by the obstacle in the installation groove. At this time, the monitoring component 40 controls the extended motor 30 to drive the cleaning component 20 to expand, thereby preventing the cleaning component 20 from being affected by obstacles during the process of switching from the retracted position to the extended position or from the extended position to the retracted position, thereby ultimately causing damage to the cleaning component 20.

[0078] In addition, the control method of the cleaning component 20 further includes: if the process of switching the cleaning component 20 from the outward-expanded position to the inward-retracted position exceeds a predetermined time, it is determined that the cleaning component 20 is stopped by an obstacle.

[0079] It is understood that, generally, the cleaning component 20 does not exceed the predetermined time when switching from the extended position to the retracted position. If the cleaning component 20 switches from the extended position to the retracted position for more than the predetermined time, it means that the cleaning component 20 may be hooked or blocked by an obstacle. Similarly, in this embodiment, the predetermined time can be set to 2 seconds, 3 seconds or 4 seconds.

[0080] Further, if the process of the cleaning component 20 switching from the extended position to the retracted position exceeds the predetermined time, the steps after determining that the cleaning component 20 is stopped by an obstacle include: step S23: controlling the cleaning component 20 to move in the direction from the retracted position to the extended position until the cleaning component 20 is not stopped by an obstacle and executing step S24; step S24: controlling the cleaning component 20 to move in the direction from the extended position to the retracted position until the cleaning component 20 moves to the retracted position within the predetermined time. If the cleaning component 20 does not move to the retracted position within the predetermined time, controlling the cleaning component 20 to stop working.

[0081] That is to say, when the cleaning component 20 is in the process of retracting, after exceeding the predetermined time, the cleaning component 20 has not reached the retracted position, the cleaning component 20 is first controlled to perform an outward expansion, so that the cleaning component 20 can get rid of the obstacle; then it is retracted again. If during this retraction process, the cleaning component 20 still cannot reach the retracted position within the predetermined time, it means that the cleaning component 20 may not be able to get rid of the obstacle. At this time, in order to prevent the cleaning component 20 from being damaged by external force, the cleaning component 20 is controlled to stop working and wait for the user to check it.

[0082] It is understandable that the above embodiment determines whether the cleaning component 20 is stopped by an obstacle in a different manner from the method of determining whether the cleaning component 20 is stopped by an obstacle by checking whether the expansion motor is overcurrent, but the cleaning component 20 can also be protected during the expansion or retraction process.

[0083] Furthermore, the subsequent step of controlling the cleaning assembly 20 to stop working includes: controlling the alarm element 50 of the cleaning device to send out a warning signal.

[0084] In this embodiment, after the cleaning component 20 stops working, the monitoring component 40 controls the alarm element 50 to send a warning signal, thereby reminding the user that there is a problem with the cleaning device. The warning signal can be a sound, a warning light, or a fault prompt on the terminal device through the Internet.

[0085] As attached Figure 4 As shown, the monitoring component 40 includes an analog-to-digital converter 41 and a logic controller 42. The analog-to-digital converter 41 is electrically connected to the external expansion motor 30, and the analog-to-digital converter 41 is used to convert the current signal on the external expansion motor 30 into a digital signal. The logic controller 42 is electrically connected to the analog-to-digital converter 41, and the logic controller 42 is used to receive and determine whether the digital signal released by the analog-to-digital converter 41 exceeds a predetermined range.

[0086] Specifically, after the current on the expansion motor 30 passes through the mode converter, the current signal becomes a digital signal, and then the mode converter transmits the digital signal to the logic controller 42, and the logic controller 42 determines whether the received current signal exceeds the predetermined range. In a specific embodiment, when the digital signal is positive and the digital signal is higher than the maximum value of the predetermined range, the logic controller 42 determines that the expansion motor 30 is driving the cleaning component 20 to expand outward, and the expansion motor 30 is overcurrent. At this time, the logic controller 42 sends a first logic signal to the analog-to-digital converter 41. After receiving the first logic signal, the analog-to-digital converter 41 converts the first logic signal into a current signal and transmits the current signal to the expansion motor 30, so that the positive current on the expansion motor 30 becomes a negative current, and the negative current is within the predetermined range, thereby causing the expansion motor 30 to drive the cleaning component 20 to retract. On the contrary, when the digital signal is negative and is lower than the minimum value of the predetermined range, the logic controller 42 determines that the outward expansion motor 30 is driving the cleaning component 20 to retract and that the outward expansion motor 30 is overcurrent. At this time, the logic controller 42 sends a second logic signal to the analog-to-digital converter 41, and then the analog-to-digital converter 41 controls the outward expansion motor 30 so that the negative current on the outward expansion motor 30 is converted into a positive current within the predetermined range, thereby causing the outward expansion motor 30 to drive the cleaning component 20 to expand outward.

[0087] Furthermore, the cleaning device also includes a lifting assembly 80, a power switch 70 and a position detection assembly 60. The lifting assembly 80 is arranged on the main body 10, and the lifting assembly 80 is connected to the cleaning assembly 20, and the lifting assembly 80 is used to drive the main body 10 to rise and fall along the height direction of the cleaning device. The power switch 70 is arranged on the lifting assembly 80, and the power switch 70 is electrically connected to the monitoring assembly 40, and the power switch 70 is used to turn on the power of the lifting assembly 80. The position detection assembly 60 is arranged on the cleaning assembly 20, and the position detection assembly 60 is electrically connected to the monitoring assembly 40.

[0088] In this embodiment, the lifting assembly 80 includes a lifting motor, which is connected to the cleaning assembly 20, and the lifting motor can drive the cleaning assembly 20 to rise and fall along the height direction of the cleaning device. The position detection assembly 60 is arranged at the other end of the cleaning assembly 20 opposite to the outward expansion end. The position detection assembly 60 is used to detect whether the cleaning assembly 20 is in the retracted position. When the position detection assembly 60 detects that the cleaning assembly 20 is in the retracted position, the position detection assembly 60 sends a signal to the monitoring assembly 40, and the monitoring assembly 40 controls the power switch 70 to close, so that the lifting motor can be connected to the power supply. When the cleaning assembly 20 is not in the retracted position, the monitoring assembly 40 controls the power switch 70 to be disconnected, so that the lifting motor is not connected to the power supply, that is, the lifting motor cannot work at this time. In this embodiment, the position detection assembly 60 can be a displacement sensor or a Hall sensor. When the position detection assembly 60 is a Hall sensor, and the Hall sensor detects that the vertical distance between the cleaning assembly 20 and the wall of the mounting groove is less than or equal to 2mm, the Hall sensor sends a signal to the monitoring assembly 40.

[0089] Furthermore, the cleaning device also includes an alarm element 50, which is electrically connected to the monitoring component 40, and the alarm element 50 is used to send a warning signal. Specifically, when the monitoring component 40 monitors that the current of the external expansion motor 30 exceeds a predetermined range and stops the external expansion motor 30, the monitoring component 40 simultaneously sends a signal to the alarm element 50, so that the alarm element 50 sends a warning signal. In this embodiment, the alarm element 50 can be a buzzer or a flashlight. In addition, the alarm element 50 can also be connected to the Internet, so that the warning signal is transmitted to the user's mobile phone through the Internet, and then the user is prompted on the mobile phone that the cleaning device is abnormal.

[0090] In addition, the cleaning device of the present application also includes a timer 90, which is arranged on the cleaning component 20. The timer 90 is electrically connected to the monitoring component 40. The timer 90 is used to time the process of the cleaning component 20 from the expanded position to the retracted position and the process of the cleaning component 20 from the retracted position to the expanded position. The timer 90 sends a digital signal to the monitoring component 40. The monitoring component is used to determine whether the expansion process or the retraction process of the cleaning component 20 exceeds the predetermined time. If the expansion process or the retraction process of the cleaning component 20 exceeds the predetermined time, the monitoring component 40 controls the expansion motor 30 to perform corresponding retraction or expansion, thereby preventing the cleaning component 20 from being damaged.

[0091] See attached Figure 3In a specific embodiment, the overall control logic of the control method of the cleaning device is as follows: the monitoring component 40 monitors and determines whether the current signal of the external expansion motor 30 exceeds a predetermined range. If the external expansion motor 30 exceeds the predetermined range, the monitoring component 40 sends a control signal to the external expansion motor 30, thereby controlling the external expansion motor 30 to drive the cleaning component 20 to expand or retract, thereby preventing the cleaning component 20 from being affected by obstacles, causing the obstacles to damage the cleaning component 20 or the external expansion motor 30. In addition, when the monitoring component 40 controls the external expansion motor 30 to stop working, the monitoring component 40 sends a control signal to the alarm element 50, so that the alarm element 50 sends a warning signal to remind the user that the cleaning device has a fault. On the other hand, when the position detection component 60 detects that the cleaning component 20 is in the retracted position, the position detection component 60 sends a position signal to the monitoring component 40. After receiving the position signal, the monitoring component 40 sends a control signal to the power switch 70 to close the power switch 70, so that the lifting component 80 is connected to the power supply. At this time, the lifting component 80 can control the cleaning component 20 to rise or fall. When the monitoring component 40 does not receive the arrival signal, the monitoring component 40 controls the power switch 70 to be turned off, so that the lifting component 80 cannot work.

[0092] In summary, the present application proposes a control method for a cleaning device and a cleaning device that executes the control method, by monitoring and controlling the current of the outward expansion motor 30, and according to the size and direction of the current of the outward expansion motor 30, it is judged whether the cleaning component 20 is blocked or hooked by an obstacle, and then different controls are taken on the current of the outward expansion motor 30, so that when the cleaning component 20 is expanding or retracting, if it is blocked or hooked by an obstacle, it can avoid the obstacle in time, thereby preventing the outward expansion motor 30 from being in an overcurrent state for a long time, and finally causing damage to the outward expansion motor 30 or the cleaning component 20. On the other hand, the present application also considers the protection measures for the cleaning component 20 when the cleaning component 20 has the lifting function, that is, the lifting component 80 can lift the cleaning component 20 only when the cleaning component 20 is in the retracted position, and the lifting component 80 cannot work normally when the cleaning component 20 is in the expansion process or the expansion position, thereby avoiding that the lifting component 80 lifts the cleaning component 20 when the cleaning component 20 is in the expansion process or the expansion position, and the expansion end of the cleaning component 20 is not flush with the end of the cleaning component 20 located on the inner side of the main body 10, which may cause the expansion end to collide with an obstacle or the end of the cleaning component 20 located on the inner side of the main body 10 to interfere with other parts of the cleaning component 20. In addition, during the retraction process of the cleaning component 20 of the present application, if the current of the outward expansion motor 30 exceeds a predetermined range, the cleaning component 20 is first controlled to expand outward, and then the cleaning component 20 is controlled to retract again. If the current of the outward expansion motor 30 is still overcurrent during the retraction process, the cleaning component 20 is controlled to stop working, and the alarm element 50 is controlled to send a warning signal. The control method of the present application can, to a certain extent, avoid damage to the cleaning component 20 during the retraction process.

[0093] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0094] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0095] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The control method of the cleaning device comprises: If, during the process of the cleaning component (20) of the cleaning device switching from a retracted position retracted to the inner side of the cleaning device to an extended position protruding from the outer flange of the cleaning device, it is detected that the cleaning component (20) is stopped by an obstacle, the cleaning component (20) is controlled to move in the direction from the extended position to the retracted position.

2. The control method of the cleaning device according to claim 1, characterized in that: The step of detecting that the cleaning component (20) is stopped by an obstacle comprises: It is determined whether the current of the external expansion motor (30) is within a predetermined range; if the current of the external expansion motor (30) is within the predetermined range, the cleaning component (20) is not blocked by an obstacle; if the current of the external expansion motor (30) exceeds the predetermined range, the cleaning component (20) is blocked by an obstacle.

3. The control method of the cleaning device according to claim 2, characterized in that: The step of controlling the cleaning component (20) to move in the direction from the outwardly expanded position to the inwardly retracted position comprises: Step S11: controlling the cleaning component (20) to move in the direction from the outwardly extending position to the inwardly extending position until it is detected that the current of the outwardly extending motor (30) is within the predetermined range and executing step S12; Step S12: Control the cleaning component (20) to move in the direction from the retracted position to the outwardly expanded position until the cleaning component (20) moves to the outwardly expanded position. If, during the process of controlling the cleaning component (20) to move in the direction from the retracted position to the outwardly expanded position, it is detected that the current of the outwardly expanded motor (30) exceeds the predetermined range, execute step S11.

4. The control method of the cleaning device according to claim 1, characterized in that: The control method of the cleaning component (20) further includes: If the process of the cleaning component (20) switching from the retracted position to the extended position exceeds a predetermined time, it is determined that the cleaning component (20) is stopped by an obstacle.

5. The control method of the cleaning device according to claim 4, characterized in that: If the process of the cleaning component (20) switching from the retracted position to the extended position exceeds a predetermined time, the steps after determining that the cleaning component (20) is stopped by an obstacle include: Step S13: controlling the cleaning component (20) to move in the direction from the outwardly expanded position to the inwardly retracted position until the cleaning component (20) is not stopped by an obstacle and executing step S14; Step S14: Control the cleaning component (20) to move in the direction from the retracted position to the outwardly expanded position until the cleaning component (20) moves to the outwardly expanded position within the predetermined time. If the cleaning component (20) does not move to the outwardly expanded position within the predetermined time, execute step S13.

6. The control method of a cleaning device according to any one of claims 1 to 5, characterized in that: The cleaning component (20) being stopped by an obstacle comprises: The cleaning component (20) is hooked or blocked by an obstacle.

7. The control method of a cleaning device according to any one of claims 1 to 5, characterized in that: The control method of the cleaning device also includes: According to the position state of the cleaning component (20), a lifting component (80) that drives the cleaning component (20) to rise and fall along the height direction of the cleaning device is controlled to be in different working states.

8. The control method of the cleaning device according to claim 7, characterized in that: The steps of controlling the lifting assembly (80) to be in different working states include: If the cleaning component (20) is not in the retracted position, controlling the lifting component (80) to stop working; When the cleaning component (20) moves to the retracted position, the lifting component (80) is controlled to perform a lifting operation.

9. A method for controlling a cleaning device, characterized in that: The control method of the cleaning device comprises the control method of the cleaning device according to any one of claims 1 to 8, and the control method of the cleaning device comprises: If, during the process of the cleaning component (20) switching from the outward-extended position to the inward-retracted position, it is detected that the cleaning component (20) is stopped by an obstacle, the cleaning component (20) is controlled to move in the direction from the inward-retracted position to the outward-extended position.

10. The control method of the cleaning device according to claim 9, characterized in that: The step of controlling the cleaning component (20) to move in the direction from the retracted position to the expanded position comprises: Step S21: controlling the cleaning component (20) to move in the direction from the retracted position to the expanded position until it is detected that the current of the expansion motor (30) is within a predetermined range and executing step S22; Step S22: Control the cleaning component (20) to move in the direction from the outward-expanding position to the inward-retracting position until the cleaning component (20) moves to the inward-retracting position. If, during the process of controlling the cleaning component (20) to move in the direction from the outward-expanding position to the inward-retracting position, it is detected that the current of the outward-expanding motor (30) exceeds a predetermined range, the cleaning component (20) is controlled to stop working.

11. The control method of the cleaning device according to claim 9, characterized in that: The control method of the cleaning component (20) further includes: If the process of the cleaning component (20) switching from the outwardly extended position to the inwardly retracted position exceeds a predetermined time, it is determined that the cleaning component (20) is stopped by an obstacle.

12. The control method of the cleaning device according to claim 11, characterized in that: If the process of the cleaning component (20) switching from the outwardly extended position to the inwardly retracted position exceeds a predetermined time, the steps after determining that the cleaning component (20) is stopped by an obstacle include: Step S23: controlling the cleaning component (20) to move in the direction from the retracted position to the expanded position until the cleaning component (20) is not stopped by an obstacle and executing step S24; Step S24: Control the cleaning component (20) to move in the direction from the outwardly extended position to the inwardly retracted position until the cleaning component (20) moves to the inwardly retracted position within the predetermined time; if the cleaning component (20) does not move to the inwardly retracted position within the predetermined time, control the cleaning component (20) to stop working.

13. The control method of the cleaning device according to claim 10 or 12, characterized in that: The subsequent steps of controlling the cleaning component (20) to stop working include: The alarm element (50) of the cleaning device is controlled to send out a warning signal.

14. A cleaning device, characterized in that: The cleaning device is used to execute the control method of the cleaning device according to any one of claims 1 to 11, and the cleaning device comprises: Subject (10); A cleaning component (20), wherein the cleaning component (20) is arranged at the bottom of the main body (10); an outward expansion motor (30), the outward expansion motor (30) being arranged on the main body (10), the outward expansion motor (30) being connected to the cleaning component (20), the outward expansion motor (30) driving the cleaning component (20) so that the cleaning component (20) has an inward position retracted inside the main body (10), and an outward expansion position protruding from the outer edge of the main body (10); A monitoring component (40), wherein the monitoring component (40) is disposed on the main body (10) and is electrically connected to the outward expansion motor (30). The monitoring component (40) is used to monitor the current of the outward expansion motor (30) and control the outward expansion motor (30) according to the magnitude of the current of the outward expansion motor (30) so as to drive the cleaning component (20) to move in a direction from the retracted position to the outward expansion position, or in a direction from the outward expansion position to the retracted position.

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