Control method of cleaning equipment, cleaning equipment and computer readable storage medium

Abstract

The invention relates to the technical field of household appliance control, and discloses a control method of cleaning equipment, the cleaning equipment and a computer readable storage medium, the cleaning equipment comprises a rolling brush and a dirt scraping mechanism, and when the cleaning equipment is in a working mode, the dirt scraping mechanism is located at a dirt scraping position in contact fit with the rolling brush; when the cleaning equipment is in the self-cleaning mode, the dirt scraping mechanism is located at the avoiding position in clearance fit with the rolling brush; the control method comprises the steps of receiving a signal of starting a self-cleaning mode of the cleaning equipment; and after the dirt scraping mechanism is controlled to move to the avoiding position in clearance fit with the rolling brush, the rolling brush is controlled to rotate to clean the rolling brush cover. When the cleaning equipment performs self-cleaning, the dirt scraping mechanism is controlled to move to the avoiding position in clearance fit with the rolling brush, so that the dirt scraping mechanism is separated from the rolling brush, friction between the dirt scraping mechanism and the rolling brush is reduced, and the problem that the rotating rolling brush and the dirt scraping mechanism are still kept in contact in a self-cleaning mode, and abrasion of bristles of the rolling brush is aggravated is solved.

Description

Technical Field

[0001] The present invention relates to the field of household appliance control technology, and in particular to a control method for a cleaning device, a cleaning device and a computer-readable storage medium. Background Art

[0002] With the development of social economy and people's higher and higher requirements for home environment, cleaning equipment integrating floor washing, mopping and vacuuming has come into being and is widely used in people's lives. The cleaning equipment of related technology usually cleans the floor by rotating a roller brush driven by a motor. However, the existing cleaning equipment has the problems of fast wear of the bristles of the roller brush, gradual deterioration of the cleaning effect and high replacement frequency of the roller brush. Summary of the invention

[0003] In view of this, the present invention provides a control method for a cleaning device, a cleaning device and a computer-readable storage medium to solve the problem of rapid wear of the bristles of a roller brush in the cleaning device in the prior art.

[0004] In a first aspect, the present invention provides a control method for a cleaning device, wherein the cleaning device comprises a roller brush and a scraping mechanism for scraping dirt on the roller brush, and the cleaning device has a working mode and a self-cleaning mode;

[0005] When the cleaning device is in working mode, the scraping mechanism is located at a scraping position that contacts and cooperates with the roller brush; when the cleaning device is in self-cleaning mode, the scraping mechanism is located at an avoidance position that cooperates with the gap between the roller brush and the cleaning device;

[0006] Control methods include:

[0007] receiving a signal from a cleaning device to start a self-cleaning mode;

[0008] After the scraping mechanism is controlled to move to an avoidance position that matches the roller brush gap, the roller brush is controlled to rotate to clean the roller brush cover.

[0009] Beneficial effect: when the cleaning device is performing normal floor cleaning work, the scraping mechanism is in a scraping position in contact with the roller brush, and can effectively clean and scrape off dirt attached to the roller brush, such as hair, debris, mud, etc.; when the floor cleaning work is completed and the entire machine is placed on the base station for self-cleaning, the scraping mechanism is controlled to move to an avoidance position that cooperates with the gap between the roller brush, so that the scraping mechanism is separated from the roller brush, reducing the friction between the scraping mechanism and the roller brush, avoiding the contact between the rotating roller brush and the scraping mechanism in the self-cleaning mode, aggravating the wear of the roller brush bristles, increasing the service life of the roller brush, and reducing the replacement frequency of the roller brush, effectively solving the problems of fast wear of the roller brush bristles, gradual deterioration of the cleaning effect, and high replacement frequency of the roller brush in the cleaning equipment in the prior art.

[0010] In an optional embodiment, the cleaning device further comprises a driving mechanism for driving the scraping mechanism to move between the scraping position and the avoidance position, and a position detection mechanism for detecting whether the scraping mechanism has moved into position;

[0011] The control method specifically includes the following steps:

[0012] When a signal is received from the cleaning device to start the self-cleaning mode, the driving mechanism is controlled to move, and the scraping mechanism is driven to move in a direction close to the avoidance position until the position detection mechanism sends a corresponding trigger signal, and then the driving is stopped.

[0013] Beneficial effect: By setting up a position detection mechanism, the position of the scraping mechanism and the roller brush cover can be accurately controlled, thereby improving the cleaning effect of the roller brush and the roller brush cover.

[0014] In an optional embodiment, the scraping mechanism is rotatably mounted in the floor brush of the cleaning device, and the position detection mechanism includes a first position switch and a second position switch for detecting whether the scraping mechanism is turned to the scraping position and the avoidance position;

[0015] The control method further comprises the following steps:

[0016] When receiving a signal that the cleaning device switches from the self-cleaning mode to the cleaning mode, the driving mechanism is controlled to rotate in a first direction to drive the scraping mechanism to rotate toward the scraping position;

[0017] During the process of the scraping mechanism rotating toward the scraping position, it is determined in real time whether the first position switch is triggered:

[0018] If yes, the driving mechanism is controlled to stop rotating, and the roller brush motor is controlled to drive the roller brush to rotate to start floor cleaning; if no, the driving mechanism is controlled to continue rotating until the first position switch is triggered;

[0019] When receiving a signal that the cleaning device switches from the cleaning mode to the self-cleaning mode, the driving mechanism is controlled to rotate in the second direction to drive the scraping mechanism to rotate toward the avoidance position;

[0020] During the process of the scraping mechanism rotating to the avoidance position, it is determined in real time whether the second position switch is triggered:

[0021] If so, the driving mechanism is controlled to stop rotating, and the roller brush motor is controlled to drive the roller brush to rotate and start self-cleaning; if not, the driving mechanism is controlled to continue rotating until the second position switch is triggered.

[0022] Beneficial effects: The scraping mechanism can be rotatably installed in the floor brush of the cleaning equipment. When the cleaning equipment is performing cleaning and self-cleaning work, the driving mechanism can be used to control the scraping mechanism to rotate between the scraping position and the avoidance position. Therefore, under the premise of ensuring the scraping performance of the scraping mechanism, it can also ensure that the scraping mechanism is separated from the roller brush during the self-cleaning process, reduce the friction between the scraping mechanism and the roller, and increase the service life of the roller brush. The scraping mechanism moves between the scraping position and the avoidance position by rotating, which occupies less space than the translation method. The position detection mechanism adopts the design of the first position switch and the second position switch, and can accurately determine whether the scraping mechanism is rotated into place according to the trigger signals of the first position switch and the second position switch.

[0023] In an optional embodiment, in the process of the driving mechanism driving the scraping mechanism to move to the scraping position or the avoidance position, the following steps are further performed:

[0024] If the trigger signal of the first position switch or the second position switch is not received within the set time, the cleaning device is controlled to stop working.

[0025] Beneficial effect: During the process of driving the scraping mechanism to move to the scraping position and the avoidance position, if the driving mechanism has not received the trigger signal of the first position switch or the second position switch within the set time, it indicates that the cleaning equipment may have an abnormality, such as a driving mechanism failure or the scraping mechanism being stuck. At this time, the cleaning equipment is controlled to stop working to avoid causing related safety accidents.

[0026] In an optional embodiment, when the scraping mechanism is in the scraping position, there is an interference fit between the scraping mechanism and the bristles of the roller brush, and the control method further comprises the following steps:

[0027] According to the usage information of the roller brush, the movement stroke of the scraping mechanism is adjusted so that when the cleaning device is in the cleaning mode, the scraping mechanism can always maintain an interference fit with the bristles.

[0028] Beneficial effect: By adjusting the movement stroke of the scraping mechanism according to the actual use of the roller brush, when the cleaning equipment is performing floor cleaning work, even if the bristles are worn and shortened, the scraping mechanism can still maintain an interference fit with the bristles, thereby effectively ensuring the scraping mechanism's cleaning effect on the dirt on the roller brush.

[0029] In an optional implementation, adjusting the movement stroke of the scraping mechanism according to the usage information of the roller brush specifically includes the following steps:

[0030] Obtaining the usage time of the roller brush or the wear amount of the bristles of the roller brush;

[0031] Adjusting the movement stroke of the scraping mechanism according to the obtained usage time of the roller brush or the wear amount of the bristles of the roller brush;

[0032] The adjustment amount of the movement stroke of the scraping mechanism is proportional to the use time of the roller brush or the wear amount of the bristles.

[0033] Beneficial effect: As the use time of the roller brush increases or the wear of the bristles increases, the movement stroke of the scraping mechanism is adaptively increased, so that even if the bristles of the cleaning device become shorter after long-term use, the scraping mechanism can still maintain an interference fit with the roller brush during normal cleaning work, effectively ensuring the scraping effect of the scraping mechanism on the dirt on the roller brush. It can effectively solve the problem that when the cleaning device is used for a long time, the gap between the scraping mechanism and the roller brush increases, resulting in the scraping mechanism being unable to effectively scrape the dirt on the roller brush, affecting the cleaning effect of the cleaning device.

[0034] In an optional embodiment, the roller brush cover is movably arranged in the floor brush of the cleaning device, and the scraping mechanism and the roller brush cover are linked and coordinated;

[0035] When the scraping mechanism moves to the scraping position, it can drive the roller brush cover away from the roller brush and form a set gap between the roller brush;

[0036] When the scraping mechanism moves to the avoidance position, it can drive the roller brush cover close to the roller brush and contact the bristles on the roller brush;

[0037] After receiving the signal from the cleaning device to start the self-cleaning mode, the following steps are specifically performed:

[0038] Control the scraping mechanism to move to an avoidance position that matches the gap with the roller brush, so as to drive the roller brush cover to move to a self-cleaning position that contacts and matches the bristles on the roller brush;

[0039] Then the roller brush motor is controlled to drive the roller brush to rotate forward and reverse to clean the dirt on the roller brush cover;

[0040] The water spraying mechanism of the cleaning device is controlled to spray water to the roller brush, and the dirt suction mechanism of the cleaning device is controlled to suck the clean dirt into the sewage tank.

[0041] Beneficial effect: by linking the scraping mechanism with the roller brush cover, when the cleaning device performs self-cleaning, the scraping mechanism can not only move to an avoidance position to avoid the roller brush to reduce the friction between it and the roller brush, thereby increasing the service life of the roller brush and reducing the replacement frequency of the roller brush, but also drive the roller brush cover to move to a self-cleaning position in contact with the roller brush, thereby realizing automatic cleaning of dirt on the roller brush cover. Only one driving mechanism is required to control the movement of the two components, the scraping mechanism and the roller brush cover, thereby saving control costs, simplifying control steps, and effectively solving the problem that the scraping mechanism and the roller brush cover of the self-cleaning device in the related technology need to be driven by a separate driving mechanism, and the control process is relatively cumbersome and costly.

[0042] In an optional implementation, the control method further includes the following steps:

[0043] Get the dirtyness level of the clean dirty;

[0044] When it is determined that the dirt level is less than the set dirt threshold, the roller brush motor, water spray mechanism, and dirt suction mechanism are controlled to stop working;

[0045] The scraping mechanism is controlled to move to a scraping position where it contacts and cooperates with the roller brush, so as to drive the roller brush cover to return to an initial position where a set gap is formed between the roller brush and the roller brush.

[0046] Beneficial effect: During the self-cleaning process of the roller brush cover, if it is judged that the degree of dirtiness of the cleaned dirt is less than the set dirtiness threshold, it indicates that the roller brush cover has been cleaned, and the roller brush motor, water spray mechanism and dirt suction mechanism are controlled to stop working, and the scraping mechanism is controlled to drive the roller brush cover to reset to the initial position with a set gap with the roller brush, so as to avoid the roller brush cover interfering with the rotation of the roller brush when the cleaning equipment is performing normal floor cleaning work, thereby affecting the normal operation of the cleaning equipment.

[0047] In a second aspect, the present invention further provides a cleaning device, which is applicable to the control method of the cleaning device of any of the above-mentioned embodiments.

[0048] In a third aspect, the present invention further provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the control method for a cleaning device of any of the above-mentioned embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 This is a schematic diagram of the structure in which a cleaning device is placed in a base station in an embodiment of the present invention;

[0051] Figure 2 A schematic diagram of the structure of a cleaning device in an embodiment of the present invention;

[0052] Figure 3 It is a schematic diagram of the structure of a floor brush in an embodiment of the present invention;

[0053] Figure 4 for Figure 3 A schematic diagram of the structure after removing the upper shell of the floor brush shell;

[0054] Figure 5for Figure 3 Axonometric section view of

[0055] Figure 6 It is a schematic diagram of the coordination of the roller brush assembly, the scraping mechanism, the driving device and other components when the cleaning device in the embodiment of the present invention is in the working mode;

[0056] Figure 7 It is a schematic diagram of the coordination of the roller brush assembly, the scraping mechanism, the driving device and other components when the cleaning device in the embodiment of the present invention is in the self-cleaning mode;

[0057] Figure 8 A schematic diagram of the movement principle of the roller brush cover of the cleaning device from the initial state to the self-cleaning state in an embodiment of the present invention;

[0058] Fig. 9 A schematic diagram of the movement principle of the roller brush cover of the cleaning device from the self-cleaning state to the initial state in an embodiment of the present invention;

[0059] Fig.10 An isometric cross-sectional view of a floor brush of a cleaning device at a position switch according to an embodiment of the present invention;

[0060] Fig.11 A schematic diagram of the structure of a driving device at one angle in an embodiment of the present invention;

[0061] Fig.12 A schematic diagram of the structure of the cleaning device in another angle according to an embodiment of the present invention;

[0062] Fig.13 It is a structural schematic diagram of the driving gear in an embodiment of the present invention;

[0063] Fig.14 An exploded view of a driving device in an embodiment of the present invention;

[0064] Fig.15 It is a structural schematic diagram of a dirt scraping mechanism in an embodiment of the present invention;

[0065] Fig.16 An exploded view of the dirt scraping mechanism in an embodiment of the present invention;

[0066] Fig.17 This is a schematic diagram of the structure of the back cover in an embodiment of the present invention;

[0067] Fig.18 It is a schematic diagram of the structure after the roller brush cover, the first rotating shaft, the first reset member, and the sealing strip are assembled in the embodiment of the present invention;

[0068] Fig.19 for Fig.18 Exploded diagram of

[0069] Fig. 20It is a schematic diagram of the structure after the roller brush cover and the first rotating shaft are assembled in an embodiment of the present invention;

[0070] Fig.21 A schematic diagram of a flow chart of an implementation method of a cleaning device control method in an embodiment of the present invention;

[0071] Fig. 22 It is a flow chart of another implementation method of the control method of the cleaning equipment in the embodiment of the present invention.

[0072] Description of reference numerals:

[0073] 100, cleaning equipment; 200, base station;

[0074] 10. Shell; 11. Upper shell; 12. Lower shell; 13. Middle cover;

[0075] 20. Roller brush assembly; 21. Roller brush; 22. Roller brush cover; 221. Roller brush cover body; 222. Connecting portion; 23. First rotating shaft; 24. First reset member; 25. Sealing strip;

[0076] 30. Scraping mechanism; 301. Linkage component; 31. Support; 310. Engaging portion; 311. Front cover; 312. Rear cover; 313. Rotating sleeve; 314. Second reset member; 32. Scraper; 33. Water baffle; 34. Pressing plate;

[0077] 40. Driving device;

[0078] 41. driving mechanism; 411. driving motor; 412. motor bracket; 413. motor bracket cover; 414. supporting ring;

[0079] 42. gear transmission mechanism; 421. driving gear; 4211. triggering member; 422. driven gear;

[0080] 43. gear cover; 430. opening; 431. mounting column;

[0081] 44. First position switch; 45. Second position switch; 46. Screw. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0083] In order to facilitate the cleaning of the roller brush, the existing cleaning equipment usually makes the scraper into a comb shape and fixes it on one side of the roller brush, or uses a floating scraper, which is pushed by the spring at the back, so that the dirt on the roller brush is scraped off by the scraper when the roller brush rotates at high speed to clean the ground. In order to achieve the expected scraping and cleaning effect, the scraper and the roller brush need to have an interference fit to scrape and suck away the dirt. Under the drive of the roller brush motor, the scraper and the roller brush have an interference fit for a long time, which easily causes the bristles on the roller brush to wear. As a result, after the cleaning equipment is used for a long time, the bristles on the roller brush gradually shorten, the gap between the scraper and the roller brush increases, and the scraping and cleaning effect gradually decreases.

[0084] When the cleaning equipment is working normally, it mainly uses the rotating roller brush to remove the sewage and garbage on the ground. The roller brush may roll up the garbage and throw it away. At the same time, the water spraying mechanism of the floor brush sprays water on the roller brush, which will cause water splashing. Therefore, a roller brush cover is installed on the roller brush to solve the problem of the roller brush throwing out the garbage and water splashing on the roller brush. Because the main function of the roller brush cover is to prevent the roller brush from throwing out the garbage and water splashing, it will cause the roller brush cover to adhere to garbage and sewage. Therefore, the roller brush cover needs to be cleaned daily. If it is not cleaned for a long time, it will cause bacteria to grow on the roller brush cover and produce odor.

[0085] However, during the self-cleaning process of the roller brush cover, that is, the roller brush cover is cleaned by rotating the roller brush, there is no need for a scraper to clean the dirt (such as hair, debris, dirt, etc.) on the roller brush. The fixed scraper or the floating scraper cannot effectively avoid the roller brush during the self-cleaning process, resulting in prolonged friction between the scraper and the roller brush, which shortens the length of the bristles on the roller brush due to prolonged friction, shortens the service life, and increases the gap between the scraper and the roller brush, which will affect the cleaning effect of the cleaning device over time.

[0086] In the related art, in order to ensure the cleaning effect of the roller brush, the distance between the scraper and the bristles of the roller brush is controlled within a certain size range. However, when the base station is self-cleaning, it is not necessary to clean the dirt on the roller brush. This process takes a long time, causing the bristles and roller brush to wear for a long time, and the scraper and bristles need to be avoided. At present, in the industry, in order to solve the problem that the roller brush of the cleaning equipment is easy to wear and the cleaning effect gradually deteriorates in the later stage, most of them adopt the method of replacing the roller brush, which has a high frequency of replacement and high cost.

[0087] Therefore, the embodiments of the present invention aim to solve the problems in the prior art that the roller brush is constantly in contact with scraping members or comb teeth and other scraping mechanisms, resulting in rapid wear of the roller brush and an increase in the gap between the scraper and the roller brush, which will affect the cleaning effect of the cleaning equipment for a long time.

[0088] Combine the following Figures 1 to 22 , describing an embodiment of the present invention.

[0089] According to an embodiment of the present invention, on the one hand, the present invention provides a control method for a cleaning device, wherein the cleaning device 100 comprises a roller brush 21 and a scraping mechanism 30 for scraping dirt on the roller brush 21, and the cleaning device 100 has a working mode and a self-cleaning mode; when the cleaning device 100 is in the working mode, the scraping mechanism 30 is located at a scraping position that contacts and cooperates with the roller brush 21; when the cleaning device 100 is in the self-cleaning mode, the scraping mechanism 30 is located at an avoidance position that cooperates with the roller brush 21. Fig.21 As shown, the control method includes the following steps:

[0090] Step S101: receiving a signal from the cleaning device 100 to start a self-cleaning mode;

[0091] Step S102: After controlling the scraping mechanism 30 to move to an avoidance position with a clearance fit with the roller brush 21, the roller brush 21 is controlled to rotate to clean the roller brush cover 22.

[0092] In the above embodiment, when the cleaning device 100 is performing normal floor cleaning work, the scraping mechanism 30 is in a scraping position in contact with the roller brush 21, and can effectively clean and scrape off dirt attached to the roller brush 21, such as hair, debris, dirt, etc.; when the floor cleaning work is completed and the entire machine is placed on the base station 200 for self-cleaning, the scraping mechanism 30 is controlled to move to an avoidance position with a clearance fit with the roller brush 21, so that the scraping mechanism 30 is separated from the roller brush 21, reducing the friction between the scraping mechanism 30 and the roller brush 21, avoiding the contact between the rotating roller brush 21 and the scraping mechanism 30 in the self-cleaning mode, aggravating the problem of bristle wear of the roller brush 21, increasing the service life of the roller brush 21, and reducing the replacement frequency of the roller brush 21, effectively solving the problem of fast wear of the bristles of the roller brush 21, gradually deteriorating cleaning effect, and high replacement frequency of the roller brush 21 in the cleaning device 100 in the prior art.

[0093] In this embodiment, when the cleaning device 100 is working normally, the roller brush cover 22 is in an initial position with a set gap between it and the roller brush 21, so as to avoid interference between the cleaning device 100 and the roller brush 21 when cleaning the floor. When the cleaning device 100 starts the self-cleaning mode, the scraping mechanism 30 moves to the avoidance position with the gap matching the roller brush 21, and the roller brush cover 22 moves to the self-cleaning position with contact matching the roller brush 21, so as to facilitate the automatic cleaning of dirt on the roller brush cover 22 by the rotation of the roller brush 21.

[0094] It should be noted that in the present embodiment, the roller brush cover 22 can be driven to move between the initial position and the self-cleaning position by a separate driving mechanism 41, or preferably, the roller brush cover 22 can be linked with the scraping mechanism 30 so that the roller brush cover 22 and the scraping mechanism 30 can share a set of driving mechanisms, thereby simplifying the structure and saving control costs.

[0095] In some embodiments, the cleaning device 100 further includes a driving mechanism 41 for driving the scraping mechanism 30 to move between the scraping position and the avoidance position, and a position detection mechanism for detecting whether the scraping mechanism 30 has moved to the position; the control method specifically includes the following steps:

[0096] When a signal is received from the cleaning device 100 to start the self-cleaning mode, the driving mechanism 41 is controlled to operate, and the scraping mechanism 30 is driven to move toward the avoidance position until the position detection mechanism sends a corresponding trigger signal, and then the driving is stopped.

[0097] In the above embodiment, by providing a position detection mechanism, it is possible to accurately control the positions of the scraping mechanism 30 and the roller brush cover 22 , thereby improving the cleaning effect of the roller brush 21 and the roller brush cover 22 .

[0098] Optionally, the position detection mechanism may adopt a structure such as a distance sensor, a photoelectric sensor, an infrared sensor, a mechanical switch, etc.

[0099] In some embodiments, the scraping mechanism 30 is rotatably mounted in the floor brush of the cleaning device 100, and the position detection mechanism includes a first position switch 44 and a second position switch 45 for detecting whether the scraping mechanism 30 is turned to the scraping position and the avoidance position. Fig. 22 As shown, the control method also includes the following steps:

[0100] Step S200: the cleaning device 100 is started;

[0101] Step S201: when receiving a signal that the cleaning device 100 switches from the self-cleaning mode to the cleaning mode, controlling the driving mechanism 41 to rotate in a first direction to drive the scraping mechanism 30 to rotate toward the scraping position;

[0102] Step S202: During the process of the scraping mechanism 30 rotating toward the scraping position, it is determined in real time whether the first position switch 44 is triggered:

[0103] If yes, execute step S203; if no, execute step S204;

[0104] Step S203: controlling the driving mechanism 41 to stop rotating, and controlling the roller brush motor to drive the roller brush 21 to rotate and start floor cleaning;

[0105] Step S204: controlling the driving mechanism 41 to continue rotating until the first position switch 44 is triggered;

[0106] Step S205: when receiving a signal that the cleaning device 100 switches from the cleaning mode to the self-cleaning mode, controlling the driving mechanism 41 to rotate in the second direction to drive the scraping mechanism 30 to rotate toward the avoidance position;

[0107] Step S206: During the process of the scraping mechanism 30 rotating toward the avoidance position, it is determined in real time whether the second position switch 45 is triggered:

[0108] If yes, execute step S207; if no, execute step S208;

[0109] Step S207: controlling the driving mechanism 41 to stop rotating, and controlling the roller brush motor to drive the roller brush 21 to rotate and start self-cleaning;

[0110] Step S208: Control the driving mechanism 41 to continue rotating until the second position switch 45 is triggered.

[0111] In the above embodiment, the scraping mechanism 30 is rotatably installed in the floor brush of the cleaning device 100. When the cleaning device 100 performs cleaning and self-cleaning operations, the driving mechanism 41 can be used to control the scraping mechanism 30 to rotate between the scraping position and the avoidance position, thereby ensuring the scraping performance of the scraping mechanism 30 and ensuring that the scraping mechanism 30 is separated from the roller brush 21 during the self-cleaning process, reducing the friction between the scraping mechanism 30 and the roller, and increasing the service life of the roller brush. The scraping mechanism 30 moves between the scraping position and the avoidance position by rotating, which occupies less space than the translation method. The position detection mechanism adopts the design of the first position switch 44 and the second position switch 45, and can accurately determine whether the scraping mechanism 30 is rotated into place according to the trigger signals of the first position switch 44 and the second position switch 45.

[0112] Of course, in other alternative embodiments, the scraping mechanism 30 can also be slidably set on the floor brush. For example, the scraping mechanism 30 is translatedly set in the housing 10 of the floor brush, and the scraping mechanism 30 can be driven by a driving motor to move between the scraping position and the avoidance position.

[0113] Preferably, the driving mechanism 41 includes a driving motor 411 , and the scraping mechanism 30 is controlled to rotate between the scraping position and the avoidance position by controlling the driving motor 411 to rotate forward and reverse.

[0114] In some embodiments, during the process in which the driving mechanism 41 drives the scraping mechanism 30 to move to the scraping position or the avoidance position, the following steps are further performed:

[0115] If the trigger signal of the first position switch 44 or the second position switch 45 is not received within the set time, the cleaning device 100 is controlled to stop working.

[0116] In the above embodiment, during the process of the driving mechanism 41 driving the scraping mechanism 30 to move to the scraping position and the avoidance position, if the trigger signal of the first position switch 44 or the second position switch 45 is not received within the set time, it indicates that the cleaning device 100 may have an abnormality, such as a failure of the driving mechanism 41 or a jam of the scraping mechanism 30. At this time, the cleaning device is controlled to stop working to avoid causing related safety accidents.

[0117] The control method of the cleaning device 100 provided in this embodiment specifically includes the following steps:

[0118] Step A, working mode, including smart mode or powerful mode, users can choose whether to clean and the cleaning intensity according to their needs;

[0119] Step B, self-cleaning mode, the user can choose whether to self-clean or perform self-cleaning regularly according to needs;

[0120] More detailed, step A, smart mode or powerful mode:

[0121] Step A-① The driving motor 411 drives the entire scraping mechanism 30 to rotate forward;

[0122] During the forward rotation of step A-②, the control of the cleaning device 100 determines whether the first position switch 44 is closed. If it is closed, the process continues with step A-③. If it is not closed, the driving motor 411 continues to operate until it is closed within the specified time t, and the process continues with step A-③. If it is not closed, the process directly jumps to step A-⑦.

[0123] Step A-③ After the first position switch is closed, the drive motor 411 no longer operates;

[0124] Step A-④ The roller brush motor drives the roller brush 21 to rotate and start cleaning;

[0125] Step A-⑤Continue to work for a set period of time;

[0126] Step A-⑥ determines whether the user chooses to stop the machine; if "yes", proceed to step A-⑦; if "no", return to the working mode selection;

[0127] Step A-⑦ The cleaning device 100 is shut down.

[0128] In more detail, step B, self-cleaning mode:

[0129] Step B-① The driving motor 411 rotates forward to drive the entire structure to reverse;

[0130] During the reversal process of step B-②, the machine determines whether the second position switch is closed. If it is closed, continue to B-③. If it is not closed, the driving motor 411 continues to operate until it is closed within the specified time t, and continue to B-③. If it is not closed, jump directly to A-⑦;

[0131] Step B-③ After the second position switch is closed, the drive motor 411 no longer runs;

[0132] Step B-④ The roller brush motor drives the roller brush 21 to rotate forward and reverse to start self-cleaning;

[0133] Step A-⑤Continue to work for a set period of time;

[0134] Step A-⑥ determines whether the user chooses to stop the machine; if "yes", proceed to A-⑦; if "no", return to the working mode selection;

[0135] Step A-⑦ The cleaning device 100 is shut down.

[0136] In some embodiments, when the scraping mechanism 30 is in the scraping position, there is an interference fit between the scraping mechanism 30 and the bristles of the roller brush 21, and the control method further includes the following steps:

[0137] Step S301: According to the usage information of the roller brush 21, the movement stroke of the scraping mechanism 30 is adjusted so that when the cleaning device 100 is in the cleaning mode, the scraping mechanism 30 can always maintain an interference fit with the bristles.

[0138] In the above embodiment, the movement stroke of the scraping mechanism 30 is adjusted according to the actual use of the roller brush 21, so that when the cleaning device 100 performs floor cleaning, even if the bristles are worn and shortened, the scraping mechanism 30 can still maintain an interference fit with the bristles, thereby effectively ensuring the scraping mechanism 30's cleaning effect on the dirt on the roller brush 21.

[0139] Specifically, according to the usage information of the roller brush 21 , the movement stroke of the scraping mechanism 30 is adaptively increased.

[0140] In some embodiments, the usage information includes the usage time of the roller brush 21 or the wear amount of the bristles of the roller brush 21; adjusting the movement stroke of the scraping mechanism 30 according to the usage information of the roller brush 21 specifically includes the following steps:

[0141] Step S401: obtaining the usage time of the roller brush 21 or the wear amount of the bristles of the roller brush 21;

[0142] Step S402: adjusting the movement stroke of the scraping mechanism 30 according to the acquired usage time of the roller brush 21 or the wear amount of the bristles of the roller brush 21;

[0143] The adjustment amount of the movement stroke of the scraping mechanism 30 is proportional to the use time of the roller brush 21 or the wear amount of the bristles.

[0144] In the above embodiment, as the use time of the roller brush 21 increases or the amount of wear on the bristles increases, the movement stroke of the scraping mechanism 30 is adaptively increased, so that even if the bristles of the cleaning device 100 become shorter after long-term use, the scraping mechanism 30 can still maintain an interference fit with the roller brush 21 during normal cleaning work, effectively ensuring the scraping effect of the scraping mechanism 30 on the dirt on the roller brush 21. This can effectively solve the problem that when the cleaning device 100 is used for a long time, the gap between the scraping mechanism 30 and the roller brush 21 increases, resulting in the scraping mechanism 30 being unable to effectively scrape the dirt on the roller brush 21, affecting the cleaning effect of the cleaning device 100.

[0145] Specifically, in step S402, according to the increase in the usage time of the roller brush 21 or the increase in the wear of the bristles of the roller brush 21, the movement stroke of the scraping mechanism 30 is adaptively increased. That is, the longer the usage time of the roller brush 21 or the greater the wear of the bristles, the greater the adjustment amount of the movement stroke of the scraping mechanism 30, so as to ensure that the scraping mechanism 30 can always be able to interference fit with the bristles when cleaning the roller brush 21.

[0146] Furthermore, the cleaning device 100 is provided with a timing device for calculating the use time of the roller brush 21. The controller of the cleaning device 100 can calculate the increase in the movement stroke of the scraping mechanism 30 according to the set algorithm formula based on the use time of the roller brush 21, and then calculate the rotation angle of the drive motor 411. For example, the movement stroke of the scraping mechanism 30 is adjusted once every month.

[0147] Alternatively, the cleaning device 100 is provided with a bristle wear detection mechanism for detecting the amount of bristle wear, and the controller of the cleaning device 100 can calculate the increase in the movement stroke of the scraping mechanism 30 according to the amount of bristle wear, and then calculate the rotation angle of the drive motor 411. For example, each time the bristle wear is detected to be a set length, the movement stroke of the scraping mechanism 30 is controlled to increase by a corresponding set amount. Optionally, the bristle wear detection mechanism can be installed on the housing 10 of the floor brush, and the amount of bristle wear can be analyzed and determined by detecting the distance between it and the bristles. The bristle wear detection mechanism can be a distance sensor, an ultrasonic sensor, an infrared sensor, etc.

[0148] It should be noted that, in this embodiment, the increase in the movement stroke of the scraping mechanism 30 can be adjusted accordingly by controlling the interference fit between the scraping mechanism 30 and the bristles to remain unchanged, or the abutment force between the scraping mechanism 30 and the bristles to remain unchanged.

[0149] In some embodiments, the roller brush cover 22 is movably disposed in the floor brush of the cleaning device 100, and the scraping mechanism 30 and the roller brush cover 22 are linked and cooperated; when the scraping mechanism 30 moves to the scraping position, it can drive the roller brush cover 22 away from the roller brush 21 and form a set gap with the roller brush 21; when the scraping mechanism 30 moves to the avoidance position, it can drive the roller brush cover 22 close to the roller brush 21 and contact the bristles on the roller brush 21; after receiving the signal of the cleaning device 100 starting the self-cleaning mode, the following steps are specifically performed:

[0150] Step S501: Control the scraping mechanism 30 to move to a clearance position with a clearance fit with the roller brush 21, so as to drive the roller brush cover 22 to move to a self-cleaning position with a contact fit with the bristles on the roller brush 21;

[0151] Step S502: Then control the roller brush motor to drive the roller brush 21 to rotate forward and reverse to clean the dirt on the roller brush cover 22;

[0152] Step S503: Control the water spraying mechanism of the cleaning device 100 to spray water to the roller brush 21, and at the same time control the dirt suction mechanism of the cleaning device 100 to suck the clean dirt into the sewage tank.

[0153] In the above embodiment, by linking the scraping mechanism 30 with the roller brush cover 22, when the cleaning device 100 performs self-cleaning, the scraping mechanism 30 can not only move to the avoidance position to avoid the roller brush 21 to reduce the friction between it and the roller brush 21, thereby increasing the service life of the roller brush 21 and reducing the replacement frequency of the roller brush 21, but also drive the roller brush cover 22 to move to the self-cleaning position in contact with the roller brush 21, thereby realizing automatic cleaning of the dirt on the roller brush cover 22. Only one driving mechanism 41 is required to control the movement of the two components, the scraping mechanism 30 and the roller brush cover 22, thereby saving control costs, simplifying control steps, and effectively solving the problem that the scraping mechanism 30 and the roller brush cover 22 of the self-cleaning device 100 in the related art need to be driven by a separate driving mechanism 41, and the control process is relatively cumbersome and costly.

[0154] In some embodiments, the control method further comprises the following steps:

[0155] Step S601: obtaining the degree of dirtiness of the cleaning dirt;

[0156] Step S602: when it is determined that the dirt level is less than the set dirt threshold, the roller brush motor, the water spray mechanism, and the dirt suction mechanism are controlled to stop working;

[0157] Step S603: Control the scraping mechanism 30 to move to the scraping position in contact with the roller brush 21, so as to drive the roller brush cover 22 to return to the initial position with a set gap between the roller brush 21 and the roller brush 21.

[0158] In the above embodiment, during the self-cleaning process of the roller brush cover 22, if it is determined that the degree of dirtiness of the cleaned dirt is less than the set dirtiness threshold, it indicates that the roller brush cover 22 has been cleaned, and the roller brush motor, the water spraying mechanism, and the dirt suction mechanism are controlled to stop working, and the scraping mechanism 30 is controlled to drive the roller brush cover 22 to reset to the initial position with a set gap with the roller brush 21, so as to avoid the roller brush cover 22 interfering with the rotation of the roller brush 21 when the cleaning device 100 is performing normal floor cleaning work, thereby affecting the normal operation of the cleaning device 100.

[0159] The specific working steps of the cleaning device 100 of this embodiment are as follows:

[0160] (1) Start the cleaning mode of the cleaning device 100; (2) Control the roller brush 21 to rotate forward at high speed to clean the ground, and at the same time control the scraping mechanism 30 to move to a scraping position in contact with the roller brush 21; (3) End the cleaning mode; (4) Control the roller brush 21 to start reverse rotation; (5) Continue working for 20 seconds; (6) Drive the motor 411 to reverse, driving the roller brush cover 22 to sink; (7) Identify whether the drive motor 411 moves the roller brush cover 22 to a position tangent to the roller brush 21. If so, execute step (8); if not, return to step ( 7); (The identification method is to rely on two position switches installed one in front of the other at the driving motor 411. When the driving motor 411 reverses, the trigger 4211 on the driving gear 421 will touch the position switch placed at the back, and the driving motor 411 will stop rotating, that is, the signal that the position switch behind the driving gear 421 is touched is recognized); (8) The driving motor 411 stops rotating, and the roller brush cover 22 stops sinking; (9) The roller brush 21 starts to rotate forward and reverse; (10) The water spraying mechanism sprays water to the roller brush 21; (11) The main motor of the dirt suction mechanism starts (12) Continue working for 120 seconds; (13) Identify the dirty water sucked up by the suction port and determine whether the dirt level is lower than the set dirt threshold. If not, return to step (12); if so, continue to step (14); (The identification method here mainly relies on the infrared sensor installed at the suction port of the floor scrubber. When the suction mechanism sucks up the dirty water with dirt, it will block the infrared sensor to determine the dirt level); (14) The roller brush 21 stops rotating forward, stops spraying water, and stops sucking dirt; (15) The drive motor 411 rotates forward, and the roller brush cover 2 2 reset; (16) identify whether the drive motor 411 moves the roller brush cover 22 to the initial position. If so, proceed to step (17); if not, return to step (15) (the identification method is to rely on two position switches installed one after the other at the drive motor 411. When the drive electrode motor rotates forward, the trigger member 4211 on the driving gear 421 will touch the position switch placed in front, and the motor will stop, that is, it identifies the signal that the position switch in front of the motor driving gear 421 is touched); (17) The self-cleaning of the roller brush cover 22 is completed.

[0161] In this embodiment, when the cleaning device 100 performs cleaning work, the scraping mechanism 30 presses against the roller brush 21 to clean the dirt on the bristles; when the cleaning device 100 returns to the base station 200, the scraping mechanism 30 moves away from the roller brush 21 and loses contact with the roller brush 21, so as to avoid the scraping mechanism 30 interfering with the roller brush 21 when the cleaning device 100 performs self-cleaning, thereby aggravating the problem of bristle wear. In addition, the present invention can control the stroke of the scraper 32 to increase adaptively as the use time of the roller brush 21 increases or the length of the bristles changes. Therefore, the present invention can solve the problem that the roller brush 21 is constantly in contact with the scraping member and is worn, and the user cannot adjust the position of the scraping member according to actual conditions, resulting in rapid wear of the roller brush 21.

[0162] It should be noted that, in this embodiment, the cleaning device 100 includes but is not limited to a floor scrubber. This embodiment is a control method proposed based on a floor scrubber product. In addition to being applied to this product, the control logic can also be applied to other series of products that are common to the same principle.

[0163] According to an embodiment of the present invention, on the other hand, a cleaning device 100 is provided, and the cleaning device 100 is applicable to the control method of the cleaning device 100 of any of the above embodiments.

[0164] Specifically, Figures 1 to 20 As shown, the cleaning device 100 includes a body and a floor brush installed at the bottom of the body, the floor brush includes a shell 10, a roller brush assembly 20, a scraping mechanism 30, and a driving device 40, the roller brush assembly 20 includes a roller brush 21 rotatably arranged in the shell 10; the scraping mechanism 30 is movably arranged in the shell 10, and is used to scrape off dirt on the roller brush 21; the driving device 40 includes a driving mechanism 41 and a gear transmission mechanism 42, and the gear transmission mechanism 42 is transmission-arranged between the driving mechanism 41 and the scraping mechanism 30; the driving mechanism 41 drives the scraping mechanism 30 to move between a scraping position in contact with the roller brush 21 and an avoidance position in clearance with the roller brush 21 through the gear transmission mechanism 42.

[0165] Under the premise of ensuring the scraping performance of the scraping mechanism 30, the scraping mechanism 30 can avoid the roller brush 21 during the self-cleaning process, thereby reducing the friction between the scraping mechanism 30 and the roller brush 21, increasing the service life of the roller brush 21, reducing the replacement frequency of the roller brush 21, and saving the replacement cost. In addition, by using the gear transmission mechanism 42 as the transmission mechanism to drive the scraping mechanism 30 to move, not only the structure is simple, but also the transmission is accurate and reliable, the transmission efficiency is high, and the scraping mechanism 30 can move accurately and efficiently between the scraping position and the avoidance position.

[0166] Specifically, in order to improve the scraping effect of dirt on the roller brush 21, when the scraping mechanism 30 is in the scraping position, there is an interference fit between the scraping mechanism 30 and the bristles of the roller brush 21. When no cleaning work is performed, in order to reduce the friction between the scraping mechanism 30 and the roller brush 21, when the scraping mechanism 30 is in the avoidance position, the gap between the scraping mechanism 30 and the bristles of the roller brush 21 is greater than the set spacing.

[0167] In some embodiments, the scraping mechanism 30 is rotatably mounted on the shell 10, and the driving mechanism 41 is fixedly mounted on the shell 10; the gear transmission mechanism 42 includes a driving gear 421 and a driven gear 422, and the driving gear 421 is fixed on the output shaft of the driving mechanism 41; the driven gear 422 is meshed and transmitted between the driven gear 422 and the scraping mechanism 30, and the driving mechanism 41 drives the driving gear 421 and the driven gear 422 to rotate, so as to drive the scraping mechanism 30 to rotate between the scraping position and the avoidance position.

[0168] In the above embodiment, the scraping mechanism 30 is rotatably mounted on the shell 10. When the cleaning device 100 switches between the working mode and the self-cleaning mode, the driving device 40 can be used to control the scraping mechanism 30 to rotate between the scraping position and the avoidance position. Therefore, under the premise of ensuring the scraping performance of the scraping mechanism 30, it can also be ensured that during the self-cleaning process, the scraping mechanism 30 is separated from the roller brush 21, thereby reducing the friction between the scraping mechanism 30 and the roller brush 21 and increasing the service life of the roller brush 21. The scraping mechanism 30 moves between the scraping position and the avoidance position by rotating, which occupies less space than a translational method.

[0169] Of course, in other alternative embodiments, the scraping mechanism 30 may also be slidably disposed on the housing 10 . For example, the scraping mechanism 30 is translationally disposed in the housing 10 , and the scraping mechanism 30 may be driven by the driving mechanism 41 to move between the scraping position and the avoidance position.

[0170] In some embodiments, the driving mechanism 41 includes a driving motor 411 and a motor bracket 412, the driving motor 411 has an output shaft; the motor bracket 412 is fixedly mounted on the housing 10, and the driving motor 411 is mounted on the motor bracket 412; the gear transmission mechanism 42 also includes a gear cover 43, the gear cover 43 is assembled and connected to the motor bracket 412 to limit the driving gear 421 and the driven gear 422 between it and the motor bracket 412.

[0171] In the above embodiment, the gear cover 43 is configured to cooperate with the motor bracket 412 to limit the driving gear 421 and the driven gear 422 between the two, thereby reducing the risk of the driving gear 421 and the driven gear 422 falling off and improving the operating stability of the driving gear 421 and the driven gear 422.

[0172] Specifically, the motor bracket 412 includes a motor accommodating portion and a gear mounting portion. The gear mounting portion includes a mounting plate fixedly arranged on one side of the motor accommodating portion. The mounting plate is vertically arranged. A connecting shaft for mounting the driven gear 422 is fixedly arranged on the mounting plate. The driven gear 422 is rotatably sleeved and mounted on the connecting shaft. The mounting plate is also provided with an opening through which the output shaft of the driving motor 411 can extend. The output shaft of the driving motor extends from the opening and is connected and fixed to the driving gear 421. A bolt column is provided on the motor bracket 412, and the gear cover 43 is fixed to the bolt column of the motor bracket 412 by screws 46.

[0173] Furthermore, the driving device 40 further includes a motor bracket cover 413, a mounting groove for accommodating the driving motor 411 is provided in the motor bracket 412, the mounting groove is provided with a top opening, and the motor bracket cover 413 is detachably mounted and fixed at the notch of the mounting groove to seal the driving motor 411 in the mounting groove. Optionally, the housing 10 includes an upper housing 11, a lower housing 12, and a middle cover plate 13 provided between the upper housing 11 and the lower housing 12, and an installation space for installing the driving mechanism 41 is formed between the middle cover plate 13 and the lower housing 12, and the driving mechanism 41 is fixed on the lower housing 12.

[0174] In some embodiments, the cleaning device 100 further includes a position detection mechanism for sending corresponding sensing signals when the scraping mechanism 30 moves to the scraping position and the avoidance position, so as to limit the scraping stroke of the scraping mechanism 30 .

[0175] In the above embodiment, through the position detection mechanism, when the driving device 40 drives the scraping mechanism 30 to move to the scraping position and the avoidance position, a corresponding arrival signal can be issued. When the controller of the cleaning device 100 receives the arrival signal, it controls the driving device 40 to stop driving, thereby realizing precise control of the position of the scraping mechanism 30, ensuring the accuracy of the scraping stroke, avoiding excessive movement or out of position of the scraping mechanism 30 when moving between the scraping position and the avoidance position, avoiding affecting the scraping and cleaning effect of the scraping mechanism 30 on the roller brush 21, or the scraping mechanism 30 and the roller brush 21 cannot be effectively separated in the self-cleaning mode, and the bristles still have wear problems.

[0176] Optionally, the position detection mechanism may be in the form of a distance sensor, a photoelectric sensor, an infrared sensor, a position switch, etc. The position detection mechanism may be arranged on the driving device 40 , the scraping mechanism 30 or the housing 10 .

[0177] In some embodiments, the position detection mechanism includes a first position switch 44, a second position switch 45 and a trigger member 4211; when the scraping mechanism 30 moves to the scraping position, the trigger member 4211 can trigger the first position switch 44; when the scraping mechanism 30 moves to the avoidance position, the trigger member 4211 can trigger the second position switch 45.

[0178] In the above embodiment, when the cleaning device 100 receives a cleaning instruction, the driving device 40 drives the scraping mechanism 30 to rotate to the scraping position, and the trigger member 4211 can trigger the first position switch 44. When the cleaning device 100 receives the trigger signal of the first position switch 44, the driving device 40 is controlled to stop driving the scraping mechanism 30 to rotate, so that the scraping mechanism 30 remains in the scraping position. At this time, the roller brush 21 is controlled to rotate at a high speed, and the scraping mechanism 30 can clean the dirt on the roller brush 21, scrape the dirt off, and suck it away through the suction mechanism, thereby ensuring the scraping performance of the scraping mechanism 30; when the whole machine is placed in the base station 200 and receives a self-cleaning instruction, the driving device 40 drives the scraping mechanism 30 to rotate to the avoidance position, and the trigger member 4211 can trigger the second position switch 45. When the cleaning device 100 receives the trigger signal of the second position switch 45, the driving device 40 is controlled to stop driving the scraping mechanism 30 to rotate, so that the scraping mechanism 30 remains in the avoidance position. At this time, the scraping mechanism 30 is separated from the roller brush 21 to avoid friction.

[0179] Optionally, the trigger member 4211 is disposed on the scraping mechanism 30 or the driving device 40 , and the first position switch 44 and the second position switch 45 are disposed on the side wall of the housing 10 or the driving device 40 .

[0180] Furthermore, the driving device 40 includes a rotating part and a fixed part, wherein the fixed part is fixed to the housing 10, the rotating part includes but is not limited to the output shaft, the driving gear 421, the driven gear 422, and the fixed part includes but is not limited to the motor bracket 412, the gear cover 43 and other structures. The first position switch 44, the second position switch 45 and the trigger 4211 can all be arranged on the driving mechanism 41; or the position switch and the trigger 4211 are both arranged on the gear transmission mechanism 42; or one of the position switch and the trigger 4211 is arranged on the driving mechanism 41, and the other is arranged on the gear transmission mechanism 42.

[0181] In some preferred embodiments, the first position switch 44 and the second position switch 45 are arranged on the gear cover 43, and the trigger 4211 is arranged on the driving gear 421. By arranging the first position switch 44 and the second position switch 45 on the gear cover 43, compared with arranging them on the motor bracket 412, the installation space is larger, and the assembly and maintenance of the first position switch 44 and the second position switch 45 are more convenient. By arranging the trigger 4211 on the driving gear 421, compared with arranging it on the driven gear 422, the speed of the driving motor 411 can be fed back more directly, without conversion, and the response is more timely, and the control is more accurate and efficient.

[0182] Of course, in other alternative embodiments, the first position switch 44 and the second position switch 45 may also be set on the housing 10 or the motor bracket 412, and the trigger member 4211 may also be set on the driven gear 422 or the scraping mechanism 30. This embodiment does not limit the specific positions of the first position switch 44, the second position switch 45 and the trigger member 4211.

[0183] Furthermore, in some embodiments, the first position switch 44 and the second position switch 45 are arranged on the side wall of the gear cover 43 away from the driving gear 421 and the driven gear 422; the trigger member 4211 is a trigger rod fixedly set on the driving gear 421, and the gear cover 43 is provided with an opening 430 for the trigger rod to pass through and to avoid the movement of the trigger rod.

[0184] In the above embodiment, by setting the position switch on the outer wall of the gear cover 43, the back space of the gear cover 43 can be fully utilized, the space utilization rate can be improved, and the overall structure can be more compact. At the same time, the problem that the position switch is set on the inner wall of the gear cover 43 and easily interferes with the movement of the driving gear and the driven gear 422 can be effectively avoided. The trigger member 4211 adopts the structure of the trigger rod, which has a simple structure and is easy to process. The opening 430 opened on the gear cover 43 for the trigger rod to pass through and avoid the movement of the trigger rod facilitates the trigger rod to cooperate with the first position switch 44 and the second position switch 45.

[0185] Specifically, the trigger rod is fixedly arranged on the outer peripheral side of the driving gear 421, and the trigger rod is fixedly arranged on the side wall of the driving gear 421 facing the gear cover 43. Preferably, the trigger rod is integrally formed with the driving gear 421. Furthermore, the opening 430 on the gear cover 43 is an arc-shaped opening, and the trigger rod can move in an arc-shaped trajectory in the opening 430.

[0186] Furthermore, the gear cover 43 is provided with mounting columns 431 for mounting the first position switch 44 and the second position switch 45. Two groups of mounting columns 431 are provided on the gear cover 43. The two groups of mounting columns 431 are corresponding to the installation of two position switches. Each group of mounting columns 431 includes two mounting columns 431 arranged at intervals. Each position switch is provided with two mounting through holes. The first position switch 44 and the second position switch 45 are sleeved on the mounting columns 431 through the two mounting through holes thereon. By installing the first position switch 44 and the second position switch 45 in the above manner, not only the stability of the structure of the first position switch 44 and the second position switch 45 can be ensured, but also disassembly and assembly are convenient. When disassembly is required, the position switch can be directly removed from the mounting column 431. When installing, it can be directly sleeved on the mounting column 431.

[0187] Optionally, the first position switch 44 and the second position switch 45 are mechanical switches. Preferably, the first position switch 44 and the second position switch 45 are micro switches. When the active gear 421 rotates, it drives the trigger member 4211 to move in a set arc track, and the first position switch 44 and the second position switch 45 are arranged on the gear cover 43 at intervals corresponding to the arc track. The two opposite inner side walls of the first position switch 44 and the second position switch 45 are respectively provided with trigger parts, which can be triggered when the trigger member 4211 moves under the drive of the active gear, thereby triggering the first position switch 44 and the second position switch 45. Preferably, the trigger part is a trigger spring.

[0188] In this embodiment, the assembly process of the drive device 40 is as follows: place the drive motor 411 in the installation groove of the motor bracket 412, snap the motor bracket cover 413 into the notch of the motor bracket 412, install the driving gear 421 on the output shaft of the drive motor 411, put the support ring 414 on the output shaft to press the driving gear 421, and then install the driven gear 422 on the motor bracket 412, and then use the gear cover 43 and the motor bracket 412 to cooperate to press the driven gear 422, and then fix the gear cover 43 on the motor bracket 412 with the screw 46, and then assemble the first position switch 44 and the second position switch 45 on the gear cover 43, and the entire drive device 40 is assembled.

[0189] In some embodiments, the scraping mechanism 30 includes a support 31 and a scraper 32. The support 31 is rotatably mounted on the shell 10, and an engaging portion 310 for engaging and transmitting with the driving device 40 is provided on the support 31; the scraper 32 is installed on the support 31, and a plurality of scraping teeth for scraping dirt on the bristles of the roller brush 21 are provided on the scraper 32.

[0190] In the above embodiment, the meshing portion 310 provided on the support 31 can be used to drive the entire scraping mechanism 30 to rotate between the scraping position and the avoidance position by utilizing the meshing transmission between the meshing portion 310 and the gear transmission mechanism 42 .

[0191] Specifically, the meshing portion 310 is a sector gear disposed on the support 31. Preferably, the sector gear is integrally formed with the support 31. The scraper 32 can be fixed on the support 31 by screws or clamping. Preferably, the scraper 32 is fixed on the support 31 by screws. The scraper 32 is detachably mounted on the support 31 for easy disassembly and assembly.

[0192] In some embodiments, the scraping mechanism 30 further includes a second restoring member 314 , which is disposed on the support 31 and is used to apply a force to the support 31 to drive the scraper 32 to move in a direction close to the roller brush 21 .

[0193] In the above embodiment, by setting the second reset member 314 on the support 31, when the force of the driving mechanism 41 on the scraping mechanism 30 is removed, the second reset member 314 can drive the scraper 32 to rotate in the direction close to the roller brush 21, so that the scraping mechanism 30 is automatically reset to the scraping position, which is convenient for the normal subsequent scraping work. At the same time, it can also avoid the scraping mechanism 30 being highly flexible, rotating at will, and being unstable in position.

[0194] In some embodiments, the second restoring member 314 includes a torsion spring, two ends of which are respectively in contact with the housing 10 and the support 31 ; and there are two torsion springs, which are disposed at two ends of the support 31 .

[0195] In the above embodiment, the second reset member 314 adopts a torsion spring structure, which requires a smaller installation space and is more convenient to install than a conventional spring, and provides a more stable and reliable elastic retaining force; in addition, by providing two torsion springs at both ends of the support 31, the problem of twisting of the scraping mechanism 30 that is easily caused by the torsion spring being set on one side can be effectively avoided, thereby further improving the balance stability of the scraping mechanism 30 during the reset process.

[0196] Specifically, two installation shafts are provided at both ends of the support 31 , and the torsion springs are correspondingly installed on the two installation shafts, and two torsion arms of the torsion spring are respectively in contact with the support 31 and the housing 10 .

[0197] Furthermore, two second rotating shafts are fixedly provided at both ends of the support 31 , and rotating sleeves 313 are rotatably sleeved on the two second rotating shafts. The rotating sleeves 313 are connected to the housing 10 , thereby realizing the rotating connection between the support 31 and the housing 10 . The scraping mechanism 30 also includes a water baffle 33 and a pressure plate 34. The support 31 includes a front cover 311 and a rear cover 312. The scraper 32 is located at the front side of the support 31. The second rotating shaft and the mounting shaft are both formed on the rear cover 312. The bottom of the rear cover 312 is provided with a mounting hole for mounting the scraper 32. The assembly process of the scraping mechanism 30 is as follows: first, the front cover 311 and the rear cover 312 are glued to prevent water leakage, and then the two rotating sleeves 313 are respectively sleeved on the two second rotating shafts at both ends of the rear cover 312, and then the two torsion springs are respectively sleeved on the mounting shafts at both ends of the rear cover 312, and then the scraper 32 is assembled into the corresponding mounting holes of the rear cover 312, and then the water baffle 33 is pressed on the scraper 32, and then the pressure plate 34 is pressed on the water baffle 33, and fixed with four screws.

[0198] In some embodiments, the roller brush assembly 20 also includes a roller brush cover 22, which is movably disposed on the shell 10 and is located on one side of the roller brush 21. The scraping mechanism 30 and the roller brush cover 22 are linked together. When the scraping mechanism 30 moves to the avoidance position, it can drive the roller brush cover 22 to rotate in a direction close to the roller brush 21, so that the roller brush cover 22 and the roller brush 21 remain in close contact. At this time, the roller brush cover 22 can be self-cleaned by controlling the forward and reverse rotation of the roller brush 21.

[0199] In the above embodiment, by linking the scraping mechanism 30 with the roller brush cover 22, when the cleaning device 100 performs self-cleaning, the scraping mechanism 30 can not only move to an avoidance position to avoid the roller brush 21 to reduce the friction between it and the roller brush 21, thereby increasing the service life of the roller brush 21 and reducing the replacement frequency of the roller brush 21, but also drive the roller brush cover 22 to move to a position in contact with the roller brush 21 to achieve cleaning of the dirt on the roller brush cover 22. Only one driving device 40 is required to control the movement of the scraping mechanism 30 and the roller brush cover 22, thereby saving control costs, simplifying control steps, and effectively solving the problem that the scraping mechanism 30 and the roller brush cover 22 of the self-cleaning device 100 in the related art need to be driven by a separate driving mechanism 41, and the control process is relatively cumbersome and costly.

[0200] In this embodiment, the roller brush cover 22 is located above the roller brush 21, and the roller brush cover 22 and the scraping mechanism 30 can be linked through a linkage mechanism, or can be directly contacted and matched to achieve linkage. When the cleaning device 100 is performing normal cleaning work, the roller brush 21 rotates at a high speed, and the scraping mechanism 30 is in a scraping position with an interference fit with the bristles of the roller brush 21, and can scrape off the dirt on the bristles in time. At this time, there is a set gap between the roller brush cover 22 and the roller brush 21, and the dirt on the roller brush 21 that is not scraped off by the scraping mechanism 30 can be thrown onto the roller brush cover 22 under the action of centrifugal force. When the cleaning device 100 completes the cleaning work, it is placed in the base station 200. At this time, since the roller brush 21 is no longer performing the cleaning work, the scraping mechanism 30 does not need to clean the roller brush 21, and the scraping mechanism 30 moves to an avoidance position that cooperates with the bristle gap of the roller brush 21. At this time, the roller brush cover 22 rotates downward under the linkage of the scraping mechanism 30, keeps close contact with the roller brush 21, and then realizes self-cleaning of the dirt attached to the roller brush cover 22 by controlling the forward and reverse rotation of the roller brush 21.

[0201] In some embodiments, the roller brush cover 22 is rotatably disposed on the shell 10, and a linkage component 301 is disposed on the scraping mechanism 30; the linkage component 301 is limitedly matched with the roller brush cover 22 to convert the movement of the scraping mechanism 30 into power for the roller brush cover 22 to rotate in a direction close to or away from the roller brush 21.

[0202] In the above embodiment, by means of the linkage component 301 provided on the scraping mechanism 30 and limitedly engaging with the roller brush cover 22, when the scraping mechanism 30 moves to the avoidance position, the roller brush cover 22 can be driven by the linkage component 301 to rotate to the self-cleaning position in contact with the roller brush 21, thereby facilitating the roller brush 21 to clean the roller brush cover 22; when the scraping mechanism 30 moves to the scraping position, the roller brush cover 22 can be driven by the linkage component 301 and / or the action of the first reset member to rotate to the initial position in which the roller brush 21 has a gap, thereby effectively ensuring that when the cleaning device 100 is performing normal cleaning work, there is a set gap between the roller brush cover 22 and the roller brush 21, and will not interfere with the movement of the roller brush 21.

[0203] Specifically, when the scraping mechanism 30 moves to the avoidance position, the linkage component 301 can convert the movement of the scraping mechanism 30 into a downward pressure applied to the roller brush cover 22, so that the roller brush cover 22 and the roller brush 21 are in contact and matched. The limiting matching mode of the linkage component 301 and the roller brush cover 22 includes but is not limited to the form of hinge, hook, abutment, etc. Exemplarily, the linkage component 301 can adopt a structure form such as an articulated seat, a pull ring, a hook, a protrusion, etc.

[0204] In some embodiments, the roller brush cover 22 includes a roller brush cover body 221 and a connecting portion 222; one end of the connecting portion 222 is fixed to the roller brush cover body 221, and the other end is limitedly engaged with the linkage component 301, and the middle part is rotatably connected to the shell 10; when the scraping mechanism 30 moves to the scraping position, the roller brush cover body 221 can be driven by the linkage component 301 to rotate in the direction away from the roller brush 21; when the scraping mechanism 30 moves to the avoidance position, the linkage component 301 can push the roller brush cover body 221 to rotate in the direction close to the roller brush 21 through the connecting portion 222.

[0205] In the above embodiment, the roller brush cover 22 adopts the design of the above-mentioned connecting portion 222, and the connecting portion 222 can not only realize the rotation connection between the roller brush cover 22 and the housing 10, but also can cooperate with the linkage component 301 to realize the linkage between the roller brush cover 22 and the scraping mechanism 30, so that one thing can be used for multiple purposes, and the structure is further simplified. In addition, the connecting portion 222 adopts a method of rotationally connecting with the housing 10 in the middle part, and cooperating with the roller brush cover body 221 and the scraping mechanism 30 at both ends, so that the entire roller brush cover 22 forms a lever-like structure, which can change the direction of the force, so that the scraping mechanism 30 can drive the roller brush cover body 221 to move downward when pushing the connecting portion 222 upward, and close to the roller brush 21, which not only makes the position of the scraping mechanism 30 unrestricted, but also facilitates the installation layout of the scraping mechanism 30, and also enables the scraping mechanism 30 to drive the roller brush cover 22 to move more easily and labor-savingly.

[0206] Specifically, the roller brush cover body 221 is an arc-shaped plate-like structure, and a first axial hole is opened in the middle of the connecting part 222. The first axial hole and the shell 10 are connected by the first rotating shaft 23 to realize the rotational connection between the roller brush cover 22 and the shell 10. Of course, in other alternative embodiments, the middle part of the connecting part 222 can be integrally provided with a first rotating shaft 23.

[0207] When the cleaning device 100 is performing cleaning work normally, the scraping mechanism 30 moves to the scraping position. At this time, the roller brush cover body 221 can be driven by the linkage component 301 to rotate in the direction away from the roller brush 21 to avoid interfering with the high-speed rotating roller brush 21; when the cleaning device 100 is performing self-cleaning, the scraping mechanism 30 moves to the avoidance position. At this time, the linkage component 301 can push the roller brush cover body 221 to rotate in the direction close to the roller brush 21 through the connecting part 222, so that the roller brush cover body 221 is in contact and cooperate with the bristles of the roller brush 21. At this time, the dirt on the inner wall of the roller brush cover body 221 can be cleaned by controlling the forward and reverse rotation of the roller brush 21.

[0208] In some embodiments, in combination Fig. 9 , Figures 15 to 20 As shown, the linkage component 301 is a push-up protrusion arranged on the scraping mechanism 30 , and the push-up protrusion is in abutment with the roller brush cover 22 .

[0209] In the above embodiment, the linkage component 301 adopts the form of a push-up protrusion, which has a simple structure and is easy to process and form, and the linkage between the scraping mechanism 30 and the roller brush cover 22 is achieved by abutting and cooperating between the push-up protrusion and the roller brush cover 22. Compared with the hinged and hooked methods, the linkage method is simpler and more reliable, and is also convenient for disassembly and assembly as well as later maintenance.

[0210] Furthermore, the roller brush cover body 221 has an inner wall facing the roller brush 21 and an outer wall facing away from the roller brush 21, and the connecting portion 222 is a connecting rib fixedly arranged on the outer wall, and the connecting rib abuts against the push-up protrusion. The connecting portion 222 adopts the form of a connecting rib fixedly arranged on the outer wall of the roller brush cover body 221, and has a simple structure and is easy to process and form.

[0211] Specifically, the linkage component 301 is a protrusion fixedly set on the scraping mechanism 30, and the connecting rib includes an axial body portion located in the middle and a first arm body and a second arm body arranged at a set angle on both sides of the axial body portion. An axial hole is opened in the axial body portion, and the end of the first arm body is fixed on the outer wall of the roller brush cover main body 221, and the end of the second arm body is constructed as an abutting end suitable for abutting with the linkage component 301.

[0212] In some embodiments, two groups of connection parts 222 are provided at both ends of the roller brush cover body 221 along the axial direction of the roller brush 21 ; two groups of linkage components 301 are correspondingly provided, and the two groups of linkage components 301 are matched with the two groups of connection parts 222 in a one-to-one correspondence.

[0213] In the above embodiment, by providing two groups of connecting parts 222 at both ends of the roller brush cover main body 221 and two groups of linkage components 301 correspondingly provided, the two groups of linkage components 301 are abutted and matched with the two groups of connecting parts 222 in a one-to-one correspondence, thereby enabling the roller brush cover main body 221 to be pushed from both sides, making the movement of the roller brush cover main body 221 more balanced and stable.

[0214] In some embodiments, the roller brush assembly 20 also includes a first rotating shaft 23 and a first reset member 24, and the connecting portion 222 is rotatably connected to the shell 10 through the first rotating shaft 23; the first reset member 24 is arranged on the first rotating shaft 23, and can apply a reset force to the roller brush cover body 221 to rotate in a direction away from the roller brush 21.

[0215] In the above embodiment, by providing the first reset member 24 on the first rotating shaft 23, the roller brush cover 22 can have a tendency to rotate in the direction away from the roller brush 21. When the scraping mechanism 30 moves to the scraping position and no longer presses down the roller brush cover 22, the first reset member 24 can give an upward reset force to the roller brush cover body 221, so that the roller brush cover 22 can automatically reset to the initial position that is in clearance with the roller brush 21, thereby effectively ensuring the normal progress of the cleaning work.

[0216] Preferably, the first reset member 24 is a torsion spring, which is sleeved on the first rotating shaft 23, and the two ends of the torsion spring are respectively abutted against the roller brush cover body 221 and the shell 10. The torsion spring can give the roller brush cover body 221 an upward reset force when the pushing protrusion does not lift the connecting part 222 to press down the roller brush cover body 221, so as to restore the gap between the roller brush cover body 221 and the roller brush 21 for normal cleaning work.

[0217] Of course, in other alternative implementations, the first restoring member 24 may also be a tension spring, for example, which is not limited in this embodiment.

[0218] In this embodiment, along the circumferential direction of the roller brush cover main body 221, the connection position between the connecting rib and the roller brush cover main body 221 is located on one side of the arc-shaped roller brush cover main body 221. When the scraping mechanism 30 moves to the avoidance position, the linkage component 301 moves upward, pushing the second arm of the connecting rib to rotate upward. Under the action of the lever, the first arm of the connecting rib drives the roller brush cover main body 221 to rotate downward, pressing the roller brush cover main body 221 downward, so that the roller brush cover main body 221 contacts and cooperates with the roller brush 21; when the scraping mechanism 30 moves to the scraping position, the linkage component 301 moves upward, and the second arm falls accordingly under the action of the first reset member 24. Under the action of the lever, the first arm drives the roller brush cover main body 221 to rotate, lifting the roller brush cover main body 221, so that the roller brush cover main body 221 is out of contact with the roller brush 21 and a set gap is formed.

[0219] In some embodiments, the roller brush assembly 20 also includes a sealing strip 25, which is disposed on the inner edge of the roller brush cover body 221. The setting of the sealing strip 25 enables the roller brush cover body 221 to be sealed with the middle cover plate 13 of the shell 10, thereby preventing dirt from being thrown from between the roller brush cover body 221 and the middle cover plate 13 of the shell 10 to other locations in the shell 10, thereby affecting the hygiene of the entire machine.

[0220] Preferably, in this embodiment, the cleaning device 100 is a floor scrubber.

[0221] The following describes the floor brush assembly steps and the working process of the cleaning device 100 of this embodiment in conjunction with the accompanying drawings.

[0222] 1. The floor brush assembly process is as follows:

[0223] Fix the driving device 40 to the lower shell 12 of the shell 10 with screws; mesh the meshing portion 310 of the scraping mechanism 30 with the driven gear 422 of the driving device 40 and assemble them at the front end of the lower shell 12, then press the scraping mechanism 30 with the middle cover plate 13, then install the roller brush 21 into the front end of the scraping mechanism 30, and then install the roller brush cover 22 over the roller brush 21 to cover the roller brush 21 and the scraper 32, and the floor brush of the cleaning device 100 is assembled.

[0224] 2. The working process of the cleaning device 100 is as follows:

[0225] When the cleaning device 100 cleans the floor normally, the driving motor 411 drives the scraping mechanism 30 to rotate and move forward. After reaching the scraping position, the scraper 32 can effectively clean the dirt. After cleaning, the whole machine is placed on the base station 200 to start the self-cleaning mode. At this time, the driving motor 411 drives the active gear 421 and the driven gear 422 to move, driving the scraping mechanism 30 to rotate and move backward to the avoidance position, so that the scraper 32 is separated from the roller brush 21 to avoid interference. At the same time, the linkage component 301 on the scraping mechanism 30 moves, driving the roller brush cover 22 to rotate downward and keep close to the roller brush 21. At this time, the roller brush 21 reverses for self-cleaning, and the scraping mechanism 30 moves to the avoidance position, which can not only avoid the roller brush 21, avoid the friction between the scraper 32 and the roller brush 21, and increase the service life of the roller brush 21, but also make the roller brush cover 22 fit with the roller brush 21 to clean the dirt on the roller brush cover 22.

[0226] Furthermore, during the process of cleaning the floor with the cleaning device 100, the driving motor 411 drives the driving gear 421, and the driving gear 421 can drive the driven gear 422. The driven gear 422 drives the scraper 32 to rotate forward and contact the roller brush 21 through the meshing portion 310 on the scraping mechanism 30 (due to limited space, only a limited meshing portion of the gear is left, so the meshing portion 310 is made into a fan-shaped gear). When the trigger member 4211 on the driving gear 421 touches the first position switch 44, the driving motor 411 stops moving, and the scraper 32 rotates to the frontmost position. At this time, the roller brush 21 will rotate at high speed, and the scraper 32 will clean the dirt on the roller brush 21, scrape the dirt off, and then suck it away through the dirt suction chamber.

[0227] When the floor scrubber finishes cleaning the floor, it is placed in the base station 200 and enters the self-cleaning mode. The drive motor 411 drives the scraper 32 to rotate backward through the transmission mechanism. When the trigger member 4211 on the driving gear 421 touches the second position switch 45, the backward rotation of the drive motor 411 stops. At this time, the scraper 32 is disengaged from the roller brush 21 to avoid friction. At the same time, the linkage component 301 on the scraper 32 rotates upward to link the roller brush cover 22, so that the roller brush cover 22 rotates downward, and the roller brush cover 22 contacts the bristles on the roller brush 21. After self-cleaning starts, the bristles can clean the dirt on the roller brush cover 22.

[0228] The cleaning device 100 provided in this embodiment mainly improves the scraping function of the scraper 32 and the life of the roller brush 21. Under the premise of ensuring the scraping performance of the scraper 32, in order to increase the service life of the roller brush 21, during the self-cleaning process, the scraper 32 is controlled to separate from the roller brush 21 to reduce the friction between the scraper 32 and the roller brush 21. Through the linkage between the scraping mechanism 30 and the roller brush cover 22, the cleaning function of the roller brush cover 22 can be realized, and the service life of the roller brush 21 can be increased. At the same time, the dirt on the roller brush cover 22 is cleaned synchronously, and the dirt on the roller brush cover 22 is self-cleaned, thereby improving the service life of the roller brush 21 and the cleaning effect of the whole machine.

[0229] The cleaning device 100 provided in this embodiment can, according to the cleaning status, during the cleaning process, the scraper 32 can effectively cooperate with the roller brush 21 to scrape dirt. During the self-cleaning process, the scraper 32 is controlled to separate from the roller brush 21 by driving the motor 411, thereby reducing the friction between the scraper 32 and the roller brush 21, increasing the service life of the roller brush 21, reducing the replacement frequency of the roller brush 21, and improving the user experience. When the whole machine is placed in the base station 200 and receives the self-cleaning instruction, the driving motor 411 drives the scraper 32 to rotate to the avoidance position, and the trigger member 4211 can trigger the second position switch 45. When the cleaning device 100 receives the trigger signal of the second position switch 45, it controls the driving device 40 to stop driving the scraping mechanism 30 to rotate, so that the scraping mechanism 30 remains in the avoidance position. At this time, the scraping mechanism 30 is disengaged from the roller brush 21 to avoid friction. At the same time, the linkage component 301 on the scraping mechanism 30 rotates upward, and the roller brush cover 22 is linked to make the roller brush cover body 221 rotate downward to the self-cleaning position in contact with the bristles on the roller brush 21. At this time, the roller brush cover body 221 has a slight interference with the bristles, and then the roller brush 21 is controlled to rotate forward and reverse, and the bristles on the roller brush 21 can realize self-cleaning of the dirt on the roller brush cover 22, thereby improving the cleaning effect of the whole machine.

[0230] According to an embodiment of the present invention, on the other hand, a computer-readable storage medium is provided, on which computer instructions are stored, and when the computer instructions are executed by a processor, the steps of the control method of the cleaning device 100 of any of the above embodiments are implemented.

[0231] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations shall all fall within the protection scope of the embodiments 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 scraping mechanism for scraping dirt on the roller brush, and the cleaning device has a working mode and a self-cleaning mode; When the cleaning device is in working mode, the scraping mechanism is located at a scraping position in contact with the roller brush; When the cleaning device is in the self-cleaning mode, the scraping mechanism is located in an avoidance position that matches the gap between the roller brush and the cleaning device; The control method comprises: receiving a signal from a cleaning device to start a self-cleaning mode; After the scraping mechanism is controlled to move to a avoidance position that matches the roller brush gap, the roller brush is controlled to rotate to clean the roller brush cover.

2. The control method of the cleaning equipment according to claim 1, characterized in that: The cleaning device also includes a driving mechanism for driving the scraping mechanism to move between a scraping position and an avoidance position, and a position detection mechanism for detecting whether the scraping mechanism has moved to a certain position; The control method specifically comprises the following steps: When a signal is received from the cleaning device to start the self-cleaning mode, the driving mechanism is controlled to move, and the scraping mechanism is driven to move in a direction close to the avoidance position until the position detection mechanism sends a corresponding trigger signal, and then the driving is stopped.

3. The control method of the cleaning equipment according to claim 2, characterized in that: The scraping mechanism is rotatably mounted in the floor brush of the cleaning device, and the position detection mechanism includes a first position switch and a second position switch for detecting whether the scraping mechanism is turned to the scraping position and the avoidance position; The control method further comprises the following steps: When receiving a signal that the cleaning device switches from the self-cleaning mode to the cleaning mode, the driving mechanism is controlled to rotate in a first direction to drive the scraping mechanism to rotate toward the scraping position; During the rotation of the scraping mechanism toward the scraping position, determining in real time whether the first position switch is triggered: If yes, the driving mechanism is controlled to stop rotating, and the roller brush motor is controlled to drive the roller brush to rotate to start floor cleaning; if no, the driving mechanism is controlled to continue rotating until the first position switch is triggered; When receiving a signal that the cleaning device switches from the cleaning mode to the self-cleaning mode, controlling the driving mechanism to rotate in the second direction to drive the scraping mechanism to rotate toward the avoidance position; During the rotation of the scraping mechanism toward the avoidance position, determining in real time whether the second position switch is triggered: If so, the driving mechanism is controlled to stop rotating, and the roller brush motor is controlled to drive the roller brush to rotate and start self-cleaning; if not, the driving mechanism is controlled to continue rotating until the second position switch is triggered.

4. The control method of the cleaning equipment according to claim 3, characterized in that: In the process where the driving mechanism drives the scraping mechanism to move toward the scraping position or the avoidance position, the following steps are further performed: If no trigger signal from the first position switch or the second position switch is received within a set time, the cleaning device is controlled to stop working.

5. The control method of the cleaning equipment according to any one of claims 1 to 4, characterized in that: When the scraping mechanism is in the scraping position, there is an interference fit between the scraping mechanism and the bristles of the roller brush, and the control method further comprises the following steps: The movement stroke of the scraping mechanism is adjusted according to the usage information of the roller brush, so that when the cleaning device is in the cleaning mode, the scraping mechanism can always maintain an interference fit with the bristles.

6. The control method of the cleaning equipment according to claim 5, characterized in that: The step of adjusting the movement stroke of the scraping mechanism according to the usage information of the roller brush specifically comprises the following steps: Obtaining the usage time of the roller brush or the wear amount of the bristles of the roller brush; Adjusting the movement stroke of the scraping mechanism according to the obtained usage time of the roller brush or the wear amount of the bristles of the roller brush; The adjustment amount of the movement stroke of the scraping mechanism is proportional to the use time of the roller brush or the wear amount of the bristles.

7. The control method of the cleaning equipment according to any one of claims 1 to 4, characterized in that: The roller brush cover is movably arranged in the floor brush of the cleaning device, and the scraping mechanism and the roller brush cover are linked and coordinated; When the scraping mechanism moves to the scraping position, it can drive the roller brush cover away from the roller brush and form a set gap between the roller brush; When the scraping mechanism moves to the avoidance position, it can drive the roller brush cover to approach the roller brush and contact the bristles on the roller brush.

8. The control method of the cleaning equipment according to claim 7, characterized in that: After receiving the signal from the cleaning device to start the self-cleaning mode, the following steps are specifically performed: Controlling the scraping mechanism to move to a avoidance position that matches the gap with the roller brush, so as to drive the roller brush cover to move to a self-cleaning position that contacts and matches the bristles on the roller brush; Then the roller brush motor is controlled to drive the roller brush to rotate forward and reverse to clean the dirt on the roller brush cover; The water spraying mechanism of the cleaning device is controlled to spray water to the roller brush, and the dirt suction mechanism of the cleaning device is controlled to suck the clean dirt into the sewage tank.

9. The control method of the cleaning equipment according to claim 8, characterized in that: The control method further comprises the following steps: Get the dirtyness level of the clean dirty; When it is determined that the dirt level is less than the set dirt threshold, the roller brush motor, water spray mechanism, and dirt suction mechanism are controlled to stop working; The scraping mechanism is controlled to move to a scraping position in contact with the roller brush, so as to drive the roller brush cover to return to an initial position with a set gap between the roller brush and the roller brush.

10. A cleaning device, characterized in that: The cleaning device is applicable to the control method for the cleaning device according to any one of claims 1 to 9 above.

11. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by a processor, the steps of the method for controlling a cleaning device according to any one of claims 1 to 9 are implemented.

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