Control method of cleaning device, cleaning device, and computer-readable storage medium

Abstract

The present application relates to the technical field of home appliance control, and discloses a control method of a cleaning device, the cleaning device and a computer readable storage medium, the cleaning device comprising a roller brush and a dirt scraping mechanism, when the cleaning device is in a working mode, the dirt scraping mechanism is located at a dirt scraping position in contact with the roller brush, when the cleaning device is in a self-cleaning mode, the dirt scraping mechanism is located at a avoiding position in clearance with the roller brush, the control method comprising: receiving a signal of starting the self-cleaning mode of the cleaning device; controlling the dirt scraping mechanism to move to the avoiding position in clearance with the roller brush, and then controlling the roller brush to rotate to clean the roller brush cover. When the cleaning device is in the self-cleaning mode, the dirt scraping mechanism is controlled to move to the avoiding position in clearance with the roller brush, so that the dirt scraping mechanism is separated from the roller brush, the friction between the dirt scraping mechanism and the roller brush is reduced, and the problem that the rotating roller brush still maintains contact with the dirt scraping mechanism in the self-cleaning mode and aggravates the wear of the bristles of the roller brush is avoided.

Description

Technical Field

[0001] This invention relates to the field of home appliance control technology, specifically to a control method for cleaning equipment, cleaning equipment, and a computer-readable storage medium. Background Technology

[0002] With the development of society and economy and people’s increasing requirements for home environment, cleaning equipment that integrates floor washing, mopping and vacuuming has emerged and is widely used in people’s lives. The cleaning equipment of this technology usually achieves floor cleaning by rotating the roller brush driven by the motor. However, the existing cleaning equipment has the problems of rapid wear of the roller brush bristles, gradual deterioration of cleaning effect and high frequency of roller brush replacement. 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 brush bristles in existing cleaning devices.

[0004] In a first aspect, the present invention provides a control method for a cleaning device, the cleaning device including a roller brush and a scraping mechanism for scraping off dirt from the roller brush, the cleaning device having a working mode and a self-cleaning mode.

[0005] When the cleaning equipment is in working mode, the scraping mechanism is in the scraping position that contacts and cooperates with the roller brush; when the cleaning equipment is in self-cleaning mode, the scraping mechanism is in the clearance position that cooperates with the roller brush.

[0006] Control methods include:

[0007] Receives a signal from the cleaning equipment to activate its self-cleaning mode;

[0008] After controlling the scraping mechanism to move to a position that allows it to avoid contact with the gap between the roller brush and the brush, control the roller brush to rotate and clean the roller brush cover.

[0009] Beneficial effects: During normal floor cleaning, the scraping mechanism is in contact with the roller brush, effectively cleaning and removing dirt such as hair, debris, and grime. After floor cleaning, when the unit is placed on the base station for self-cleaning, the scraping mechanism moves to a position that avoids contact with the roller brush, separating the scraping mechanism from the roller brush. This reduces friction between the scraping mechanism and the roller brush, preventing the rotating roller brush from remaining in contact with the scraping mechanism during self-cleaning mode, which would exacerbate brush bristle wear. This improves the lifespan of the roller brush, reduces its replacement frequency, and effectively solves the problems of rapid brush bristle wear, gradually deteriorating cleaning effect, and high roller brush replacement frequency in existing cleaning equipment.

[0010] In one alternative embodiment, the cleaning equipment further includes a drive 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 into position.

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

[0012] When a signal is received that the cleaning equipment has started its self-cleaning mode, the control drive mechanism is activated, driving the scraping mechanism to move towards the avoidance position until the position detection mechanism sends a corresponding trigger signal, at which point the drive stops.

[0013] Beneficial effects: The position detection mechanism enables precise control of the scraping mechanism and the roller brush cover, improving the cleaning effect on the roller brush and the roller brush cover.

[0014] In one alternative embodiment, the smear scraping mechanism is rotatably mounted in the floor brush of the cleaning equipment, and the position detection mechanism includes a first position switch and a second position switch for detecting whether the smear scraping mechanism has rotated to the smear scraping position and the avoidance position.

[0015] The control method also includes the following steps:

[0016] When a signal is received that the cleaning device has switched from self-cleaning mode to cleaning mode, the control drive mechanism rotates in the first direction to drive the scraping mechanism to rotate toward the scraping position.

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

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

[0019] When a signal is received that the cleaning device has switched from cleaning mode to self-cleaning mode, the control drive mechanism rotates in the second direction to drive the scraping mechanism to rotate to the avoidance position.

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

[0021] If yes, the drive mechanism is controlled to stop rotating, and the roller brush motor is controlled to drive the roller brush to rotate and begin self-cleaning; if no, the drive mechanism is controlled to continue rotating until the second position switch is triggered.

[0022] Beneficial effects: The scraping mechanism is rotatably mounted in the floor brush of the cleaning equipment. During cleaning and self-cleaning operations, the drive mechanism controls the scraping mechanism to rotate between the scraping position and the avoidance position. This ensures that while maintaining the scraping performance, the scraping mechanism also separates from the roller brush during self-cleaning, reducing friction between the scraping mechanism and the roller brush and extending the roller brush's lifespan. The rotational movement of the scraping mechanism between the scraping and avoidance positions occupies less space compared to translational movement. The position detection mechanism, employing a first and second position switch design, can accurately determine whether the scraping mechanism has rotated to the correct position based on the trigger signals from the first and second position switches.

[0023] In one optional implementation, during the process of the drive mechanism driving the scraping mechanism to move towards the scraping position or the avoidance position, the following steps are also performed:

[0024] If no trigger signal is received from the first or second position switch within the set time, the cleaning equipment will be stopped.

[0025] Beneficial effects: If the drive mechanism does not receive a trigger signal from the first or second position switch within a set time during the process of driving the scraping mechanism to move to the scraping position and the avoidance position, it indicates that the cleaning equipment may be malfunctioning, such as a drive mechanism failure or the scraping mechanism being stuck. In this case, the cleaning equipment will be controlled to stop working to avoid causing related safety accidents.

[0026] In one optional implementation, when the scraping mechanism is in the scraping position, it has an interference fit with the bristles of the roller brush, and the control method further includes the following steps:

[0027] Based on the usage information of the roller brush, adjust the stroke of the scraping mechanism so that the scraping mechanism can always maintain an interference fit with the brush bristles when the cleaning equipment is in cleaning mode.

[0028] Beneficial effects: By adjusting the stroke of the scraping mechanism according to the actual use of the roller brush, the scraping mechanism can still maintain an interference fit with the brush bristles even when the bristles wear down and become shorter during floor cleaning, effectively ensuring the cleaning effect of the scraping mechanism on the dirt on the roller brush.

[0029] In one optional implementation, the stroke of the scraping mechanism is adjusted based on the usage information of the roller brush, specifically including the following steps:

[0030] To obtain the usage time of the roller brush or the wear of the brush bristles;

[0031] Adjust the stroke of the scraping mechanism based on the obtained usage time of the roller brush or the wear of the roller brush bristles.

[0032] The adjustment amount of the scraping mechanism's stroke is directly proportional to the usage time of the roller brush or the wear of the bristles.

[0033] Beneficial effects: As the roller brush is used for longer periods or the bristles wear down, the stroke of the scraping mechanism adapts to increase. This allows the scraping mechanism to maintain an interference fit with the roller brush even after long-term use and when the bristles shorten. This effectively ensures the scraping mechanism can effectively remove dirt from the roller brush and solves the problem of increased gap between the scraping mechanism and the roller brush during long-term use, which prevents the scraping mechanism from effectively removing dirt and affects the cleaning effect of the cleaning equipment.

[0034] In one alternative implementation, the roller brush cover is movably disposed in the floor brush of the cleaning equipment, and the scraping mechanism and the roller brush cover are linked and cooperated.

[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 with the roller brush.

[0036] When the scraping mechanism moves to the avoidance position, it can drive the roller brush cover to approach the roller brush and make contact with the bristles on the roller brush.

[0037] After receiving the signal from the cleaning equipment to activate self-cleaning mode, the following steps are executed:

[0038] Control the scraping mechanism to move to a clearance position that matches the gap between the roller brush and the 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 control the roller brush motor to drive the roller brush to rotate forward and backward to clean the dirt on the roller brush cover;

[0040] The water spray mechanism of the cleaning equipment sprays water onto the roller brush, while the suction mechanism of the cleaning equipment is controlled to suck the dirt into the wastewater tank.

[0041] Beneficial effects: By linking the scraping mechanism with the roller brush cover, when the cleaning equipment performs self-cleaning, the scraping mechanism can not only move to a clearance position to avoid the roller brush, reducing friction between them, thus extending the service life of the roller brush and reducing its replacement frequency, but also drive the roller brush cover to a self-cleaning position in contact with the roller brush, achieving automatic cleaning of dirt on the roller brush cover. Only one drive mechanism is needed to control the movement of both the scraping mechanism and the roller brush cover, saving control costs, simplifying control steps, and effectively solving the problem that related self-cleaning equipment requires separate drive mechanisms for the scraping mechanism and the roller brush cover, resulting in a cumbersome control process and high costs.

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

[0043] To determine the degree of dirtiness in the cleaned area;

[0044] When the degree of dirt is determined to be less than the set dirt threshold, the roller brush motor, water spray mechanism, and dirt suction mechanism are controlled to stop working.

[0045] Control the movement of the scraping mechanism to the scraping position where it contacts and engages with the roller brush, so as to drive the roller brush cover to return to the initial position with a set gap from the roller brush.

[0046] Beneficial effects: During the self-cleaning process of the roller brush cover, if the degree of dirt is determined to be less than the set dirt threshold, it indicates that the roller brush cover has been cleaned. At this time, the roller brush motor, water spray mechanism, and dirt suction mechanism are controlled to stop working, and the dirt scraping mechanism is controlled to drive the roller brush cover to return to the initial position with a set gap from the roller brush. This avoids the roller brush cover interfering with the rotation of the roller brush when the cleaning equipment is performing normal floor cleaning work, thus affecting the normal operation of the cleaning equipment.

[0047] Secondly, the present invention also provides a cleaning device, which is applicable to the control method of the cleaning device in any of the above embodiments.

[0048] Thirdly, the present invention also 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 the cleaning equipment of any of the above embodiments. Attached Figure Description

[0049] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

[0051] Figure 2 This is a schematic diagram of the cleaning equipment in an embodiment of the present invention;

[0052] Figure 3 This is a schematic diagram of the structure of the 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 casing of the floor brush housing;

[0054] Figure 5for Figure 3 Axonometric sectional view;

[0055] Figure 6 This is a schematic diagram showing the coordination of components such as the roller brush assembly, the scraping mechanism, and the drive device when the cleaning equipment is in working mode in an embodiment of the present invention.

[0056] Figure 7 This is a schematic diagram showing the cooperation of components such as the roller brush assembly, the scraping mechanism, and the drive device when the cleaning equipment is in self-cleaning mode in an embodiment of the present invention.

[0057] Figure 8 This is a schematic diagram illustrating the motion principle of the roller brush cover of the cleaning device in an embodiment of the present invention from the initial state to the self-cleaning state;

[0058] Figure 9 This is a schematic diagram illustrating the motion principle of the roller brush cover of the cleaning device in an embodiment of the present invention from a self-cleaning state to an initial state;

[0059] Figure 10 This is an isometric sectional view of the floor brush of the cleaning device at the position switch in an embodiment of the present invention;

[0060] Figure 11 This is a schematic diagram of the drive device at one angle in an embodiment of the present invention;

[0061] Figure 12 This is a schematic diagram of the cleaning device from another angle in an embodiment of the present invention;

[0062] Figure 13 This is a schematic diagram of the structure of the driving gear in an embodiment of the present invention;

[0063] Figure 14 This is an exploded view of the driving device in an embodiment of the present invention;

[0064] Figure 15 This is a schematic diagram of the cleaning mechanism in an embodiment of the present invention;

[0065] Figure 16 This is an exploded view of the cleaning mechanism in an embodiment of the present invention;

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

[0067] Figure 18 This is a schematic diagram of the assembled structure of the roller brush cover, the first rotating shaft, the first reset component, and the sealing strip in an embodiment of the present invention;

[0068] Figure 19 for Figure 18 Exploded view;

[0069] Figure 20This 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] Figure 21 This is a flowchart illustrating one embodiment of the control method for cleaning equipment in this invention.

[0071] Figure 22 This is a flowchart illustrating another embodiment of the control method for cleaning equipment in this invention.

[0072] Explanation of reference numerals in the attached figures:

[0073] 100. Cleaning equipment; 200. Base station;

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

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

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

[0077] 40. Drive unit;

[0078] 41. Drive mechanism; 411. Drive motor; 412. Motor bracket; 413. Motor bracket cover; 414. Support ring;

[0079] 42. Gear transmission mechanism; 421. Driving gear; 4211. Trigger; 422. Driven gear;

[0080] 43. Gear cover; 430. Opening; 431. Mounting post;

[0081] 44. First position switch; 45. Second position switch; 46. Screw. Detailed Implementation

[0082] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0083] Existing cleaning equipment typically uses comb-shaped scrapers fixed to one side of the roller brush for easy cleaning, or employs floating scrapers propelled by a spring. This allows the scraper to remove dirt from the roller brush as it rotates at high speed. To achieve the desired cleaning effect, an interference fit is required between the scraper and the roller brush to effectively remove dirt. However, under the motor's drive, this prolonged interference fit easily causes wear on the brush bristles. As a result, the bristles gradually shorten, the gap between the scraper and the roller brush increases, and the cleaning effect gradually diminishes.

[0084] When cleaning equipment is working normally, it mainly uses a rotating roller brush to remove sewage and garbage from the ground. However, the rotating roller brush can cause garbage to be lifted and flung around, and the water spray mechanism of the floor brush can also cause water splashing. Therefore, installing a roller brush cover solves the problems of garbage being flung out and water splashing onto the roller brush. Since the main function of the roller brush cover is to prevent garbage from being flung out and water from splashing, garbage and sewage can accumulate on the cover. Therefore, the roller brush cover needs to be cleaned regularly. If it is not cleaned for a long time, bacteria will grow on the cover and unpleasant odors will develop.

[0085] However, during the self-cleaning process of the cleaning equipment, which involves cleaning the roller brush cover by rotating the brush, there is no need for a scraper to clean the dirt (such as hair, debris, dirt, etc.) on the roller brush. Fixed or floating scrapers cannot effectively avoid the roller brush during the self-cleaning process, resulting in prolonged friction between the scraper and the roller brush. This causes the bristles on the roller brush to shorten due to prolonged friction, reducing its lifespan. Furthermore, the gap between the scraper and the roller brush increases, which will also affect the cleaning effect of the cleaning equipment over time.

[0086] In related technologies, to ensure the cleaning effect of the roller brush, the distance between the scraper and the brush bristles is controlled within a certain range. However, during self-cleaning on the base station, it is not necessary to clean the dirt on the roller brush. This process is time-consuming, leading to prolonged wear on the bristles and roller brush, necessitating the scraper and bristles to be kept apart. Currently, the industry mostly addresses the issue of easily worn roller brushes and gradually deteriorating cleaning effects by replacing them. This method involves high replacement frequency and high costs.

[0087] Therefore, the present invention aims to solve the problem in the prior art that the roller brush is in constant contact with the scraping mechanism such as the scraping component or the comb, resulting in rapid wear of the roller brush and an increased gap between the scraper and the roller brush, which will affect the cleaning effect of the cleaning equipment over a long period of time.

[0088] The following is combined with Figures 1 to 22 The following describes embodiments of the present invention.

[0089] According to an embodiment of the present invention, in one aspect, the present invention provides a control method for a cleaning device. The cleaning device 100 includes a roller brush 21 and a scraping mechanism 30 for scraping dirt off the roller brush 21. 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 in 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 in a clearance position that is in clearance cooperation with the roller brush 21. Figure 21 As shown, the control method includes the following steps:

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

[0091] Step S102: After controlling the scraping mechanism 30 to move to the clearance position that matches the roller brush 21, control the roller brush 21 to rotate and clean the roller brush cover 22.

[0092] In the above embodiment, when the cleaning device 100 is performing normal floor cleaning, the scraping mechanism 30 is in a scraping position that contacts and cooperates with the roller brush 21, which can effectively clean and scrape off dirt such as hair, debris, and mud attached to the roller brush 21. When the floor cleaning is completed and the device is placed on the base station 200 for self-cleaning, the scraping mechanism 30 is controlled to move to a clearance position that is in close contact 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. This avoids the problem of the rotating roller brush 21 and the scraping mechanism 30 still being in contact during self-cleaning mode, which would aggravate the wear of the brush bristles of the roller brush 21, improve the service life of the roller brush 21, and reduce the replacement frequency of the roller brush 21. This effectively solves the problems of rapid wear of the brush bristles, gradual deterioration of the cleaning effect, and high replacement frequency of the roller brush 21 in the existing cleaning device 100.

[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, thereby avoiding interference between the cleaning device 100 and the roller brush 21 when cleaning the floor. When the cleaning device 100 activates the self-cleaning mode, the scraping mechanism 30 moves to a clearance position that is in contact with the roller brush 21, while the roller brush cover 22 moves to a self-cleaning position that is in contact with the roller brush 21, so as to facilitate automatic cleaning of dirt on the roller brush cover 22 by rotating the roller brush 21.

[0094] It should be noted that in this embodiment, the roller brush cover 22 can be driven to move between the initial position and the self-cleaning position by a separate drive 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 drive mechanisms, thereby simplifying the structure and saving control costs.

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

[0096] When the cleaning device 100 receives a signal to start the self-cleaning mode, the control drive mechanism 41 is activated, driving the scraping mechanism 30 to move towards the avoidance position until the position detection mechanism sends a corresponding trigger signal, at which point the drive stops.

[0097] In the above embodiments, the position detection mechanism can be set to accurately control the position of the scraping mechanism 30 and the roller brush cover 22, thereby improving the cleaning effect on the roller brush 21 and the roller brush cover 22.

[0098] Alternatively, the position detection mechanism can adopt structural forms such as distance sensors, photoelectric sensors, infrared sensors, and mechanical switches.

[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 has rotated to a scraping position and an avoidance position. Figure 22 As shown, the control method further includes the following steps:

[0100] Step S200: Cleaning equipment 100 starts;

[0101] Step S201: When a signal is received that the cleaning device 100 has switched from self-cleaning mode to cleaning mode, the drive mechanism 41 is controlled to rotate in the first direction to drive the scraping mechanism 30 to rotate towards the scraping position.

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

[0103] If yes, proceed to step S203; if no, proceed to step S204.

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

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

[0106] Step S205: When a signal is received that the cleaning device 100 has switched from the cleaning mode to the self-cleaning mode, the drive mechanism 41 is controlled to rotate in the second direction to drive the scraping mechanism 30 to rotate to the avoidance position.

[0107] Step S206: During the rotation of the scraping mechanism 30 to the avoidance position, determine in real time whether the second position switch 45 is triggered:

[0108] If yes, proceed to step S207; if no, proceed to step S208.

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

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

[0111] In the above embodiment, the scraping mechanism 30 is rotatably mounted in the floor brush of the cleaning device 100. During cleaning and self-cleaning operations, the cleaning device 100 can control the scraping mechanism 30 to rotate between the scraping position and the avoidance position via the drive mechanism 41. This ensures that while maintaining the scraping performance of the scraping mechanism 30, it also ensures that during self-cleaning, the scraping mechanism 30 separates from the roller brush 21, reducing friction between the scraping mechanism 30 and the roller, and improving the service life of the roller brush. The scraping mechanism 30 moves between the scraping position and the avoidance position by rotation, which occupies less space compared to translation. The position detection mechanism, using a first position switch 44 and a second position switch 45, can accurately determine whether the scraping mechanism 30 has rotated to the correct position based on the trigger signals from the first position switch 44 and the second position switch 45.

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

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

[0114] In some embodiments, during the process of the drive mechanism 41 driving the scraping mechanism 30 to move towards the scraping position or the avoidance position, the following steps are also performed:

[0115] If no trigger signal is received from the first position switch 44 or the second position switch 45 within the set time, the cleaning equipment 100 will stop working.

[0116] In the above embodiment, if the drive mechanism 41 does not receive a trigger signal from the first position switch 44 or the second position switch 45 within a set time during the process of driving the scraping mechanism 30 to move to the scraping position and the avoidance position, it indicates that the cleaning equipment 100 may be malfunctioning, such as the drive mechanism 41 failing or the scraping mechanism 30 being stuck. At this time, the cleaning equipment is controlled to stop working to avoid causing related safety accidents.

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

[0118] Step A, Working Mode, including Smart Mode or Powerful Mode, allows users to select whether cleaning is needed and the cleaning intensity according to their needs;

[0119] Step B, self-cleaning mode, allows users to choose whether or not self-cleaning is needed, or to perform self-cleaning periodically.

[0120] More detailed steps, step A, Smart Mode or Powerful Mode:

[0121] Step A-① Drive motor 411 to rotate forward, driving the entire scraping mechanism to rotate forward 30 degrees;

[0122] During the forward rotation of step A-②, the control of the cleaning equipment 100 determines whether the first position switch 44 is closed. If it is closed, proceed to step A-③; if it is not closed, the drive motor 411 continues to run until it closes within the specified time t, then proceed to step A-③. If it does not close, then jump directly to step A-⑦.

[0123] After the first position switch is closed in step A-③, the drive motor 411 will no longer run;

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

[0125] Step A-⑤: Set the continuous operation time.

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

[0127] Step A-⑦ Cleaning equipment 100 stops.

[0128] More detailed, step B, self-cleaning mode:

[0129] Step B-① Drive motor 411 to rotate forward, driving the entire structure to rotate in 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, drive motor 411 continues to run until it closes within the specified time t, then continue to B-③; if it does not close, then directly jump to A-⑦.

[0131] After the second position switch is closed in step B-③, the drive motor 411 will no longer run;

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

[0133] Step A-⑤: Set the continuous operation time.

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

[0135] Step A-⑦ Cleaning equipment 100 stops.

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

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

[0138] In the above embodiment, by adjusting the stroke of the scraping mechanism 30 according to the actual use of the roller brush 21, the scraping mechanism 30 can still maintain an interference fit with the brush bristles even when the bristles are worn and shortened during the floor cleaning operation of the cleaning equipment 100, effectively ensuring the cleaning effect of the scraping mechanism 30 on the dirt on the roller brush 21.

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

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

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

[0142] Step S402: Adjust the stroke of the scraping mechanism 30 according to the obtained usage time of the roller brush 21 or the wear of the brush bristles of the roller brush 21.

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

[0144] In the above embodiments, as the usage time of the roller brush 21 increases or the wear of the bristles increases, the stroke of the scraping mechanism 30 is adaptively increased. This ensures 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 operations. This effectively guarantees the scraping effect of the scraping mechanism 30 on the dirt on the roller brush 21. It effectively solves the problem that the gap between the scraping mechanism 30 and the roller brush 21 increases after long-term use, causing the scraping mechanism 30 to be unable to effectively scrape the dirt on the roller brush 21 and affecting the cleaning effect of the cleaning device 100.

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

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

[0147] Alternatively, the cleaning device 100 can be equipped with a bristle wear detection mechanism to detect the amount of bristle wear. The controller of the cleaning device 100 can calculate the increase in the stroke of the scraping mechanism 30 based on the amount of bristle wear, and then calculate the rotation angle of the drive motor 411. For example, when a set length of bristle wear is detected, the stroke of the scraping mechanism 30 is increased by the set amount accordingly. Optionally, the bristle wear detection mechanism can be installed on the housing 10 of the floor brush, and the amount of bristle wear is analyzed and judged 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 stroke of the scraping mechanism 30 can be adjusted by keeping the interference fit between the scraping mechanism 30 and the bristles constant, or by keeping the contact force between the scraping mechanism 30 and the bristles constant.

[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 closer to the roller brush 21 and contact the bristles on the roller brush 21; after receiving the signal that the cleaning device 100 starts the self-cleaning mode, the following steps are specifically performed:

[0150] Step S501: Control the scraping mechanism 30 to move to the clearance position that is in close contact with the roller brush 21, so as to drive the roller brush cover 22 to move to the self-cleaning position that is in contact 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 in both directions to clean the dirt on the roller brush cover 22;

[0152] Step S503: Control the water spraying mechanism of the cleaning equipment 100 to spray water onto the roller brush 21, and at the same time control the suction mechanism of the cleaning equipment 100 to suck the cleaning dirt into the wastewater 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 a clearance position to avoid the roller brush 21, reducing friction between them, improving 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 self-cleaning position that contacts and fits with the roller brush 21, thereby achieving automatic cleaning of dirt on the roller brush cover 22. Only one drive mechanism 41 is needed to control the movement of the two components, the scraping mechanism 30 and the roller brush cover 22, saving control costs, simplifying control steps, and effectively solving the problem that the self-cleaning device 100 in the related technology requires a separate drive mechanism 41 to drive the scraping mechanism 30 and the roller brush cover 22, which makes the control process cumbersome and costly.

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

[0155] Step S601: Obtain the degree of dirtiness of the cleaned dirt;

[0156] Step S602: When the degree of dirt is determined to be less than the set dirt threshold, control the roller brush motor, water spray mechanism and dirt suction mechanism to stop working;

[0157] Step S603: Control the scraping mechanism 30 to move to the scraping position that contacts and cooperates with the roller brush 21, so as to drive the roller brush cover 22 to return to the initial position with a set gap with 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 dirt is less than the set dirt threshold, it indicates that the roller brush cover 22 has been cleaned. Then, the roller brush motor, water spraying mechanism, and dirt suction mechanism are controlled to stop working, and the dirt scraping mechanism 30 is controlled to drive the roller brush cover 22 to return to the initial position with a set gap from the roller brush 21. This prevents the roller brush cover 22 from interfering with the rotation of the roller brush 21 when the cleaning equipment 100 is performing normal floor cleaning work, thus affecting the normal operation of the cleaning equipment 100.

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

[0160] (1) Start the cleaning mode of the cleaning equipment 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 the scraping position that contacts the roller brush 21; (3) End the cleaning mode; (4) Control the roller brush 21 to start rotating in reverse; (5) Continue working for 20 seconds; (6) Drive the motor 411 to rotate in reverse, causing the roller brush cover 22 to sink; (7) Identify whether the drive motor 411 has moved the roller brush cover 22 to a position tangent to the roller brush 21. If yes, proceed to step (8); otherwise, return to step (9). 7); (The identification method is based on two position switches installed one in front of and one behind the drive motor 411. When the drive motor 411 reverses, the trigger 4211 on the drive gear 421 will touch the position switch placed behind it, and the drive motor 411 will stop. That is, the signal that the position switch behind the drive gear 421 has been touched is detected); (8) The drive motor 411 stops, and the roller brush cover 22 stops sinking; (9) The roller brush 21 starts to rotate in both directions; (10) The water spraying mechanism sprays water onto the roller brush 21; (11) The main motor of the suction mechanism starts. (12) Continue working for 120 seconds; (13) Identify the amount of dirty water sucked up by the suction port and determine whether the degree of dirt is lower than the set dirt threshold. If not, return to step (12). If yes, 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 sewage with dirt, it will block the infrared sensor to determine the degree of dirt.) (14) The roller brush 21 stops rotating forward, stops spraying water, and stops sucking up dirt; (15) The drive motor 411 rotates forward, and the roller brush cover 2 2. Reset; (16) Identify whether the drive motor 411 has moved the roller brush cover 22 to the initial position. If yes, proceed to step (17). If no, return to step (15). (The identification method is based on two position switches installed one in front of and one behind the drive motor 411. When the drive motor rotates forward, the trigger 4211 on the drive gear 421 will touch the position switch placed in front, and the motor will stop. This is to identify the signal that the position switch in front of the drive gear 421 of the motor has been touched.) (17) The roller brush cover 22 has completed self-cleaning.

[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 disengages from it, avoiding interference between the scraping mechanism 30 and the roller brush 21 during self-cleaning, which would exacerbate bristle wear. Furthermore, this invention can adaptively increase the stroke of the scraper 32 as the roller brush 21's usage time increases or the bristle length changes. Therefore, this invention solves the problem of the roller brush 21 constantly contacting and wearing with the scraping component, preventing users from adjusting the position of the scraping component according to actual conditions, thus causing rapid wear of the roller brush 21.

[0162] It should be noted that, in this embodiment, the cleaning equipment 100 includes, but is not limited to, a floor scrubber. This embodiment is based on a control method proposed for 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 of the same principle.

[0163] According to an embodiment of the present invention, in another aspect, a cleaning device 100 is provided, which is applicable to the control method of the cleaning device 100 of any of the above embodiments.

[0164] Specifically, such as 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 housing 10, a roller brush assembly 20, a scraping mechanism 30, and a drive device 40. The roller brush assembly 20 includes a roller brush 21 rotatably disposed in the housing 10. The scraping mechanism 30 is movably disposed in the housing 10 and is used to scrape dirt off the roller brush 21. The drive device 40 includes a drive mechanism 41 and a gear transmission mechanism 42. The gear transmission mechanism 42 is driven between the drive mechanism 41 and the scraping mechanism 30. The drive mechanism 41 drives the scraping mechanism 30 to move between a scraping position that contacts and engages with the roller brush 21 and a clearance position that is in close contact with the roller brush 21.

[0165] In this embodiment, while ensuring the scraping performance of the scraping mechanism 30, the scraping mechanism 30 can avoid the roller brush 21 during the self-cleaning process, reducing 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 replacement costs. Furthermore, by using a gear transmission mechanism 42 as the transmission mechanism to drive the scraping mechanism 30, the structure is not only simple, but also the transmission is precise, reliable, and efficient, enabling the scraping mechanism 30 to move accurately and efficiently between the scraping position and the avoidance position.

[0166] Specifically, to improve the scraping effect on the roller brush 21, when the scraping mechanism 30 is in the scraping position, the bristles of the roller brush 21 are in an interference fit. When not cleaning, to reduce friction between the scraping mechanism 30 and the roller brush 21, when the scraping mechanism 30 is in the clearance position, the gap between the scraping mechanism 30 and the bristles of the roller brush 21 is greater than a set distance.

[0167] In some embodiments, the scraping mechanism 30 is rotatably mounted on the housing 10, and the drive mechanism 41 is fixedly mounted on the housing 10; the gear transmission mechanism 42 includes a driving gear 421 and a driven gear 422, the driving gear 421 is fixed on the output shaft of the drive mechanism 41; the driven gear 422 meshes and drives between the driven gear 422 and the scraping mechanism 30, and the drive 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 housing 10. When the cleaning device 100 switches between the working mode and the self-cleaning mode, the scraping mechanism 30 can be controlled to rotate between the scraping position and the avoidance position by the drive device 40. In this way, while ensuring the scraping performance of the scraping mechanism 30, it can also ensure that the scraping mechanism 30 is separated from the roller brush 21 during the self-cleaning process, thereby reducing the friction between the scraping mechanism 30 and the roller brush 21 and improving the service life of the roller brush 21. The scraping mechanism 30 moves between the scraping position and the avoidance position by rotation, which occupies less space than the translation method.

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

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

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

[0172] Specifically, the motor bracket 412 includes a motor housing and a gear mounting portion. The gear mounting portion includes a mounting plate fixedly disposed on one side of the motor housing. The mounting plate is vertically arranged, and a connecting shaft for mounting a driven gear 422 is fixedly disposed on the mounting plate. The driven gear 422 is rotatably mounted on the connecting shaft. The mounting plate also has an opening for the output shaft of the drive motor 411 to extend through. The output shaft of the drive motor extends through the opening and is connected and fixed to the driving gear 421. Bolt posts are provided on the motor bracket 412, and the gear cover 43 is fixed to the bolt posts of the motor bracket 412 by screws 46.

[0173] Furthermore, the drive device 40 also includes a motor bracket cover 413. The motor bracket 412 has a mounting groove for accommodating the drive motor 411. The mounting groove is open at the top. The motor bracket cover 413 is detachably installed and fixed at the opening of the mounting groove, sealing the drive motor 411 within the mounting groove. Optionally, the housing 10 includes an upper housing 11, a lower housing 12, and a middle cover plate 13 disposed between the upper housing 11 and the lower housing 12. The middle cover plate 13 and the lower housing 12 enclose a mounting space for the drive mechanism 41 to be installed. The drive mechanism 41 is fixed on the lower housing 12.

[0174] In some embodiments, the cleaning device 100 further includes a position detection mechanism for issuing 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, by setting a position detection mechanism, when the drive device 40 drives the scraping mechanism 30 to move to the scraping position and the avoidance position, it can send a corresponding arrival signal. When the controller of the cleaning device 100 receives the arrival signal, it controls the drive device 40 to stop driving, thereby achieving precise control of the position of the scraping mechanism 30, ensuring the accuracy of the scraping stroke, and avoiding the phenomenon of excessive or insufficient movement of the scraping mechanism 30 when moving between the scraping position and the avoidance position. This avoids 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 not being effectively separated in the self-cleaning mode, and the brush bristles still having wear problems.

[0176] Optionally, the position detection mechanism can take the form of a distance sensor, photoelectric sensor, infrared sensor, position switch, etc. The position detection mechanism can be mounted on the drive unit 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 4211; when the scraping mechanism 30 moves to the scraping position, the trigger 4211 can trigger the first position switch 44; when the scraping mechanism 30 moves to the avoidance position, the trigger 4211 can trigger the second position switch 45.

[0178] In the above embodiments, when the cleaning device 100 receives a cleaning command, the driving device 40 drives the scraping mechanism 30 to rotate to the scraping position. At this time, the trigger 4211 can trigger the first position switch 44. When the cleaning device 100 receives the trigger signal from the first position switch 44, it controls the driving device 40 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 high speed, so that the scraping mechanism 30 can clean the dirt on the roller brush 21, scrape off the dirt, and suck it away by the suction mechanism, 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 command, the driving device 40 drives the scraping mechanism 30 to rotate to the avoidance position. At this time, the trigger 4211 can trigger the second position switch 45. When the cleaning device 100 receives the trigger signal from 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.

[0179] Optionally, the trigger 4211 is disposed on the scraping mechanism 30 or the drive 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 drive device 40.

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

[0181] In some preferred embodiments, the first position switch 44 and the second position switch 45 are disposed on the gear cover 43, and the trigger 4211 is disposed on the drive gear 421. By disposing the first position switch 44 and the second position switch 45 on the gear cover 43, compared to disposing them on the motor bracket 412, more installation space is available, making the assembly and maintenance of the first position switch 44 and the second position switch 45 more convenient. By disposing the trigger 4211 on the drive gear 421, compared to disposing it on the driven gear 422, the rotational speed of the drive motor 411 can be fed back more directly without conversion, resulting in a more timely response and more precise and efficient control.

[0182] Of course, in other alternative embodiments, the first position switch 44 and the second position switch 45 can also be disposed on the housing 10 or the motor bracket 412, and the trigger 4211 can also be disposed on the driven gear 422 or the scraping mechanism 30. In this embodiment, the specific positions of the first position switch 44, the second position switch 45 and the trigger 4211 are not limited.

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

[0184] In the above embodiment, by placing the position switch on the outer wall of the gear cover 43, the back space of the gear cover 43 can be fully utilized, improving space utilization and making the overall structure more compact. Simultaneously, it effectively avoids the problem of the position switch interfering with the movement of the driving gear and driven gear 422 if placed on the inner wall of the gear cover 43. The trigger element 4211 adopts a trigger rod structure, which is simple in structure and easy to process. The opening 430 in the gear cover 43, allowing the trigger rod to pass through while avoiding its movement, facilitates the trigger rod's engagement with the first position switch 44 and the second position switch 45.

[0185] Specifically, the trigger rod is fixedly disposed on the outer periphery of the drive gear 421, and is fixedly disposed on the side wall of the drive gear 421 facing the gear cover 43. Preferably, the trigger rod and the drive gear 421 are integrally machined. Further, the opening 430 on the gear cover 43 is an arc-shaped opening, and the trigger rod can move in an arc-shaped trajectory within the opening 430.

[0186] Furthermore, the gear cover 43 is provided with mounting posts 431 for mounting the first position switch 44 and the second position switch 45. The gear cover 43 is provided with two sets of mounting posts 431, and the two sets of mounting posts 431 are used to install the two position switches respectively. Each set of mounting posts 431 includes two mounting posts 431 spaced apart. 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 posts 431 through the two mounting through holes. By using the above method to install the first position switch 44 and the second position switch 45, not only can the stability of the structure of the first position switch 44 and the second position switch 45 be guaranteed, but it is also convenient to disassemble and assemble. When you want to disassemble, you can simply remove the position switch from the mounting post 431. When installing, you can simply put it on the mounting post 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 drive gear 421 rotates, it drives the trigger element 4211 to move along a predetermined arc trajectory. The first position switch 44 and the second position switch 45 are arranged at intervals on the gear cover 43 corresponding to this arc trajectory. The two inner sidewalls of the first position switch 44 and the second position switch 45 are respectively provided with trigger parts. When the trigger element 4211 moves under the drive of the drive gear, it can trigger these trigger parts, 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: the drive motor 411 is placed in the mounting slot of the motor bracket 412, the motor bracket cover 413 is fastened to the slot of the motor bracket 412, the drive gear 421 is installed on the output shaft of the drive motor 411, the support ring 414 is sleeved on the output shaft to press down the drive gear 421, then the driven gear 422 is installed on the motor bracket 412, and the gear cover 43 and the motor bracket 412 are used to press down the driven gear 422. Then the gear cover 43 is fixed to the motor bracket 412 with screws 46, and the first position switch 44 and the second position switch 45 are assembled on the gear cover 43. The entire drive device 40 is then 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 housing 10 and is provided with a meshing part 310 for engaging with the drive device 40. The scraper 32 is mounted on the support 31 and is provided with a plurality of scraping teeth for scraping dirt off the bristles of the roller brush 21.

[0190] In the above embodiment, the meshing part 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 meshing the meshing part 310 and the gear transmission mechanism 42.

[0191] Specifically, the meshing part 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 installed and fixed on the support 31 by screws or snap-fit. Preferably, the scraper 32 is fixed on the support 31 by screws. The scraper 32 is detachably installed and fixed on the support 31 for easy disassembly and assembly.

[0192] In some embodiments, the scraping mechanism 30 further includes a second reset 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 toward the roller brush 21.

[0193] In the above embodiment, by providing a second reset member 314 on the support 31, when the force exerted by the drive mechanism 41 on the scraping mechanism 30 is removed, the second reset member 314 can drive the scraper 32 to rotate toward the roller brush 21, so that the scraping mechanism 30 automatically resets to the scraping position, which facilitates the normal operation of subsequent scraping work. At the same time, it can also avoid the phenomenon that the scraping mechanism 30 is highly flexible and will rotate randomly and be unstable in position.

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

[0195] In the above embodiments, the second reset member 314 adopts a torsion spring structure, which requires less installation space and is easier to install than conventional springs, and provides a more stable and reliable elastic holding force. In addition, by setting two torsion springs at both ends of the support 31, the problem of torsion that easily occurs in the scraping mechanism 30 with a torsion spring on one side can be effectively avoided, and the balance and stability of the scraping mechanism 30 during the reset process can be further improved.

[0196] Specifically, the support 31 has two mounting shafts at both ends, and the torsion spring is installed on the two mounting shafts respectively. The two torsion arms of the torsion spring abut against the support 31 and the housing 10 respectively.

[0197] Furthermore, two second rotating shafts are fixedly provided at both ends of the support 31, and rotating bushings 313 are rotatably fitted on the two second rotating shafts. The rotating bushings 313 are connected to the housing 10, thereby realizing the rotational connection between the support 31 and the housing 10. The scraping mechanism 30 also includes a baffle plate 33 and a pressure plate 34. The support 31 includes a front cover 311 and a rear cover 312. The scraper 32 is located on 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 mounting holes 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 together to prevent water leakage. Then, the two rotating bushings 313 are respectively fitted onto the two second rotating shafts at both ends of the rear cover 312. Then, the two torsion springs are respectively fitted onto the mounting shafts at both ends of the rear cover 312. Then, the scraper 32 is assembled into the corresponding mounting holes of the rear cover 312. Then, the baffle plate 33 is pressed onto the scraper 32. Then, the pressure plate 34 is pressed onto the baffle plate 33 and fixed with four screws.

[0198] In some embodiments, the roller brush assembly 20 further includes a roller brush cover 22, which is movably disposed in the housing 10 and located on one side of the roller brush 21. The scraping mechanism 30 and the roller brush cover 22 are linked and cooperated. When the scraping mechanism 30 moves to the avoidance position, it can drive the roller brush cover 22 to rotate towards the roller brush 21, so that the roller brush cover 22 and the roller brush 21 are kept in close contact. At this time, controlling the forward and reverse rotation of the roller brush 21 can realize the self-cleaning of the roller brush cover 22.

[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 a clearance position to avoid the roller brush 21, reducing friction between them, improving 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 a position that contacts and fits with the roller brush 21, thereby cleaning the dirt on the roller brush cover 22. Only one drive device 40 is needed to control the movement of the two components, the scraping mechanism 30 and the roller brush cover 22, saving control costs, simplifying control steps, and effectively solving the problem that the self-cleaning device 100 in the related technology requires a separate drive mechanism 41 to drive the scraping mechanism 30 and the roller brush cover 22, which makes the control process cumbersome and costly.

[0200] In this embodiment, the roller brush cover 22 is located above the roller brush 21. The roller brush cover 22 and the scraping mechanism 30 can be driven by a linkage mechanism or directly contacted to achieve linkage. When the cleaning equipment 100 is performing normal cleaning work, the roller brush 21 rotates at high speed, and the scraping mechanism 30 is in a scraping position with an interference fit with the bristles of the roller brush 21, which can promptly scrape off the dirt on the bristles. 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 has not been 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 no longer performs cleaning work, the scraping mechanism 30 does not need to clean the roller brush 21. The scraping mechanism 30 moves to a position that avoids the gap between the brush bristles of the roller brush 21. At this time, the roller brush cover 22 rotates downward under the linkage of the scraping mechanism 30 and keeps in close contact with the roller brush 21. Then, by controlling the forward and reverse rotation of the roller brush 21, the dirt attached to the roller brush cover 22 is self-cleaned.

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

[0202] In the above embodiment, through the linkage component 301 provided on the scraping mechanism 30 and the roller brush cover 22 in a limiting cooperation, when the scraping mechanism 30 moves to the avoidance position, the roller brush cover 22 can be rotated to the self-cleaning position in contact with the roller brush 21 under the drive of the linkage component 301, 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 rotated to the initial position in clearance cooperation with the roller brush 21 under the drive of the linkage component 301 and / or the action of the first reset component, thereby effectively ensuring that when the cleaning equipment 100 is performing normal cleaning work, there is a set gap between the roller brush cover 22 and the roller brush 21, and it 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 downward pressure applied to the roller brush cover 22, causing the roller brush cover 22 to contact and engage with the roller brush 21. The limiting engagement between the linkage component 301 and the roller brush cover 22 can include, but is not limited to, hinge, hook, and abutment. For example, the linkage component 301 can adopt a hinge seat, pull ring, hook, protrusion, or other structural forms.

[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, the other end is limitedly engaged with the linkage component 301, and the middle part is rotatably connected to the housing 10; when the scraping mechanism 30 moves to the scraping position, the roller brush cover body 221 can rotate away from the roller brush 21 under the drive of the linkage component 301; when the scraping mechanism 30 moves to the avoidance position, the linkage component 301 can push the roller brush cover body 221 to rotate closer to the roller brush 21 through the connecting portion 222.

[0205] In the above embodiments, the roller brush cover 22, through the design of the connecting part 222, can both achieve a rotatable connection between the roller brush cover 22 and the housing 10, and can also cooperate with the linkage component 301 to achieve linkage between the roller brush cover 22 and the scraping mechanism 30, thus achieving multiple functions and further simplifying the structure. In addition, by adopting a method in which the connecting part 222 is rotatably connected to the housing 10 in the middle and cooperates with the roller brush cover body 221 and the scraping mechanism 30 at both ends respectively, the entire roller brush cover 22 forms a lever-like structure, which can change the direction of force. This allows the scraping mechanism 30 to drive the roller brush cover body 221 to move downward and fit tightly against the roller brush 21 when pushing the connecting part 222 upward. This not only makes the position of the scraping mechanism 30 unrestricted and facilitates the installation layout of the scraping mechanism 30, but also allows the scraping mechanism 30 to drive the roller brush cover 22 more easily and effortlessly.

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

[0207] When the cleaning equipment 100 is performing normal cleaning work, the scraping mechanism 30 moves to the scraping position. At this time, the roller brush cover body 221 can rotate away from the roller brush 21 under the drive of the linkage component 301, so as to avoid interfering with the high-speed rotating roller brush 21. When the cleaning equipment 100 performs 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 closer to the roller brush 21 through the connecting part 222, so that the roller brush cover body 221 and the bristles of the roller brush 21 come into contact and cooperate. 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, combined with Figure 9 , Figures 15 to 20 As shown, the linkage component 301 is a push-up protrusion provided on the scraping mechanism 30, and the push-up protrusion abuts against the roller brush cover 22.

[0209] In the above embodiments, the linkage component 301 adopts a push-up protrusion, which has a simple structure and is easy to process and form. The linkage between the scraping mechanism 30 and the roller brush cover 22 is achieved by the push-up protrusion abutting against the roller brush cover 22. Compared with the hinge or hook method, the linkage method is simpler and more reliable, and it is also convenient for disassembly, assembly and maintenance.

[0210] Furthermore, the main body 221 of the roller brush cover has an inner sidewall facing the roller brush 21 and an outer sidewall facing away from it. The connecting part 222 is a connecting rib fixedly provided on the outer sidewall, and the connecting rib abuts against the push protrusion. The connecting part 222, by adopting the form of a connecting rib fixedly provided on the outer sidewall of the main body 221 of the roller brush cover, has a simple structure and is easy to process and form.

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

[0212] In some embodiments, along the axial direction of the roller brush 21, two sets of connecting portions 222 are provided at both ends of the roller brush cover body 221; two sets of linkage components 301 are provided accordingly, and the two sets of linkage components 301 and the two sets of connecting portions 222 are matched one-to-one.

[0213] In the above embodiment, by providing two sets of connecting portions 222 at both ends of the roller brush cover body 221 and two sets of corresponding linkage components 301, the two sets of linkage components 301 and the two sets of connecting portions 222 are in one-to-one contact and cooperation, thereby enabling the roller brush cover body 221 to be pushed from both sides, making the movement of the roller brush cover body 221 more balanced and stable.

[0214] In some embodiments, the roller brush assembly 20 further includes a first rotating shaft 23 and a first reset member 24. The connecting portion 222 is rotatably connected to the housing 10 via the first rotating shaft 23. The first reset member 24 is disposed on the first rotating shaft 23 and is capable of applying a reset force to the roller brush cover body 221 in a direction away from the roller brush 21.

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

[0216] Preferably, the first reset member 24 is a torsion spring, which is sleeved on the first rotating shaft 23. The two ends of the torsion spring abut against the roller brush cover body 221 and the housing 10, respectively. When the push-up protrusion does not push up the connecting part 222 and presses down on the roller brush cover body 221, the torsion spring can give the roller brush cover body 221 an upward reset force, so that the gap between the roller brush cover body 221 and the roller brush 21 is restored, so that the cleaning work can be carried out normally.

[0217] Of course, in other alternative implementations, the first reset member 24 may also be a tension spring, and this embodiment does not limit this.

[0218] In this embodiment, along the circumferential direction of the roller brush cover body 221, the connection position between the connecting rib and the roller brush cover body 221 is located on one side of the arc-shaped roller brush cover 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 body 221 to rotate downward, pressing down the roller brush cover body 221, so that the roller brush cover body 221 and the roller brush 21 come into contact and cooperate. When the scraping mechanism 30 moves to the scraping position, the linkage component 301 moves upward, and the second arm falls down under the action of the first reset component 24. Under the action of the lever, the first arm drives the roller brush cover body 221 to rotate upward, lifting the roller brush cover body 221, so that the roller brush cover body 221 and the roller brush 21 disengage from contact and form a set gap.

[0219] In some embodiments, the roller brush assembly 20 further includes a sealing strip 25, which is disposed on the inner edge of the roller brush cover body 221. The sealing strip 25 enables a sealing fit between the roller brush cover body 221 and the middle cover plate 13 of the housing 10, preventing dirt from being thrown from between the roller brush cover body 221 and the middle cover plate 13 of the housing 10 to other positions inside the housing 10, thus affecting the hygiene of the entire machine.

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

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

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

[0223] The drive unit 40 is fixed to the lower housing 12 of the housing 10 with screws; the meshing part 310 of the scraping mechanism 30 is meshed with the driven gear 422 of the drive unit 40 and assembled at the front end of the lower housing 12; then the middle cover plate 13 is used to press down the scraping mechanism 30; then the roller brush 21 is installed at the front end of the scraping mechanism 30; then the roller brush cover 22 is installed on top of the roller brush 21 to cover the roller brush 21 and the scraper 32. The floor brush of the cleaning equipment 100 is now assembled.

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

[0225] When the cleaning equipment 100 is cleaning the floor normally, the drive 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 and the self-cleaning mode is activated. At this time, the drive motor 411 drives the active gear 421 and the driven gear 422 to move, causing the scraping mechanism 30 to rotate and move backward to the avoidance position, so that the scraper 32 separates from the roller brush 21 and avoids interference. At the same time, the linkage component 301 on the scraping mechanism 30 moves, causing the roller brush cover 22 to rotate downward and keep in close contact with the roller brush 21. At this time, the roller brush 21 self-cleans in both directions. The scraping mechanism 30 moves to the avoidance position, which can not only avoid the roller brush 21 and avoid friction between the scraper 32 and the roller brush 21, thus improving the service life of the roller brush 21, but also make the roller brush cover 22 fit with the roller brush 21, thus cleaning the dirt on the roller brush cover 22.

[0226] Furthermore, during the floor cleaning process of the cleaning equipment 100, the drive motor 411 drives the drive gear 421, which in turn drives the driven gear 422. The driven gear 422 drives the scraper 32 to rotate forward and contact the roller brush 21 through the meshing part 310 on the scraping mechanism 30 (due to limited space, only a limited meshing part of the gear is left, so the meshing part 310 is made into a sector gear). When the trigger 4211 on the drive gear 421 touches the first position switch 44, the drive motor 411 stops moving, and the scraper 32 rotates to the foremost 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, scraping off the dirt, and then sucking it away through the suction chamber.

[0227] After 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 4211 on the drive gear 421 touches the second position switch 45, the drive motor 411 stops rotating backward. At this time, the scraper 32 disengages from the roller brush 21 to avoid friction. At the same time, the linkage component 301 on the scraper 32 rotates upward, which links the roller brush cover 22, causing the roller brush cover 22 to rotate downward. The roller brush cover 22 contacts the bristles on the roller brush 21, and the bristles can clean the dirt on the roller brush cover 22 after the self-cleaning starts.

[0228] The cleaning device 100 provided in this embodiment mainly improves the scraping function of the scraper 32 and the lifespan of the roller brush 21. While ensuring the scraping performance of the scraper 32, in order to increase the lifespan of the roller brush 21, the scraper 32 is controlled to disengage from the roller brush 21 during the self-cleaning process 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 also be realized, thereby improving the lifespan of the roller brush 21. At the same time, the dirt on the roller brush cover 22 is also cleaned simultaneously, realizing the self-cleaning of the dirt on the roller brush cover 22, improving the lifespan of the roller brush 21 and the overall cleaning effect of the machine.

[0229] The cleaning device 100 provided in this embodiment can effectively scrape dirt in cooperation with the roller brush 21 during the cleaning process, depending on the cleaning status. During the self-cleaning process, the scraper 32 is controlled to disengage from the roller brush 21 by the drive motor 411, which reduces the friction between the scraper 32 and the roller brush 21, improves the service life of the roller brush 21, reduces the replacement frequency of the roller brush 21, and enhances the user experience. When the entire unit is placed in the base station 200 and receives the self-cleaning command, the drive motor 411 drives the scraper 32 to rotate to the avoidance position. The trigger 4211 can trigger the second position switch 45. When the cleaning device 100 receives the trigger signal from the second position switch 45, it controls the drive device 40 to stop driving the scraping mechanism 30 to rotate, so that the scraping mechanism 30 is kept 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, which links the roller brush cover 22, so that the roller brush cover body 221 rotates downward to the self-cleaning position where it contacts the bristles on the roller brush 21. At this time, there is a slight interference between the roller brush cover body 221 and the bristles. Then, the roller brush 21 is controlled to rotate in both directions, and the bristles on the roller brush 21 can achieve self-cleaning of the dirt on the roller brush cover 22, improving the overall cleaning effect of the unit.

[0230] According to an embodiment of the present invention, in another aspect, a computer-readable storage medium is provided having computer instructions stored thereon, which, when executed by a processor, implement the steps of the control method of the cleaning device 100 of any of the above embodiments.

[0231] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the protection scope of the embodiments of this application.

Claims

1. A control method for a cleaning device, characterized in that, The cleaning device includes a roller brush and a scraping mechanism for scraping off dirt from the roller brush. The cleaning device has a working mode and a self-cleaning mode. When the cleaning equipment is in working mode, the scraping mechanism is located in the scraping position that contacts and cooperates with the roller brush; When the cleaning equipment is in self-cleaning mode, the scraping mechanism is located in a clearance position that cooperates with the gap of the roller brush; The control method includes: Receives a signal from the cleaning equipment to activate its self-cleaning mode; After controlling the scraping mechanism to move to a clearance position that matches the gap between the roller brush and the roller brush, the roller brush is then controlled to rotate to clean the roller brush cover.

2. The control method for the cleaning equipment according to claim 1, characterized in that, The cleaning equipment also includes a drive 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 into position. The control method specifically includes the following steps: When a signal is received that the cleaning device has started its self-cleaning mode, the drive mechanism is controlled to move the scraping mechanism toward the avoidance position until the position detection mechanism sends a corresponding trigger signal, at which point the drive stops.

3. The control method for the cleaning equipment according to claim 2, characterized in that, The sludge scraping mechanism is rotatably mounted in the floor brush of the cleaning equipment, and the position detection mechanism includes a first position switch and a second position switch for detecting whether the sludge scraping mechanism has rotated to the sludge scraping position and the avoidance position; The control method further includes the following steps: When a signal is received that the cleaning device has switched from self-cleaning mode to cleaning mode, the control drive mechanism rotates in the first direction to drive the scraping mechanism to rotate toward the scraping position. During the rotation of the scraping mechanism towards the scraping position, it is determined in real time whether the first position switch is triggered: If yes, then control the drive mechanism to stop rotating and control the roller brush motor to drive the roller brush to rotate to start cleaning the floor; if no, then control the drive mechanism to continue rotating until the first position switch is triggered. When a signal is received that the cleaning device has switched from cleaning mode to self-cleaning mode, the drive mechanism is controlled to rotate in the second direction to drive the scraping mechanism to rotate toward the avoidance position. During the rotation of the scraping mechanism towards the avoidance position, it is determined in real time whether the second position switch is triggered: If yes, the drive 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 no, the drive mechanism is controlled to continue rotating until the second position switch is triggered.

4. The control method for the cleaning equipment according to claim 3, characterized in that, During the process of the drive mechanism driving the scraping mechanism to move towards the scraping position or the avoidance position, the following steps are also performed: If no trigger signal is received from the first or second position switch within the set time, the cleaning equipment will be controlled to stop working.

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

6. The control method for the cleaning equipment according to claim 5, characterized in that, Adjusting the stroke of the scraping mechanism based on the usage information of the roller brush specifically includes the following steps: To obtain the usage time of the roller brush or the wear of the brush bristles; Adjust the stroke of the scraping mechanism based on the obtained usage time of the roller brush or the wear of the roller brush bristles. The adjustment amount of the scraping mechanism's stroke is directly proportional to the usage time of the roller brush or the wear of the bristles.

7. The control method for the cleaning equipment according to any one of claims 1 to 4, characterized in that, The roller brush cover is movably mounted in the floor brush of the cleaning equipment, and the scraping mechanism is linked and cooperates with the roller brush cover; 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 with 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 make contact with the bristles on the roller brush.

8. The control method for the cleaning equipment according to claim 7, characterized in that, After receiving the signal from the cleaning equipment to activate self-cleaning mode, the following steps are executed: Control the scraping mechanism to move to a clearance position that matches the gap of 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 control the roller brush motor to drive the roller brush to rotate forward and backward to clean the dirt on the roller brush cover; The water spray mechanism of the cleaning equipment sprays water onto the roller brush, while the suction mechanism of the cleaning equipment is controlled to suck the dirt into the wastewater tank.

9. The control method for the cleaning equipment according to claim 8, characterized in that, The control method further includes the following steps: To determine the degree of dirtiness in the cleaned area; When the degree of dirt is determined to be less than the set dirt threshold, the roller brush motor, water spray mechanism, and dirt suction mechanism are controlled to stop working. Control the scraping mechanism to move to the scraping position where it contacts and cooperates with the roller brush, so as to drive the roller brush cover to return to the initial position with a set gap from the roller brush.

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

11. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by a processor, the computer instructions implement the steps of the control method for the cleaning equipment according to any one of claims 1 to 9.

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