Control method of cleaning equipment

Abstract

The invention provides a control method of cleaning equipment, the cleaning equipment comprises a rolling brush device, a wiping plate device and a scraping strip device, the rolling brush device can rotate to clean a to-be-cleaned surface, the scraping strip device is arranged on the front side of the rolling brush device, and the wiping plate device is arranged between the rolling brush device and the scraping strip device; the cleaning equipment comprises a first cleaning mode and a second cleaning mode; the control method is configured as follows: in response to a cleaning instruction, the cleaning equipment enters a first cleaning mode, and the motion state of the cleaning equipment is obtained; the scraping strip device is controlled to ascend or descend according to the motion state of the cleaning equipment; after the switching instruction is received, the cleaning equipment is switched from the first cleaning mode to the second cleaning mode, and position information of the scraping strip device is obtained; the wiping plate device is controlled to ascend or descend according to the position information of the scraping strip device. According to the control method, the scraping strip device and the wiping plate device can be controlled to effectively clean different stains, and the cleaning effect of the cleaning equipment is improved.

Description

Technical Field

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

[0002] Cleaning equipment such as floor scrubbers, with their high mopping efficiency and convenience, have greatly reduced the labor intensity and time spent on housework, and are becoming increasingly popular among users.

[0003] At present, most floor scrubbers usually use cleaning parts such as roller brush devices to clean the surface to be cleaned. However, when there are stubborn stains on the surface to be cleaned, the roller brush device is usually difficult to effectively clean the stubborn stains due to its soft bristles, which affects the cleaning effect and user experience. Summary of the invention

[0004] The present application provides a control method for a cleaning device, which can utilize a scraper device and a wiper device to effectively clean different stains, thereby improving the cleaning effect of the cleaning device and improving the user experience.

[0005] The present application provides a control method for a cleaning device, the cleaning device comprising: a shell, the shell being provided with a cleaning chamber; a roller brush device rotatably disposed in the cleaning chamber to clean a surface to be cleaned; a scraper device movably disposed on the front side of the roller brush device; a wiper device movably disposed on the front side of the roller brush device and located between the scraper device and the roller brush device; the cleaning device comprises a first cleaning mode and a second cleaning mode; the control method is configured as follows: in response to a cleaning instruction, the cleaning device enters the first cleaning mode and obtains the motion state of the cleaning device; the scraper device is controlled to rise or fall according to the motion state of the cleaning device; after receiving a switching instruction, the cleaning device switches from the first cleaning mode to the second cleaning mode, and obtains the position information of the scraper device; the wiper device is controlled to rise or fall according to the position information of the scraper device.

[0006] The control method of the cleaning device of this embodiment is based on the fact that the cleaning device is equipped with a scraper device and a wiper device for cleaning stubborn stains. The working control logic of the cleaning device is set to first respond to the cleaning instruction and enter the first cleaning mode, in which the scraper device cooperates with the roller brush device to perform the cleaning task; and when encountering stubborn stains, respond to the switching instruction and enter the second cleaning mode to ensure that the wiper device moves to the working position in time, and loosens the stubborn stains by hard friction, so that the roller brush device can remove them. In this way, the cleaning device of the present application can achieve effective cleaning with matching cleaning parts in the face of different stains, eliminating manual cleaning. In addition, in the first cleaning mode, the scraper device is controlled to rise or fall according to the motion state of the cleaning device; the scraper device and the roller brush device can avoid mutual influence. In the second cleaning mode, the wiper device is controlled to rise or fall according to the position information of the scraper device, so that the scraper device and the wiper device can avoid mutual influence, thereby ensuring the cleaning efficiency of the cleaning device.

[0007] In some embodiments, the scraper device is controlled to rise or fall according to the movement state of the cleaning device, including: if the current movement direction of the cleaning device is the direction of the roller brush device toward the wiping plate device or is in a stationary state, the scraper device is controlled to maintain a suspended position until the movement state of the cleaning device switches to the direction in which the roller brush device moves away from the wiping plate device, and the scraper device is controlled to descend to a working position; if the current movement direction of the cleaning device is the direction in which the roller brush device moves away from the wiping plate device, the scraper device is controlled to descend to a working position.

[0008] In this way, the scraper device can be prevented from affecting the cleaning operation of the roller brush device, thereby ensuring the cleaning efficiency of the cleaning equipment.

[0009] In some embodiments, the scraping device is controlled to rise or fall according to the position information of the scraping device, including: if the scraping device is in the working position, the scraping device is controlled to rise to a suspended position, and then the scraping device is controlled to descend to clean the cleaning surface; if the scraping device is in the suspended position, the scraping device is controlled to descend to clean the surface to be cleaned.

[0010] In this way, the wiping plate device and the scraper device can be prevented from contacting the surface to be cleaned at the same time, thereby avoiding multi-point support between the cleaning device and the surface to be cleaned, which is conducive to ensuring the cleaning effect and cleaning efficiency of the wiping plate device and the scraper device.

[0011] In some embodiments, the control method further includes: in the second cleaning mode, determining a current motion state of the cleaning device, the motion state including: a stationary state and a motion direction; and controlling the motion of the wiping device according to the motion state.

[0012] After obtaining the cleaning instruction, the movement state of the cleaning equipment is first determined, and the movement of the wiping device is executed according to the movement state, which can help avoid interference between the lowering wiping device and other cleaning parts, thereby ensuring the cleaning effect and work efficiency of the cleaning equipment.

[0013] In some embodiments, controlling the movement of the wiping device according to the motion state includes: if the current movement direction of the cleaning device is the direction of the roller brush device toward the wiping device or a stationary state, controlling the wiping device to maintain a suspended position until the motion state of the cleaning device switches to the direction in which the roller brush device moves away from the wiping device, and then controlling the wiping device to descend to a working position.

[0014] In this embodiment, the action triggering timing of the wiping device descending to the working position is: if the cleaning device is currently moving forward, then after obtaining the cleaning instruction, the wiping device is first controlled to maintain a suspended position to prevent the wiping device from pushing away a certain volume of dirt on the surface to be cleaned, such as movable impurity particles, so that the roller brush device cannot effectively clean the dirt; until the cleaning device moves forward to complete the cleaning of the planned path and adjusts the direction of travel to backward, the wiping device is controlled to descend to the working position, and the wiping device is used to further clean the stubborn stains that have not been removed by the roller brush device to ensure thorough cleaning.

[0015] In some embodiments, controlling the movement of the wiping device according to the movement state includes: if the current movement direction of the cleaning device is the direction in which the roller brush device is facing away from the wiping device, controlling the wiping device to descend to a working position.

[0016] In this way, the waiting time of the board wiping device can be reduced.

[0017] In some embodiments, when controlling the wiping device to descend to clean the surface to be cleaned, it includes: when the cleaning device moves along the direction of the roller brush device toward the wiping device, controlling the wiping device to rise to a suspended position; when the cleaning device moves along the direction of the roller brush device away from the wiping device, controlling the wiping device to descend to a working position.

[0018] In this way, when the cleaning device is cleaning the surface to be cleaned, the wiping device is controlled to be lifted to a suspended position when the cleaning device moves forward, which can prevent the wiping device from pushing away a certain volume of dirt such as impurity particles on the surface to be cleaned, making it impossible for the roller brush device to effectively clean the dirt.

[0019] In some embodiments, the wiping device is controlled to descend to clean the surface to be cleaned, including a first cleaning stage and a second cleaning stage; the first cleaning stage is that when the cleaning device moves toward the wiping device, the wiping device is controlled to rise to a suspended position, and when the cleaning device moves away from the wiping device, the wiping device is controlled to descend to a working position; the second cleaning stage is that when the cleaning device moves, the wiping device is controlled to descend to the working position.

[0020] Wherein, when the cleaning device moves, controlling the wiper device to descend to the working position means that no matter whether the cleaning device moves forward to clean the surface to be cleaned or moves backward to clean the surface to be cleaned, the wiper device always descends to the working position and contacts the surface to be cleaned to scrape the surface to be cleaned. In this way, in the first cleaning stage, in order to avoid pushing away the dirt that may exist on the surface to be cleaned, the wiper device is lifted to a suspended position when the cleaning device moves forward, and descends to the working position when the cleaning device moves backward, so as to avoid the wiper device pushing away a certain volume of dirt such as impurity particles on the surface to be cleaned, so that the roller brush device cannot effectively clean the dirt; and in the second cleaning stage, no matter whether the cleaning device moves forward or backward, the wiper device is controlled to descend to the working position and contacts the surface to be cleaned, mainly considering that the dirt that may be pushed away on the surface to be cleaned has been cleaned, so as to improve the cleaning efficiency of stubborn stains, the cleaning device also descends the wiper device to the working position when it moves forward.

[0021] In some embodiments, the cleaning device further includes: a foam spraying device, which is used to spray foam on the surface to be cleaned; the control method further includes: after receiving the switching instruction, controlling the foam spraying device to spray foam on the surface to be cleaned.

[0022] In this way, after the foam dissolves and softens the stubborn stains, the cleaning difficulty of cleaning parts such as the roller brush device, the scraper device, and the wiper device can be reduced, thereby improving the cleaning effect and cleaning efficiency.

[0023] In some embodiments, controlling the foam spraying device to spray foam on the surface to be cleaned includes: when it is determined that the cleaning device is moving along the direction of the roller brush device toward the wiping device, controlling the foam spraying device to spray foam on the surface to be cleaned; when it is determined that the cleaning device is moving along the direction of the roller brush device away from the wiping device, controlling the foam spraying device to stop spraying foam.

[0024] In this way, for some scenes, such as when the wiping device is lowered when the cleaning device moves backward and raised when the wiping device moves forward, the foam spraying device sprays foam to the surface to be cleaned when the cleaning device moves forward, and the rolling brush device is used to clean the ground after the foam is dissolved and softened, and the foam on the surface to be cleaned is sucked away at the same time. When the cleaning device moves backward, the foam spraying stops, and the wiping device is used to scrape and clean the remaining stubborn stains. In this way, after the surface to be cleaned has been washed with foam and scraped by the wiping device, there is no foam covering the surface to be cleaned, which is convenient for users to judge whether the stubborn stains have been cleaned, so as to determine whether it is necessary to continue cleaning the surface to be cleaned in the current mode. For example, after being scraped by the wiping device, the user can choose to turn off the second cleaning mode and return to the first cleaning mode after visual judgment or automatic recognition by the machine. If the cleaning device still sprays foam during the backward movement, the surface scraped by the wiping device will be sprayed with foam again. The coverage of foam makes it impossible for the user to directly judge and the machine to automatically recognize, so as to make unnecessary cleaning actions and reduce the cleaning efficiency.

[0025] In some embodiments, controlling the foam spraying device to spray foam on the surface to be cleaned includes: when it is determined that the cleaning device is moving along the direction of the roller brush device away from the wiping device, controlling the foam spraying device to spray foam on the surface to be cleaned; when it is determined that the cleaning device is moving along the direction of the roller brush device toward the wiping device, controlling the foam spraying device to stop spraying foam.

[0026] In this way, for some scenarios, such as when the nozzle of the foam spraying device is set in the shell, the foam is sprayed in front of the roller brush device and on the surface to be cleaned below the shell, that is, when the cleaning device is stationary, the foam sprayed on the ground will be covered by the shell of the cleaning device. Therefore, if the cleaning device sprays foam on the ground when it moves forward, the foam under the shell will be directly sucked into the sewage tank by the cleaning device. Due to the obstruction of the shell of the cleaning device, the user cannot perceive whether the cleaning device has sprayed foam on the surface to be cleaned during the process, and the improvement of user experience is not obvious. This application adopts the method of stopping foam spraying when the cleaning device moves forward and spraying foam when the cleaning device moves backward. Without affecting the user experience, it can save foam and improve the battery life of the foam spraying device. On the other hand, during the forward stage of the cleaning device, the foam is cleaned away by the roller brush device soon after being sprayed on the ground, resulting in insufficient time for the foam to dissolve and soften stubborn stains. As for the foam sprayed during the backward stage, the foam will not be cleaned away immediately due to the backward movement of the roller brush device, so that the foam has sufficient residence time on the surface to be cleaned to dissolve and soften the stubborn stains. The present application adopts the method of stopping the foam spraying when the cleaning device is moving forward and spraying the foam when the cleaning device is moving backward, which not only ensures the cleaning efficiency but also saves foam.

[0027] In some embodiments, the cleaning device is also equipped with a cleaning base station, which has a cleaning groove for cleaning the roller brush device. When the cleaning device moves to the cleaning base station, the wiping device is vertically opposite to the cleaning groove. The control method also includes the following steps: after the cleaning device is placed on the cleaning base station, the wiping device is controlled to move back and forth.

[0028] In this way, the cleaning liquid in the cleaning tank can be used to clean the wiper device, and a cleaning mechanism can be omitted for the wiper device, thereby simplifying the structure of the cleaning base station. In addition, the wiper device has a slapping effect on the cleaning liquid, which can cause the cleaning liquid to form a surge, which is beneficial to promoting the cleaning effect of the cleaning liquid on the roller brush device.

[0029] In some embodiments, the control method further includes: when controlling the wiping plate device to move back and forth, controlling the roller brush device to rotate in the cleaning tank so that the roller brush device is immersed in the cleaning liquid in the cleaning tank.

[0030] In this way, the roller brush device can be fully soaked, and the surge of the cleaning liquid formed by the roller brush device when rotating can be used to improve the self-cleaning effect of the wiper device.

[0031] In some embodiments, controlling the roller brush device to rotate in the cleaning tank includes: controlling the roller brush device to rotate alternately along a first rotation direction and a second rotation direction, wherein the first rotation direction and the second rotation direction are opposite.

[0032] When the roller brush device rotates in different directions, the surges formed by the cleaning liquid have different cleaning forces on the surface of the roller brush device. By rotating the roller brush device alternately in the first rotation direction and the second rotation direction, the self-cleaning effect of the roller brush device can be further improved.

[0033] In some embodiments, the downward pressure of the wiper device on the surface to be cleaned in the second cleaning mode is greater than the downward pressure of the scraper device on the surface to be cleaned in the first cleaning mode.

[0034] The downward pressure of the wiping plate device is greater than that of the scraping strip device, which is beneficial to effectively cleaning stubborn stains with greater friction. The downward pressure of the scraping strip device is smaller than that of the wiping plate device, which is beneficial to reducing energy consumption and wear while ensuring effective removal of easy-to-clean stains.

[0035] In some embodiments, the control method further includes: in the second cleaning mode, in response to a stop instruction, controlling the wiping device to rise, controlling the cleaning device to move forward a preset distance, and then controlling the cleaning device to move backward.

[0036] In some embodiments, the cleaning device further includes: a steam spraying device for spraying steam on the surface to be cleaned; the control method further includes: after receiving the switching instruction, controlling the steam spraying device to spray steam on the surface to be cleaned.

[0037] In this way, after the steam dissolves and softens the stubborn stains, the cleaning difficulty of cleaning parts such as the roller brush device, the scraper device, and the wiper device can be reduced, thereby improving the cleaning effect and cleaning efficiency.

[0038] In some embodiments, controlling the steam injection device to spray steam onto the surface to be cleaned includes: when it is determined that the cleaning device is moving along the direction of the roller brush device toward the wiping device, controlling the steam injection device to spray steam onto the surface to be cleaned; when it is determined that the cleaning device is moving along the direction of the roller brush device away from the wiping device, controlling the steam injection device to stop spraying steam.

[0039] In this way, for certain scenarios, such as when the wiping device is lowered when the cleaning device moves backward and raised when it moves forward, the steam spraying device sprays steam to the surface to be cleaned when the cleaning device moves forward, and the roller brush device is used to clean the ground after the steam dissolves and softens, and at the same time, the water stains on the surface to be cleaned are sucked away. When the cleaning device moves backward, the steam spraying is stopped, and the wiping device is used to scrape and clean the remaining stubborn stains. In this way, the surface to be cleaned only undergoes one steam wash and scraping by the wiping device during the user's push and pull process, which is convenient for the user to determine whether to continue cleaning the surface to be cleaned using the current mode. For example, after being scraped by the wiping device, the user can choose to turn off the second cleaning mode and return to the first cleaning mode after visual judgment or automatic machine recognition that the surface to be cleaned has been cleaned. If the cleaning device still sprays steam during the backward movement, then even if the surface to be cleaned has been cleaned, there will still be water stains on the surface to be cleaned due to the spraying of steam, which wastes steam on the one hand and increases the difficulty of cleaning water stains on the other hand, which is not conducive to improving user experience and cleaning efficiency.

[0040] In other embodiments, controlling the steam injection device to inject steam onto the surface to be cleaned comprises: when it is determined that the cleaning device is moving along the direction of the roller brush device away from the wiping device, controlling the steam injection device to inject steam onto the surface to be cleaned; when it is determined that the cleaning device is moving along the direction of the roller brush device toward the wiping device, controlling the steam injection device to stop injecting steam.

[0041] In this way, for some scenarios, such as when the nozzle of the steam injection device is set in the shell, the steam is injected in front of the roller brush device and on the surface to be cleaned under the shell, that is, when the cleaning device is stationary, the steam injected onto the ground will be covered by the shell of the cleaning device. Therefore, when the cleaning device is moving forward, the steam under the shell will be directly sucked into the sewage tank by the cleaning device after forming water. Due to the obstruction of the cleaning device shell, the user cannot perceive whether the cleaning device has injected steam onto the surface to be cleaned during the process, and the improvement of user experience is not obvious. On the other hand, since the injection position of the steam is close to the roller brush device, during the forward stage of the cleaning device, the steam is quickly cleaned by the roller brush device after being injected onto the ground, resulting in insufficient time for the steam to dissolve and soften stubborn stains, and the improvement of cleaning efficiency is also limited. Therefore, the present application adopts the method of stopping steam injection when the cleaning device is moving forward and stopping steam injection when the cleaning device is moving backward, which not only does not affect the user experience and cleaning efficiency, but also saves steam and improves the battery life of the steam injection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] Figure 1 It is a schematic diagram of the cleaning device of the embodiment of the present application when the scraper device and the wiper plate device are both in suspended positions;

[0044] Figure 2 This is a schematic diagram of the cleaning device of the embodiment of the present application when the wiping plate device is in a suspended position and the scraping strip device is in a working position;

[0045] Figure 3 This is a schematic diagram of the cleaning device of the embodiment of the present application when the wiping plate device is in the working position and the scraping strip device is in the suspended position;

[0046] Figure 4 This is a control logic diagram of a control method for a cleaning device according to an embodiment of the present application.

[0047] 10- Cleaning equipment;

[0048] 100-housing; 200-roller brush device; 300-scraper strip device; 400-wiping plate device;

[0049] A-suspended position; B-working position.

[0050] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0051] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0052] Cleaning equipment such as floor scrubbers, with their high mopping efficiency and convenience, have greatly reduced the labor intensity and time spent on housework, and are becoming increasingly popular among users. Currently, most floor scrubbers usually use cleaning parts such as roller brushes to clean the surface to be cleaned. However, when there are stubborn stains on the surface to be cleaned, the roller brush is usually difficult to effectively clean the stubborn stains due to its soft bristles. At this time, users may need to clean manually, which affects cleaning efficiency and user experience.

[0053] In view of this, the embodiment of the present application provides a control method for a cleaning device, based on the cleaning device being equipped with a wiper device for cleaning stubborn stains, the working control logic of the cleaning device is set to first obtain a cleaning instruction, and then based on the obtained cleaning instruction, control the wiper device to descend from the suspended position A to the working position B, and then perform the cleaning task. In this way, when encountering stubborn stains, it can ensure that the wiper device moves to the working position B in time, and in a hard friction manner, through the strong friction force generated with the ground, the stubborn stains are loosened and separated from the ground, and then thoroughly cleaned with the cooperation of the roller brush device or the scraper device, so as to achieve efficient cleaning and avoid human intervention; and when no cleaning instruction is received, the wiper device can be in the suspended position A, reducing the wear between the wiper device and the surface to be cleaned, which is conducive to extending the service life of the wiper device.

[0054] First, combine Figure 1-Figure 3 The cleaning device 10 of this embodiment may be a floor scrubber, a floor sweeping robot or other types of cleaning devices 10. The cleaning device 10 of this embodiment may include: a housing 100, a roller brush device 200, a wiping plate device 400 and a scraping strip device 300. That is, the cleaning device 10 of this embodiment may clean a surface to be cleaned by using a variety of cleaning parts such as the roller brush device 200, the wiping plate device 400 and the scraping strip device 300. The surface to be cleaned may be the ground, a tabletop or other surfaces to be cleaned.

[0055] The housing 100 has a cleaning cavity, which can be a closed or semi-closed cleaning environment, which can protect the internal components from external damage and can also centrally clean and collect sewage. Optionally, the housing 100 can be made of high-strength and corrosion-resistant materials such as stainless steel, aluminum alloy or special plastic to ensure the durability and stability of the housing 100.

[0056] The roller brush device 200 is a basic cleaning tool that can be rotatably arranged in the cleaning chamber and contact the surface to be cleaned by rotation to remove most stains. Optionally, the roller brush device 200 can be made of wear-resistant and durable materials such as nylon, polyester fiber or special synthetic materials to ensure the cleaning effect and durability. Specifically, the diameter, rotation speed and bristle density of the roller brush device 200 can be selectively designed according to the power and usage scenario of the floor scrubber, and are not limited here.

[0057] The scraper device 300 is disposed at the front side of the roller brush device 200, and the scraper device 300 is movably connected to the housing 100, and is used to scrape and wash the surface to be cleaned. Specifically, the scraper device 300 scrapes and washes the floor as the floor brush assembly moves. Optionally, in the face of corner stains that are difficult to clean, such as corners, the scraper device 300 can quickly scrape away the stains, thereby optimizing the disadvantage that the traditional floor brush assembly is difficult to clean corner stains, such as corners.

[0058] Optionally, the scraper device 300 may include a scraper frame and a scraper element mounted on the scraper frame, and the scraper element may be made of a wear-resistant and scratch-resistant material such as rubber, silicone or special synthetic material to ensure cleaning effect and durability. Specifically, the shape, angle and hardness of the scraper element may be selectively designed according to the usage scenario and the ground material, and are not limited here.

[0059] The wiping plate device 400 is arranged at the front side of the roller brush device 200, and the wiping plate device 400 is arranged between the scraper device 300 and the roller brush device 200. The wiping plate device 400 is movably connected to the housing 100, and the wiping plate device 400 is used to scrub the surface to be cleaned. Specifically, the wiping plate device 400 can further remove stubborn stains by hard scrubbing. Optionally, when it is necessary to clean the ground with stubborn stains, the wiping plate device 400 implements strong friction on the ground to achieve the cleaning of stubborn stains. Optionally, the material of the wiping plate device 400 can be selected from hard materials such as rubber, plastic, metal or special synthetic materials to ensure the cleaning effect and durability. Optionally, the wiping plate device 400 may include a wiping plate frame and a wiping plate member arranged at the bottom of the wiping plate frame, and the surface of the wiping plate member may have a certain degree of roughness to increase the friction with the ground. Specifically, the shape, size and hardness of the wiping plate member should be selectively designed according to the use scenario of the floor scrubber and the material of the ground, and are not limited here.

[0060] Optionally, the wiping device 400 may also have adjustable scrubbing force and scrubbing frequency to meet different cleaning requirements. Optionally, the wiping device 400 may also be designed with a protection mechanism, such as a limit switch, a pressure sensor, etc., to control the scrubbing force and scrubbing frequency to prevent the wiping device 400 from causing excessive wear or damage to the floor.

[0061] In some embodiments, the scraper bar device 300 and the wiper plate device 400 are both suitable for lifting and lowering movements between a suspended position A and a working position B, and either the scraper bar device 300 or the wiper plate device 400 cleans the surface to be cleaned at the working position B; and either the scraper bar device 300 or the wiper plate device 400 is separated from the surface to be cleaned at the suspended position A.

[0062] Specifically, when the scraper device 300 is in the working position B, the scraper device 300 will be attached to the surface to be cleaned. When the scraper device 300 moves to the corners of the wall and the corners that are difficult to clean, the stains and residues in these areas can be scraped off. When the wiping plate device 400 is in the working position B, the principle of hard friction can be used to generate a strong friction force with the surface to be cleaned, thereby removing stubborn stains.

[0063] When the scraper bar device 300 and the wiper plate device 400 are in the suspended position A, the two will be separated from the surface to be cleaned, so that the two can be stored, ensuring the compactness of the floor brush mechanism of the cleaning device 10. In addition, unnecessary contact between the scraper bar device 300 and the wiper plate device 400 and the ground during the movement of the floor scrubber is avoided, reducing the energy consumption and wear of the cleaning device 10, and ensuring the stability and smoothness of the cleaning device 10 during the movement.

[0064] By setting the above-mentioned wiping board device 400, the cleaning device 10 of this embodiment has at least a first cleaning mode and a second cleaning mode, wherein, in the first cleaning mode, for example, when the cleaning device 10 moves to a corner that is difficult to clean, such as a corner of a wall, or when there are a small amount of water marks remaining on the ground, or when the dirt is light dirt such as easily movable solid particles, the scraping bar device 300 is operated, and the scraping bar device 300 scrapes and washes the ground, and cooperates with the rotating dirt suction of the roller brush device 200 to remove most of the stains and dust; or; when encountering stubborn stains such as sticky stains that are difficult to remove by both the roller brush device 200 and the scraping bar device 300, it can be switched to the second cleaning mode, that is, the wiping board device 400 is controlled to contact the ground , through hard friction, with strong friction force, stubborn stains are loosened and removed from the ground, and then thorough cleaning is performed with the cooperation of the roller brush device 200 or the scraper device 300; when the scraper device 300 and the wiper device 400 are not needed, they can be stored to reduce the wear of the scraper device 300 and the wiper device 400; in addition, the cleaning device 10 can also have a third cleaning mode. In the third cleaning mode, the cleaning task can be performed by a cleaning member other than the scraper device 300 and the wiper device 400, such as the roller brush device 200, and the scraper device 300 and the wiper device 400 can both rise to their respective suspended positions A, thereby simplifying the cleaning control method and improving the cleaning efficiency.

[0065] Further, combined with Figure 4 , the control method of the cleaning device 10 of this embodiment is configured as follows:

[0066] S101, in response to a cleaning instruction, the cleaning device 10 enters a first cleaning mode and obtains a motion state of the cleaning device 10;

[0067] Specifically, the cleaning instruction here refers to an instruction for controlling the cleaning device to perform a cleaning task. The cleaning instruction can be issued by the user through a button or screen on the cleaning device 10, or through an electronic device that has a communication relationship with the cleaning device 10, such as a mobile phone, a remote control device, or a voice instruction.

[0068] After receiving the cleaning instruction, the cleaning device 10 enters the first cleaning mode, at which time the movement state of the cleaning device 10 is obtained. As mentioned above, different types of stains usually require different cleaning parts for cleaning. For light stains, the scraper device 300 can cooperate with the roller brush device 200 to perform the cleaning task, and for stubborn stains, the wiper device 400 can cooperate with the roller brush device 200 to perform the cleaning task. Taking into account that light stains occur more frequently than heavy stains in scenes such as daily life, therefore, after receiving the cleaning instruction, the cleaning device 10 can be controlled to directly enter the first cleaning mode, which is conducive to reducing frequent switching of cleaning modes.

[0069] S102, controlling the scraper device 300 to rise or fall according to the motion state of the cleaning device 10;

[0070] Considering that the scraper device 300 is arranged on the front side of the roller brush device 200, the movement direction of the cleaning device 10 will directly affect the order in which the roller brush device 200, the scraper device 300 and the wiper device 400 contact the stains, thereby affecting the cleaning effect; for example, when cleaning movable dirt such as particulate matter on the surface to be cleaned, and the cleaning device 10 is moving forward, the scraper device 300 drops to the working position B, which will push the dirt away, and the roller brush device 200 cannot smoothly remove and suck away the dirt, and the same is true for the wiper device 400. Therefore, after entering the first cleaning mode, it is necessary to control the lifting and lowering of the scraper device 300 according to the movement state of the cleaning device 10. For example, when the cleaning device 10 moves forward, the scraper device 300 is controlled to rise to the suspended position A, and when the cleaning device 10 moves backward, the scraper device 300 is controlled to directly drop to the working position B to perform the cleaning task.

[0071] S103, after receiving the switching instruction, the cleaning device 10 switches from the first cleaning mode to the second cleaning mode, and obtains the position information of the scraper device 300;

[0072] The switching instruction here is a cleaning mode switching instruction. During the operation of the cleaning device 10, when it moves to the area where the stubborn stains are located, in response to the switching instruction, the cleaning device 10 switches to the second cleaning mode, and the cleaning task is performed by the wiping plate device 400 which is more suitable for cleaning stubborn stains. Considering that the scraper device 300 and the wiping plate device 400 are in the working position B at the same time, the floor brush mechanism of the cleaning device 10 will have multiple fulcrums on the surface to be cleaned, which will affect the downward pressure of the wiping plate device 400 and the scraper device 300 on the surface to be cleaned, resulting in poor cleaning effect. In order to avoid the above problems, it is necessary to confirm the position information of the scraper device 300 before controlling the wiping plate device 400 to descend to the working position B after switching to the second cleaning mode.

[0073] S104, controlling the wiping plate device 400 to rise or fall according to the position information of the scraper device 300.

[0074] Specifically, if the scraper device 300 is in its working position B and contacts the surface to be cleaned, the wiping plate device 400 is controlled to rise to its suspended position A and separate from the surface to be cleaned; if the scraper device 300 is in its suspended position A and separate from the surface to be cleaned, the wiping plate device 400 is controlled to descend to its working position B to clean the surface to be cleaned.

[0075] The control method of the cleaning device 10 of this embodiment is based on the cleaning device 10 being equipped with a scraper device 300 and a wiper device 400 for cleaning stubborn stains. The working control logic of the cleaning device 10 is set to first respond to the cleaning instruction and enter the first cleaning mode, with the scraper device 300 cooperating with the roller brush device 200 to perform the cleaning task; and when encountering stubborn stains, respond to the switching instruction and enter the second cleaning mode, ensuring that the wiper device 400 is moved to the working position B in time, and loosens the stubborn stains by hard friction, so that the roller brush device 200 can remove them. In this way, the cleaning device 10 of this embodiment can effectively clean different stains with matching cleaning parts, eliminating manual cleaning. In addition, in the first cleaning mode, the scraper device 300 is controlled to rise or fall according to the movement state of the cleaning equipment 10; the scraper device 300 and the roller brush device 200 can avoid affecting each other. In the second cleaning mode, the wiping plate device 400 is controlled to rise or fall according to the position information of the scraper device 300; the scraper device 300 and the wiping plate device 400 can avoid affecting each other, thereby ensuring the cleaning efficiency of the cleaning equipment 10.

[0076] In some embodiments, the scraper device 300 is controlled to rise or fall according to the movement state of the cleaning device 10, including: if the current movement direction of the cleaning device 10 is the direction of the roller brush device 200 toward the wiping device 400 or is in a stationary state, the scraper device 300 is controlled to maintain a suspended position A until the movement state of the cleaning device 10 switches to the direction in which the roller brush device 200 moves away from the wiping device 400, and the scraper device 300 is controlled to descend to the working position B; if the current movement direction of the cleaning device 10 is the direction in which the roller brush device 200 moves away from the wiping device 400, the scraper device 300 is controlled to descend to the working position B.

[0077] It should be noted that, since the scraper device 300 and the wiper device 400 are both located in front of the roller brush device 200, the direction of the roller brush device 200 toward the wiper device 400 is the front direction, and the direction of the roller brush device 200 away from the wiper device 400 is the rear direction. Taking a floor scrubber as an example, the floor scrubber is held and operated by a user during operation, so the direction of the roller brush device 200 toward the wiper device 400 is also the direction away from the user, that is, the front direction, and the direction of the roller brush device 200 away from the wiper device 400 is also the direction close to the user, that is, the rear direction.

[0078] In this embodiment, the action triggering timing of the scraper device 300 descending to the working position B is: if the cleaning device 10 is currently moving forward or in a stationary state, the scraper device 300 is first controlled to maintain the suspended position A to prevent the scraper device 300 from pushing away the movable foreign particles on the surface to be cleaned, so that the roller brush device 200 cannot effectively clean the foreign particles; until the cleaning device 10 moves forward until the planned path has been cleaned and the moving direction is adjusted to backward, the scraper device 300 is controlled to descend to the working position B; if the cleaning device 10 is currently moving backward, the scraper device 300 is directly controlled to descend to the working position B for cleaning.

[0079] In this way, the scraper device 300 can be prevented from affecting the cleaning operation of the roller brush device 200 , thereby ensuring the cleaning efficiency of the cleaning device 10 .

[0080] In some embodiments, the wiping device 400 is controlled to rise or fall according to the position information of the scraper device 300, including: if the scraper device 300 is in the working position B, the wiping device 400 is controlled to rise; if the scraper device 300 is in the suspended position A, the wiping device 400 is controlled to fall to clean the surface to be cleaned.

[0081] In other words, in the cleaning device 10 of this embodiment, when any one of the wiping plate device 400 and the scraping strip device 300 is in the working position B, the other one is in the suspended position A.

[0082] For example, when the scraper device 300 is in its working position B and contacts the surface to be cleaned, the wiper device 400 is controlled to rise to the suspended position A and separate from the surface to be cleaned; when the scraper device 300 rises to the suspended position A, the wiper device 400 is controlled to descend to its working position B and contacts the surface to be cleaned. In this way, it is possible to prevent the wiper device 400 and the scraper device from contacting the surface to be cleaned at the same time, thereby avoiding the situation where the cleaning device 10 and the surface to be cleaned are supported at multiple points, which is conducive to ensuring the cleaning effect and cleaning efficiency of the wiper device 400 and the scraper device 300.

[0083] Of course, in addition to the above-mentioned state, the wiping plate device 400 and the scraping strip device 300 may also be in the suspended position A at the same time, so that when the cleaning device 10 is not working or the wiping plate device 400 and the scraping strip device 300 are not needed, the wiping plate device 400 and the scraping strip device 300 can be stored to avoid unnecessary wear caused by contact with the ground.

[0084] In some embodiments, the control method further includes: in the second cleaning mode, determining the current motion state of the cleaning device 10, the motion state including: a stationary state and a motion direction; and controlling the motion of the wiping device 400 according to the motion state.

[0085] As mentioned above, different types of stains usually require different cleaning parts for cleaning. The wiper device 400 and the roller brush device 200 are arranged in the front-to-back direction, and the movement direction of the cleaning device 10 will directly affect the order in which the roller brush device 200 and the wiper device 400 contact the stains, thereby affecting the cleaning effect; in addition, when other cleaning parts of the cleaning device 10 are in working state, lowering the wiper device 400 may affect the cleaning effect of the cleaning parts that are already in operation, such as the roller brush device 200 or the brush strip device. Therefore, in this embodiment, after obtaining the cleaning instruction, the movement state of the cleaning device 10 is first determined, which is conducive to avoiding interference between the lowered wiper device 400 and the work of other cleaning parts, thereby ensuring the cleaning effect and work efficiency of the cleaning device 10.

[0086] Furthermore, the movement of the wiping device 400 is controlled according to the motion state, including: if the current movement direction of the cleaning device 10 is the direction of the roller brush device 200 toward the wiping device 400 or in a static state, the wiping device 400 is controlled to maintain a suspended position A until the movement direction of the cleaning device 10 is switched to the direction of the roller brush device 200 moving away from the wiping device 400, and then the wiping device 400 is controlled to descend to the working position B.

[0087] In this embodiment, the action triggering timing for the wiping device 400 to descend to the working position B is: if the cleaning device 10 is currently moving forward or in a stationary state, the wiping device 400 is first controlled to maintain the suspended position A to prevent the wiping device 400 from pushing away the movable foreign particles on the surface to be cleaned, so that the roller brush device cannot effectively clean the foreign particles; until the cleaning device 10 moves forward to complete the cleaning of the planned path and adjusts the moving direction to backward, the wiping device 400 is controlled to descend to the working position B.

[0088] In some embodiments, controlling the movement of the wiping device 400 according to the movement state may also include: if the current movement direction of the cleaning device 10 is the direction in which the roller brush device 200 is facing away from the wiping device 400, controlling the wiping device 400 to descend to the working position B.

[0089] That is to say, in this embodiment, in order to clean stubborn stains, the action triggering timing of the wiping device 400 descending to the working position B is: after obtaining the cleaning instruction, if the current moving direction of the cleaning device 10 is backward, the wiping device 400 can be directly controlled to descend to the working position B. In this way, the descending waiting time of the wiping device 400 can be reduced.

[0090] In some embodiments, the cleaning device 10 may further include: a foam spraying device. Specifically, the foam spraying device is disposed on the side of the wiping plate device 400 facing away from the roller brush device 200, and the foam spraying device may be used to spray foam on the surface to be cleaned, and the foam may help dissolve and soften the stubborn stains adhered to the surface to be cleaned, so that the roller brush device 200 can remove the dissolved and softened stains.

[0091] In order to improve the cleaning effect of the cleaning device 10 by using the foam spraying device, the control method of this embodiment may further include the following steps: when the wiping plate device 400 is controlled to descend to clean the surface to be cleaned, the foam spraying device is controlled to spray foam on the surface to be cleaned. In this way, after the foam dissolves and softens the stubborn stains, the cleaning difficulty of the cleaning parts such as the roller brush device 200, the scraper device 300, and the wiping plate device 400 can be reduced, thereby improving the cleaning effect and cleaning efficiency.

[0092] In some embodiments, controlling the foam spraying device to spray foam on the surface to be cleaned includes: when it is determined that the cleaning device 10 moves along the direction of the roller brush device 200 toward the wiping device 400, controlling the foam spraying device to spray foam on the surface to be cleaned; when it is determined that the cleaning device 10 moves along the direction of the roller brush device 200 away from the wiping device 400, controlling the foam spraying device to stop spraying foam.

[0093] In this way, for some scenarios, such as when the wiping device 400 is lowered when the cleaning device 10 retreats and is raised when it moves forward, the foam spraying device sprays foam to the surface to be cleaned when the cleaning device 10 moves forward, and the roller brush device 200 is used to clean the ground after the foam is dissolved and softened, and at the same time, the foam on the surface to be cleaned is sucked away, and the foam spraying is stopped when the cleaning device 10 moves backward, and the wiping device 400 is used to scrape and clean the remaining stubborn stains. In this way, after the surface to be cleaned has been washed with foam and scraped by the wiping device 400, the surface to be cleaned is not covered with foam, which is convenient for the user to judge whether the stubborn stains have been cleaned, so as to determine whether it is necessary to continue cleaning the surface to be cleaned using the current mode. For example, after being scraped by the wiping device 400, the user can choose to turn off the second cleaning mode and return to the first cleaning mode after visual judgment or automatic machine recognition that the surface to be cleaned has been cleaned. If the cleaning device 10 is still spraying foam while moving backward, the surface scraped by the wiping device 400 will be sprayed with foam again. The covering of foam makes it impossible for the user to directly judge and the machine to automatically recognize, thereby making unnecessary cleaning actions and reducing cleaning efficiency.

[0094] In other embodiments, controlling the foam spraying device to spray foam on the surface to be cleaned may include the following steps: when it is determined that the cleaning device 10 is moving along the direction of the roller brush device 200 away from the wiping device 400, controlling the foam spraying device to spray foam on the surface to be cleaned; when it is determined that the cleaning device 10 is moving along the direction of the roller brush device 200 toward the wiping device 400, controlling the foam spraying device to stop spraying foam.

[0095] Since the foam spraying device is located at the front side of the wiping device 400, in this embodiment, the foam spraying device is controlled to spray foam only when the cleaning device 10 moves backward, so that the sprayed foam is actually on the rear side of the wiping device 400 along the moving direction. In this way, the wiping device 400 cannot push away the foam, and the foam can have more sufficient time to dissolve and soften the stains, so that when the cleaning device 10 cleans the preset path backward and turns forward, the roller brush device 200 can better absorb the foam and clean the area softened by the foam, which is beneficial to improve the cleaning effect.

[0096] In addition, for some scenarios, such as when the nozzle of the foam spraying device is set in the shell 100, the foam is sprayed on the surface to be cleaned in front of the roller brush device 200 and below the shell 100, that is, when the cleaning device 10 is stationary, the foam sprayed on the ground will be covered by the shell 100 of the cleaning device 10. Therefore, if the cleaning device 10 sprays foam on the ground when it moves forward, the foam under the shell 100 will be directly sucked into the sewage tank by the cleaning device 10. Due to the obstruction of the shell 100 of the cleaning device 10, the user cannot perceive whether the cleaning device 10 sprays foam on the surface to be cleaned during the process, and the improvement of user experience is not obvious. The present application adopts the method of stopping foam spraying when the cleaning device 10 moves forward and spraying foam when the cleaning device 10 moves backward. Without affecting the user experience, it can save foam and improve the battery life of the foam spraying device. On the other hand, during the forward stage of the cleaning device 10, the foam is cleaned up by the roller brush device 200 soon after being sprayed on the ground, resulting in insufficient time for the foam to dissolve and soften stubborn stains. As for the foam sprayed during the backward stage, the roller brush device 200 will not clean it up immediately because the roller brush device 200 moves backward, so that the foam has enough residence time on the surface to be cleaned to dissolve and soften the stubborn stains. The present application adopts the method of stopping the foam spraying when the cleaning device 10 is moving forward and spraying the foam when the cleaning device 10 is moving backward, which not only ensures the cleaning efficiency but also saves foam.

[0097] In some embodiments, the foam spraying device is disposed between the wiping board device 400 and the scraping strip device 300 .

[0098] In this way, the foam spraying device can fill the gap between the wiping plate device 400 and the scraper device 300, and efficiently utilize the space of the shell 100. On the other hand, the inner side surfaces of the scraper device 300 and the wiping plate device 400 are usually cleaning dead corners. Setting the foam spraying device there can also clean the sides of both the scraper device 300 and the scraper device 400.

[0099] In some possible embodiments, controlling the wiping device 400 to descend to clean the surface to be cleaned can specifically include the following steps: when the cleaning device 10 moves along the direction of the roller brush device 200 toward the wiping device 400, the wiping device 400 is controlled to rise to the suspended position A; when the cleaning device 10 moves along the direction of the roller brush device 200 away from the wiping device 400, the wiping device 400 is controlled to descend to the working position B.

[0100] That is to say, after the wiping plate device 400 is controlled to descend to the working position B for the first time, whether to start cleaning the stubborn stains immediately depends on the direction of travel of the cleaning device 10. If the cleaning device 10 moves forward, the wiping plate device 400 is controlled to rise to the suspended position A to prevent the wiping plate device 400 from pushing away the movable foreign particles on the surface to be cleaned, so that the roller brush cannot effectively clean the foreign particles; if the cleaning device 10 moves backward, the wiping plate device 400 is controlled to descend to the working position B to start cleaning, and the wiping plate device 400 is used to further clean the stubborn stains that the roller brush device 200 cannot effectively remove, so as to ensure thorough cleaning.

[0101] In this way, it is possible to prevent the wiper device 400 from affecting the cleaning work of the roller brush device 200 .

[0102] In some other embodiments, controlling the wiping device 400 to descend to clean the surface to be cleaned may include a first cleaning stage and a second cleaning stage, wherein the first cleaning stage is that when the cleaning device 10 moves along the direction of the roller brush device 200 toward the wiping device 400, the wiping device 400 is controlled to rise to the suspended position A, and when the cleaning device 10 moves along the direction of the roller brush device 200 away from the wiping device 400, the wiping device 400 is controlled to descend to the working position B; the second cleaning stage is that when the cleaning device 10 moves, the wiping device 400 is controlled to descend to the working position B.

[0103] That is to say, in the present embodiment, the cleaning of stubborn stains is divided into at least two stages, the first cleaning stage and the second cleaning stage. In the first cleaning stage, only when the cleaning device 10 moves backward, the wiping device 400 is controlled to descend to the working position B to clean the stubborn stains, and when the cleaning device 10 moves forward, the wiping device 400 is controlled to rise to the suspended position A. In this way, in the first cleaning stage, the wiping device 400 will not affect the operation of the roller brush device 200, and it can be ensured that the roller brush device 200 can clean most of the easy-to-clean stains (i.e., easy-to-clean stains except stubborn stains); and in the second cleaning stage, no matter whether the cleaning device 10 moves forward or backward, the wiping device 400 is controlled to contact with the surface to be cleaned, so that the stubborn stains are repeatedly wiped off by the wiping device 400 in the second cleaning stage. In this way, by the mutual cooperation of the cleaning parts such as the roller brush device 200 and the wiper device 400 at different cleaning stages, the cleaning effect of local stubborn stains on the surface to be cleaned can be improved while the cleaning efficiency of the cleaning device 10 on the entire surface to be cleaned can be improved.

[0104] In some embodiments, considering that the roller brush device 200 is prone to adhere to dirt after the cleaning device 10 performs the cleaning task, it needs to be cleaned. Therefore, the cleaning device 10 of this embodiment can be equipped with a cleaning base station, and the cleaning base station has a cleaning tank for cleaning the roller brush device 200. For example, the cleaning base station can be provided with a working chamber, and the bottom wall of the working chamber is provided with a cleaning tank with a notch facing upward. When the cleaning device 10 moves to the cleaning base station for self-cleaning, the roller brush device 200 is in the cleaning tank, and there can be cleaning liquid in the cleaning tank to clean the roller brush device 200.

[0105] At the same time, in order to achieve more uses of the same cleaning tank, when the cleaning equipment 10 is moved to the cleaning base station, the wiping device 400 can also be vertically opposite to the cleaning tank. In this way, the cleaning liquid in the cleaning tank can also be used to clean the wiping device 400, and it can also be saved to separately configure a cleaning mechanism for the wiping device 400, which is conducive to simplifying the structure of the cleaning base station.

[0106] Specifically, the control method of this embodiment further includes the following steps: after the cleaning device 10 is placed on the cleaning base station, the wiping device 400 is controlled to move up and down reciprocatingly. In this way, when the wiping device 400 moves up and down reciprocatingly, it can repeatedly contact and separate with the cleaning liquid, so that the cleaning liquid in the cleaning tank can be used to clean the wiping device 400 to a certain extent; and the wiping device 400 has a slapping effect on the cleaning liquid, which can cause the cleaning liquid to form a surge, which is conducive to promoting the cleaning effect of the cleaning liquid on the roller brush device 200.

[0107] Furthermore, when controlling the wiping plate device 400 to perform reciprocating lifting and lowering motion, the control method may further include: controlling the roller brush device 200 to rotate in the cleaning tank so that the roller brush device 200 is immersed in the cleaning liquid in the cleaning tank. In this way, the roller brush device 200 can be fully immersed, and the surge of the cleaning liquid formed by the roller brush device 200 when rotating can be used to improve the self-cleaning effect of the wiping plate device 400, that is, the wiping plate device 400 and the roller brush device 200 can promote each other's self-cleaning effect.

[0108] In some embodiments, controlling the roller brush device 200 to rotate in the cleaning tank may include: controlling the roller brush device 200 to rotate alternately along a first rotation direction and a second rotation direction, wherein the first rotation direction and the second rotation direction are opposite. For example, the first rotation direction is clockwise, and the second rotation direction is counterclockwise; or, the second rotation direction is clockwise, and the first rotation direction is counterclockwise. When the roller brush device 200 rotates in different directions, the surge formed by the cleaning liquid has different cleaning forces on the surface of the roller brush device 200. By making the roller brush device 200 rotate alternately along the first rotation direction and the second rotation direction, the self-cleaning effect of the roller brush device 200 can be further improved.

[0109] In some embodiments, the downward pressure of the wiping plate device 400 on the surface to be cleaned in the second cleaning mode is greater than the downward pressure of the scraping strip device 300 on the surface to be cleaned in the first cleaning mode. Since the wiping plate device 400 needs to wipe off the stubborn stains adhering to the surface to be cleaned by hard friction, while the scraping strip device 300 mainly scrapes off and gathers the particles and liquids on the surface to be cleaned that are relatively easy to clean, the scraping strip device 300 only needs to maintain good contact with the surface to be cleaned so that the dirt cannot be leaked from the gap between the scraping strip device 300 and the surface to be cleaned. Therefore, the downward pressure of the wiping plate device 400 is greater than that of the scraping strip device 300, which is conducive to achieving effective cleaning of stubborn stains with greater friction, and the downward pressure of the scraping strip device 300 is smaller than that of the wiping plate device 400, which is conducive to reducing energy consumption and wear while ensuring effective removal of easy-to-clean stains.

[0110] In some embodiments, the control method of this embodiment may further include the following steps: in the second cleaning mode, in response to a stop instruction, controlling the wiping device 400 to rise, controlling the cleaning device 10 to move forward a preset distance, and then controlling the cleaning device 10 to move backward.

[0111] Because water stains or dirt may remain between the wiping plate device 400 and the roller brush device 200, and between the wiping plate device 400 and the scraper device 300 after the cleaning device 10 stops running, after the cleaning device 10 receives the stop command, the cleaning device 10 is first controlled to move forward a preset distance, and then the cleaning device 10 is controlled to retreat a certain preset distance, so that the above-mentioned residual water stains or dirt can be cleaned.

[0112] In some embodiments, the cleaning device 10 may further include: a steam spray device. Specifically, the steam spray device is disposed on the side of the wiping plate device 400 facing away from the roller brush device 200, and the steam spray device can be used to spray steam on the surface to be cleaned, and the steam can help dissolve and soften the stubborn stains adhered to the surface to be cleaned, so that the roller brush device 200 can remove the dissolved and softened stains.

[0113] In order to improve the cleaning effect of the cleaning device 10 by using the steam injection device, the control method of this embodiment may further include the following steps: when the wiping plate device 400 is controlled to descend to clean the surface to be cleaned, the steam injection device is controlled to inject steam to the surface to be cleaned. In this way, after the steam dissolves and softens the stubborn stains, the cleaning difficulty of the cleaning parts such as the roller brush device 200, the scraper device 300, and the wiping plate device 400 can be reduced, thereby improving the cleaning effect and cleaning efficiency.

[0114] In some embodiments, controlling the steam injection device to inject steam onto the surface to be cleaned includes: when it is determined that the cleaning device 10 is moving along the direction of the roller brush device 200 toward the wiping device 400, controlling the steam injection device to inject steam onto the surface to be cleaned; when it is determined that the cleaning device 10 is moving along the direction of the roller brush device 200 away from the wiping device 400, controlling the steam injection device to stop injecting steam.

[0115] In this way, for certain scenarios, such as when the wiping device 400 is lowered when the cleaning device 10 moves backward and raised when the wiping device 400 moves forward, the steam injection device injects steam toward the surface to be cleaned when the cleaning device 10 moves forward, and the roller brush device 200 is used to clean the floor after the steam has dissolved and softened, while at the same time sucking away the water stains on the surface to be cleaned. When the cleaning device 10 moves backward, the steam injection is stopped, and the wiping device 400 is used to scrape and clean the remaining stubborn stains. In this way, the surface to be cleaned only undergoes one steam wash and scraping by the wiping device 400 during the user's pushing and pulling process, which is convenient for the user to determine whether it is necessary to continue cleaning the surface to be cleaned using the current mode. For example, after being scraped by the wiping device 400, the user believes that the surface to be cleaned has been cleaned through visual judgment or automatic machine recognition, and can choose to turn off the second cleaning mode and return to the first cleaning mode. If the cleaning device 10 still sprays steam while moving backward, even if the surface to be cleaned has been cleaned, there will still be water stains left on the surface due to the spraying of steam. This will waste steam and increase the difficulty of cleaning the water stains, which is not conducive to improving user experience and cleaning efficiency.

[0116] In other embodiments, controlling the steam spray device to spray steam onto the surface to be cleaned may include the following steps: when it is determined that the cleaning device 10 moves along the direction of the roller brush device 200 away from the wiping device 400, controlling the steam spray device to spray steam onto the surface to be cleaned; when it is determined that the cleaning device 10 moves along the direction of the roller brush device 200 toward the wiping device 400, controlling the steam spray device to stop spraying steam.

[0117] In this way, for some scenarios, such as when the nozzle of the steam injection device is set in the shell 100, the steam is injected in front of the roller brush device 200 and on the surface to be cleaned under the shell 100, that is, when the cleaning device 10 is stationary, the steam injected onto the ground will be covered by the shell 100 of the cleaning device 10. Therefore, when the cleaning device 10 is moving forward, the steam under the shell 100 will be directly sucked into the sewage tank by the cleaning device 10 after forming water. Due to the obstruction of the shell 100 of the cleaning device 10, the user cannot perceive whether the cleaning device 10 has injected steam onto the surface to be cleaned during the process, and the improvement of the user experience is not obvious. On the other hand, since the injection position of the steam is close to the roller brush device 200, during the forward stage of the cleaning device 10, the steam is quickly cleaned by the roller brush device 200 after being injected onto the ground, resulting in insufficient time for the steam to dissolve and soften stubborn stains, and the improvement of cleaning efficiency is also limited. Therefore, the present application adopts the method of stopping steam injection when the cleaning device 10 moves forward and stopping steam injection when the cleaning device 10 moves backward, which not only does not affect the user experience and cleaning efficiency, but also saves steam and improves the life of the steam injection device.

[0118] In addition, since the steam injection device is located on the front side of the wiping device 400, in the present embodiment, the steam injection device is controlled to inject steam only when the cleaning device 10 moves backward, so that the ejected steam is actually on the rear side of the wiping device 400 along the moving direction. In this way, the wiping device 400 cannot push away the steam, and the steam has more sufficient time to dissolve and soften the stains, so that when the cleaning device 10 cleans the preset path backward and turns forward, the roller brush device 200 can better absorb the steam and clean the area softened by the steam, which is beneficial to improving the cleaning effect.

[0119] In some embodiments, the steam injection device can be disposed between the wiping plate device 400 and the scraping strip device 300. In this way, the steam injection device is disposed between the wiping plate device 400 and the scraping strip device 300, and can fill the gap between the wiping plate device 400 and the scraping strip device 300, and efficiently utilize the space of the housing 100. On the other hand, the inner side of the scraping strip device 300 and the wiping plate device 400 is usually a cleaning dead corner. The steam injection device is disposed there, and the side of the scraping strip device 300 and the wiping plate device 400 can also be cleaned.

[0120] Next, the cleaning system of this embodiment will be described.

[0121] Specifically, the cleaning system of this embodiment may include: a cleaning base station and the cleaning device 10 in the above embodiment. The cleaning base station is at least configured to clean the roller brush device 200 and the wiper device 400 of the cleaning device 10.

[0122] The cleaning system of this embodiment, because it has the cleaning device 10 of the above-mentioned embodiment, is helpful to improve the cleaning effect and the user experience.

[0123] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning equipment comprises: A housing, wherein the housing is provided with a cleaning chamber; A roller brush device is rotatably disposed in the cleaning chamber to clean the surface to be cleaned; A scraper device, movably disposed on the front side of the roller brush device; A wiping plate device, movably disposed on the front side of the rolling brush device and located between the scraping strip device and the rolling brush device; The cleaning device includes a first cleaning mode and a second cleaning mode; The control method is configured as follows: In response to the cleaning instruction, the cleaning device enters a first cleaning mode, and acquires a motion state of the cleaning device; Controlling the scraper device to rise or fall according to the motion state of the cleaning device; After receiving the switching instruction, the cleaning device switches from the first cleaning mode to the second cleaning mode, and obtains the position information of the scraper device; The wiping plate device is controlled to rise or fall according to the position information of the scraper strip device.

2. The control method of the cleaning equipment according to claim 1, characterized in that: The step of controlling the scraper device to rise or fall according to the motion state of the cleaning device comprises: If the current movement direction of the cleaning device is the direction in which the roller brush device moves toward the wiper device or is in a stationary state, the scraper device is controlled to remain in a suspended position until the movement state of the cleaning device is switched to the direction in which the roller brush device moves away from the wiper device, and the scraper device is controlled to descend to a working position; If the current moving direction of the cleaning device is the direction in which the roller brush device is facing away from the wiping plate device, the scraper device is controlled to descend to the working position.

3. The control method of the cleaning equipment according to claim 1, characterized in that: The step of controlling the wiping plate device to rise or fall according to the position information of the scraping strip device comprises: If the scraper device is in the working position, the scraper device is controlled to rise to a suspended position, and then the wiper device is controlled to descend to clean the cleaning surface; If the scraper device is in a suspended position, the wiper device is controlled to descend to clean the surface to be cleaned.

4. The control method of the cleaning equipment according to claim 1, characterized in that: Also includes: In the second cleaning mode, determining the current motion state of the cleaning device, the motion state including: a stationary state and a motion direction; The movement of the wiper device is controlled according to the movement state.

5. The control method of the cleaning equipment according to claim 4, characterized in that: The controlling the movement of the wiper device according to the movement state comprises: If the current movement direction of the cleaning device is the direction of the roller brush device toward the wiping device or is in a stationary state, the wiping device is controlled to maintain a suspended position until the movement state of the cleaning device is switched to the direction of the roller brush device moving away from the wiping device, and the wiping device is controlled to descend to the working position.

6. The control method of the cleaning equipment according to claim 4, characterized in that: The controlling the movement of the wiper device according to the movement state comprises: If the current moving direction of the cleaning device is the direction in which the roller brush device is facing away from the wiping device, the wiping device is controlled to descend to the working position.

7. The control method of the cleaning equipment according to claim 3, characterized in that: When the wiping plate device is controlled to descend to clean the surface to be cleaned, the method includes: When the cleaning device moves along the direction of the roller brush device toward the wiping device, the wiping device is controlled to rise to a suspended position. When the cleaning device moves along the direction of the roller brush device away from the wiping device, the wiping device is controlled to descend to a working position.

8. The control method of the cleaning equipment according to claim 3, characterized in that: The wiping plate device is controlled to descend to clean the surface to be cleaned, including a first cleaning stage and a second cleaning stage. The first cleaning stage is that when the cleaning device moves along the direction of the roller brush device toward the wiping device, the wiping device is controlled to rise to a suspended position, and when the cleaning device moves along the direction of the roller brush device away from the wiping device, the wiping device is controlled to descend to a working position; The second cleaning stage is to control the wiper device to descend to the working position when the cleaning device moves.

9. The control method of the cleaning equipment according to any one of claims 1 to 8, characterized in that: The cleaning device further comprises: a foam spraying device, the foam spraying device being used to spray foam on the surface to be cleaned; The control method further comprises: After receiving the switching instruction, the foam spraying device is controlled to spray foam onto the surface to be cleaned.

10. The control method of the cleaning equipment according to claim 9, characterized in that: The controlling the foam spraying device to spray foam on the surface to be cleaned comprises: When it is determined that the cleaning device moves in the direction from the roller brush device to the wiping plate device, the foam spraying device is controlled to spray foam on the surface to be cleaned; When it is determined that the cleaning device moves in a direction in which the roller brush device is away from the wiping plate device, the foam spraying device is controlled to stop spraying foam.

11. The control method of the cleaning equipment according to claim 9, characterized in that: The controlling the foam spraying device to spray foam on the surface to be cleaned comprises: When it is determined that the cleaning device moves in a direction from the roller brush device to the wiping plate device, the foam spraying device is controlled to spray foam on the surface to be cleaned; When it is determined that the cleaning device moves in the direction from the roller brush device to the wiping plate device, the foam spraying device is controlled to stop spraying foam.

12. The control method of the cleaning equipment according to any one of claims 1 to 8, characterized in that: The cleaning device is also equipped with a cleaning base station, the cleaning base station has a cleaning groove for cleaning the roller brush device, when the cleaning device moves to the cleaning base station, the wiping plate device is vertically opposite to the cleaning groove, and the control method further includes the following steps: After the cleaning device is placed on the cleaning base station, the wiper device is controlled to move up and down reciprocatingly.

13. The control method of the cleaning equipment according to claim 12, characterized in that: The control method further includes: when controlling the wiping plate device to reciprocate and lift, controlling the rolling brush device to rotate in the cleaning tank so that the rolling brush device is immersed in the cleaning liquid in the cleaning tank.

14. The control method of the cleaning equipment according to claim 13, characterized in that: The step of controlling the roller brush device to rotate in the cleaning tank comprises: The roller brush device is controlled to rotate alternately along a first rotation direction and a second rotation direction, wherein the first rotation direction is opposite to the second rotation direction.

15. The control method of the cleaning equipment according to any one of claims 1 to 8, characterized in that: The downward pressure exerted by the wiper device on the surface to be cleaned in the second cleaning mode is greater than the downward pressure exerted by the scraper device on the surface to be cleaned in the first cleaning mode.

16. The control method of the cleaning equipment according to any one of claims 1 to 8, characterized in that: Also includes: In the second cleaning mode, in response to a stop instruction, the wiper device is controlled to rise, the cleaning device is controlled to move forward a preset distance, and then the cleaning device is controlled to move backward.

17. The control method of the cleaning equipment according to any one of claims 1 to 8, characterized in that: The cleaning device further comprises: a steam spraying device, the steam spraying device being used to spray steam on the surface to be cleaned; The control method further comprises: After receiving the switching instruction, the steam spraying device is controlled to spray steam onto the surface to be cleaned.

18. The control method of the cleaning equipment according to claim 17, characterized in that: The controlling the steam spraying device to spray steam on the surface to be cleaned comprises: When it is determined that the cleaning device moves in the direction from the roller brush device to the wiping plate device, controlling the steam spraying device to spray steam on the surface to be cleaned; When it is determined that the cleaning device moves in a direction in which the roller brush device is away from the wiping plate device, the steam spraying device is controlled to stop spraying steam.

19. The control method of the cleaning equipment according to claim 17, characterized in that: The controlling the steam spraying device to spray steam on the surface to be cleaned comprises: When it is determined that the cleaning device moves in a direction in which the roller brush device is facing away from the wiping plate device, controlling the steam spraying device to spray steam on the surface to be cleaned; When it is determined that the cleaning device moves in the direction from the roller brush device to the wiping plate device, the steam spraying device is controlled to stop spraying steam.

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