Cleaning equipment control method and cleaning equipment

Abstract

The embodiment of the invention provides a cleaning equipment control method and cleaning equipment. The cleaning equipment control method comprises the steps that in the first advancing process of the cleaning equipment, the scraping strip is controlled to be kept in the second state; and before the second travel is carried out, at least compensating the response duration of switching the scraping strip from the second state to the first state, and controlling the scraping strip to be switched to the first state.

Description

Technical Field

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

[0002] Household floor scrubbers are mainly used to clean and wash the surface of household floors. Floor scrubbers can automatically spray water and scrub the floor through cleaning parts such as roller brushes, and suck the sewage and stains on the cleaning parts into the sewage tank of the machine to achieve the functions of rapid cleaning and stain collection.

[0003] When the floor scrubber is pulling back, there is a lot of water stains left on the ground. A scraper and a drive can be installed at the front end of the roller brush. The drive drives the scraper to move so that the scraper contacts the ground. The water stains and other impurities left on the ground are scraped off during the movement of the floor scrubber. The floor scrubber usually works in a repeated forward and backward motion. How to control the scraper to contact the ground at the appropriate time is an urgent problem to be solved. Summary of the invention

[0004] In view of this, an embodiment of the present disclosure provides a cleaning device control method and a cleaning device.

[0005] According to a first aspect of an embodiment of the present disclosure, a cleaning device control method is provided, the cleaning device comprising: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided on the top of the body assembly, the floor brush assembly can move on a surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraping bar assembly, the cleaning member is used to clean the surface to be cleaned, the scraping bar assembly is used to scrape off dirt on the surface to be cleaned, the scraping bar assembly comprises a scraping bar and a driving unit, the scraping bar is arranged at the front side of the cleaning member in a first travel direction; the driving assembly is configured to drive the scraping bar to switch between a first state and a second state; when the scraping bar is in the first state, the scraping bar contacts the surface to be cleaned; when the scraping bar is in the second state, there is a gap between the scraping bar and the surface to be cleaned; the cleaning device performs a first travel along the first travel direction, and after stopping the first travel, performs a second travel along a second travel direction opposite to the first travel direction;

[0006] The method comprises:

[0007] During the first movement of the cleaning device, controlling the scraper bar to maintain the second state;

[0008] Before performing the second travel, at least a response time of the scraper strip switching from the second state to the first state is compensated, and the scraper strip is controlled to switch to the first state.

[0009] In the above embodiment, by compensating the response time, the influence of the extension of the decision-making process and the execution process of the scraper moving from the second state to the first state on the time point when the scraper reaches the first state can be reduced, thereby improving the timeliness of the scraper moving from the second state to the first state. On the one hand, the cleaning blind spot generated by the cleaning member during the first movement of the cleaning device can be cleaned, thereby reducing the cleaning blind spot. Simply put, the scraper bar is arranged on the front side of the cleaning member, and the position where the scraper bar scrapes and contacts the surface to be cleaned after it descends must also be in front of the position where the cleaning member contacts the surface to be cleaned. Since the projection area of ​​the cleaning member on the surface to be cleaned is not completely the cleaning contact area, this results in a small area that has not been cleaned and contacted on the projection of the floor brush assembly on the surface to be cleaned when the push stops in one direction. For example, after the roller brush stops pushing forward, there is an area at the front end of the roller brush that cannot be cleaned and contacted. Especially when cleaning along the edge, there will be a cleaning dead zone at the front edge of the roller brush. The present embodiment ensures that the scraper bar can clean the dead zone in time or carry the dirt out of the dead zone for cleaning during the back-pulling process of the machine through time compensation of the lifting and lowering of the front scraper bar, so as to reduce manual edge cleaning; on the other hand, it can reduce the residual cleaning marks left by the cleaning member during the second movement process, thereby improving the user experience. In simple terms, water stains are prone to appear on the general floor brush assembly during the back-pulling process, and the front descending scraper bar can scrape off the accumulated water stains. However, if the descent of the scraper bar is not compensated for in time, it is easy for the floor brush assembly to be pulled back for a distance before the scraper bar descends into place to scrape the water stains. At this time, the scraper bar can no longer scrape off the water stains that have been pulled back for a distance, and can only scrape off the water stains that continue to be pulled back. Through the compensation setting of this example, the water stains generated when the equipment is pulled back are further reduced.

[0010] In combination with the embodiment described in the first aspect, in some embodiments, the cleaning device has a stagnation time during the switching process between the first travel and the second travel; before performing the second travel, at least compensating for the response time of the scraper bar switching from the second state to the first state, and controlling the scraper bar to switch to the first state, includes at least one of the following:

[0011] During the first movement of the cleaning device, compensating the response time to control the scraper bar to switch from the second state to the first state, so that the scraper bar switches to the first state when the cleaning device stops the first movement;

[0012] During the first movement of the cleaning device, the response time is compensated to control the scraper bar to switch from the second state to the first state, the scraper bar has not been completely switched to the first state when the cleaning device stops the first movement, and the scraper bar is controlled to switch to the first state before the cleaning device performs the second movement;

[0013] In response to the cleaning device stopping the first movement, the scraper bar is controlled to switch from the second state to the first state by compensating the response time, the response time is less than or equal to the stagnation time, and the scraper bar is controlled to switch to the first state before the cleaning device performs the second movement.

[0014] In the above embodiment, the scraper bar state is switched by at least one of the time in the first moving process and the stagnation time in the transition process between the first moving process and the second moving process, and the time in the second moving process is no longer occupied, so that the scraper bar is switched to the first state before the second moving process, thereby cleaning the blind spot and removing the cleaning traces remaining in the second moving process, thereby improving the user experience.

[0015] In combination with the embodiments described in the first aspect, in some embodiments, the method further includes: when the distance between the cleaning device and the obstacle in the first moving direction is less than or equal to a predetermined interval distance, the first moving is stopped, wherein the predetermined interval distance is less than 1 cm.

[0016] In the above embodiment, the controller can predict the first travel stop time based on the distance between the cleaning device and the obstacle in the first travel direction, and trigger the scraper strip to switch from the second state to the first state at the start time before the stop time, wherein the interval between the predicted stop time and the start time is greater than the response time. In this way, the timeliness of the scraper strip switching from the second state to the first state can be improved. In combination with the embodiment described in the first aspect, in some embodiments, the controlling the scraper strip to switch from the second state to the first state includes at least one of the following:

[0017] During a first movement of the cleaning device, the speed of the first movement is less than or equal to a speed threshold, and the scraper strip is controlled to switch from the second state to the first state;

[0018] During the first movement of the cleaning device, the acceleration of the cleaning device is toward the second movement direction and is greater than an acceleration threshold, and the scraper strip is controlled to switch from the second state to the first state;

[0019] During the first travel of the cleaning device, the distance between the cleaning device and the obstacle in front of the first travel direction is less than or equal to a distance threshold, and the scraper strip is controlled to switch from the second state to the first state;

[0020] During the first movement of the cleaning device, the angle between the body assembly and the surface to be cleaned is less than or equal to an angle threshold, and the scraper strip is controlled to switch from the second state to the first state.

[0021] In the above embodiment, the speed of the first movement, the acceleration of the second movement direction, the distance to the obstacle, and the angle between the body component and the surface to be cleaned can be used to predict the transition of the cleaning device from the first movement to the second movement, so as to switch the scraper state in advance and compensate for the response time, thereby cleaning the blind spots and reducing the residual cleaning traces left by the cleaning parts during the second movement, thereby improving the user experience.

[0022] In combination with the embodiment described in the first aspect, in some embodiments, the method further includes:

[0023] In response to the scraper bar being switched to the first state during the first travel of the cleaning device, the scraper bar is controlled to switch to the second state.

[0024] In the above embodiment, if the scraper bar is switched to the first state during the first running of the cleaning device, the controller may switch the scraper bar to the second state to reduce the influence of the scraper bar on the cleaning effect of the first running cleaning member.

[0025] In combination with the embodiment described in the first aspect, in some embodiments, the method further includes at least one of the following:

[0026] determining a second speed at which the wiper strip switches from the second state to the first state according to a first speed of the first travel, wherein the first speed is negatively correlated with the second speed;

[0027] determining, according to a first speed of the first travel, an advance offset or a lag offset of a starting moment at which the wiper strip switches from the second state to the first state;

[0028] A third speed at which the scraper strip switches from the first state to the second state is determined based on a first distance between the cleaning device and the obstacle in front of the first traveling direction at the starting moment, wherein the first distance is negatively correlated with the third speed.

[0029] In the above embodiment, the first speed and the first distance are used to adjust the scraper bar descent speed and / or descent offset, thereby improving the scraper bar control accuracy to adapt to the switching of the scraper bar in different scenarios.

[0030] According to a second aspect of an embodiment of the present disclosure, a cleaning device control method is provided, the cleaning device comprising: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided on the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraping bar assembly, the cleaning member is used to clean the surface to be cleaned, the scraping bar assembly is used to scrape off dirt on the surface to be cleaned, the scraping bar assembly comprises a scraping bar and a driving part, the scraping bar is arranged on the front side of the cleaning member in a first travel direction; the driving assembly is configured to drive the scraping bar to switch between a first state and a second state; when the scraping bar is in the first state, the scraping bar contacts the surface to be cleaned; when the scraping bar is in the second state, there is a gap between the scraping bar and the surface to be cleaned; the cleaning device performs a first travel along the first travel direction, stops the first travel when the distance between the cleaning device and the obstacle in front of the first travel direction is less than or equal to a predetermined interval distance, and performs a second travel along a second travel direction opposite to the first travel direction;

[0031] The method comprises:

[0032] During the first movement of the cleaning device, controlling the scraper bar to maintain the second state;

[0033] Before performing the second movement, at least compensate for the response time of the scraper bar switching from the second state to the first state, and control the scraper bar to switch to the first state, so that the scraper bar can clean the surface to be cleaned between the scraper bar and the cleaning member when the cleaning device stops during the second movement of the cleaning device.

[0034] In the above embodiment, by compensating the response time, the influence of the extension of the decision-making process and the execution process of the scraper bar moving from the second state to the first state during the transition of the cleaning device from the first movement to the second movement due to approaching an obstacle can be reduced, thereby improving the timeliness of the scraper bar moving from the second state to the first state. On the one hand, the cleaning blind area generated by the cleaning member during the first movement of the cleaning device can be cleaned, thereby reducing the cleaning blind area. Simply put, the scraper bar is arranged on the front side of the cleaning member, and the position where the scraper bar scrapes and contacts the surface to be cleaned after it descends must also be in front of the cleaning contact position between the cleaning member and the surface to be cleaned. Since the projection area of ​​the cleaning member on the surface to be cleaned is not completely the cleaning contact area, this results in a small area of ​​the projection of the floor brush assembly on the surface to be cleaned that has not been cleaned when the push stops in one direction. For example, after the roller brush stops pushing forward, there is a small area at the front end of the roller brush. In an area that a roller brush cannot clean, especially when cleaning along the edge, there will be a cleaning dead zone at the front edge of the roller brush. The present embodiment ensures that the scraper bar can clean the dead zone in time or carry the dirt out of the dead zone for cleaning during the machine's pull-back process through time compensation for the lifting of the front scraper bar, so as to reduce manual cleaning along the edge. On the other hand, it can reduce the residual cleaning marks left by the cleaning part during the second movement process, thereby improving the user experience. In simple terms, water stains are prone to appear on the floor brush assembly during the pull-back process, and the front descending scraper bar can scrape off the accumulated water stains. However, if the descent of the scraper bar is not compensated for in time, it is easy for the floor brush assembly to be pulled back for a distance before the scraper bar descends into place to scrape off the water stains. At this time, the scraper bar can no longer scrape off the water stains that have been pulled back for a distance, and can only scrape off the water stains that continue to be pulled back. Through the compensation setting of this example, the water stains generated when the equipment is pulled back are further reduced.

[0035] In combination with the embodiment described in the second aspect, in some embodiments, the cleaning device has a stagnation time during the switching process between the first travel and the second travel; before performing the second travel, at least compensating for the response time of the scraper bar switching from the second state to the first state, and controlling the scraper bar to switch to the first state, includes at least one of the following:

[0036] During the first movement of the cleaning device, the response time is compensated to control the scraper bar to switch from the second state to the first state, so that the scraper bar switches to the first state when the cleaning device is less than or equal to the predetermined interval distance from the obstacle;

[0037] During the first movement of the cleaning device, the response time is compensated to control the scraper bar to switch from the second state to the first state, the scraper bar has not been completely switched to the first state when the cleaning device stops the first movement, and the scraper bar is controlled to switch to the first state before the cleaning device performs the second movement;

[0038] In response to the cleaning device being less than or equal to a predetermined interval distance from the obstacle, the response time is compensated to control the scraper bar to switch from the second state to the first state, and the response time is less than or equal to the stagnation time, and the scraper bar is controlled to switch to the first state before the cleaning device performs the second movement.

[0039] In the above embodiment, the scraper bar state is switched by at least one of the time in the first moving process and the stagnation time in the transition process between the first moving process and the second moving process, and the time in the second moving process is no longer occupied, so that the scraper bar is switched to the first state before the second moving process, thereby cleaning the blind spot and removing the cleaning traces remaining in the second moving process, thereby improving the user experience.

[0040] In combination with the embodiment of the second aspect, in some embodiments, controlling the scraper strip to switch from the second state to the first state includes at least one of the following:

[0041] During a first movement of the cleaning device, the speed of the first movement is less than or equal to a speed threshold, and the scraper strip is controlled to switch from the second state to the first state;

[0042] During the first movement of the cleaning device, the acceleration of the cleaning device is toward the second movement direction and is greater than an acceleration threshold, and the scraper strip is controlled to switch from the second state to the first state;

[0043] During the first movement of the cleaning device, the distance between the cleaning device and the obstacle is less than or equal to a distance threshold, and the scraper strip is controlled to switch from the second state to the first state, wherein the distance threshold is greater than the predetermined interval distance;

[0044] During the first movement of the cleaning device, the angle between the body assembly and the surface to be cleaned is less than or equal to an angle threshold, and the scraper strip is controlled to switch from the second state to the first state.

[0045] In the above embodiment, the speed of the first movement, the acceleration of the second movement direction, the distance to the obstacle, and the angle between the body component and the surface to be cleaned can be used to predict the transition of the cleaning device from the first movement to the second movement, so as to switch the scraper state in advance and compensate for the response time, thereby cleaning the blind spots and reducing the residual cleaning traces left by the cleaning parts during the second movement, thereby improving the user experience.

[0046] According to a third aspect of an embodiment of the present disclosure, a cleaning device is provided, the cleaning device comprising: a body assembly, a floor brush assembly and a controller; the body assembly is rotatably connected to the floor brush assembly, a handle is provided on the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraper bar assembly, the cleaning member is configured to clean the surface to be cleaned by a roller brush, the scraper bar assembly is used to scrape off dirt on the surface to be cleaned, the scraper bar assembly comprises a scraper bar and a driving part, the scraper bar is arranged on the front side of the cleaning member in a first travel direction; the driving assembly is configured to drive the scraper bar to switch between a first state and a second state; when the scraper bar is in the first state, the scraper bar contacts the surface to be cleaned; when the scraper bar is in the second state, there is a gap between the scraper bar and the surface to be cleaned; the cleaning device performs a first movement along the first travel direction, and after stopping the first movement, performs a second movement along a second travel direction opposite to the first travel direction; the controller is used to execute the control method described in the first aspect or the second aspect.

[0047] In the above embodiment, by compensating for the response time, the influence of the decision-making process and the extension of the execution process of the scraper bar moving from the second state to the first state during the transition of the cleaning device from the first movement to the second movement due to approaching an obstacle on the time point when the scraper bar reaches the first state can be reduced, thereby improving the timeliness of the scraper bar moving from the second state to the first state. On the one hand, the cleaning blind spots generated by the cleaning parts of the cleaning device during the first movement can be cleaned to reduce the cleaning blind spots; on the other hand, the residual cleaning traces left by the cleaning parts during the second movement can be reduced, thereby improving the user experience.

[0048] In combination with the embodiment described in the third aspect, in some embodiments, in the first state, the bottom end of the scraper strip in contact with the surface to be cleaned is deformed and extended toward the cleaning member.

[0049] In the above embodiments, the scraping strip approaches the cleaning member from a position farther away from the cleaning member. During the approaching process, the cleaning member can scrape the dirt at the distal end into the cleaning range of the scraping strip. Combining with the embodiments described in the third aspect, in some embodiments, during the process of the scraping strip switching from the second state to the first state, the movement trajectory of the bottom end of the scraping strip is an arc. Wherein, in the first traveling direction, there is at least a first trajectory point on the arc, and the distance between the first trajectory point and the cleaning member is greater than the distance between the bottom end of the scraping strip and the cleaning member when the scraping strip is in the second state;

[0050] Or

[0051] During the process of the scraping strip switching from the second state to the first state, the movement trajectory of the bottom end of the scraping strip is a straight line, and the included angle between the straight line and the first plane is an acute angle. The first plane is the part of the surface to be cleaned between the scraping strip and the cleaning member.

[0052] In the above embodiments, the scraping strip can extend into the included angle between the obstacle and the surface to be cleaned through an arc movement trajectory and scrape out the dirt at the deepest part of the included angle, thereby improving the cleaning effect. The scraping strip can also extend into the included angle between the obstacle and the surface to be cleaned and scrape out the dirt at the deepest part of the included angle, thereby improving the cleaning effect.

[0053] Combining with the embodiments described in the third aspect, in some embodiments, the cleaning device further includes a nozzle for spraying a cleaning liquid onto the front side of the scraping strip in the first traveling direction;

[0054] The controller is configured to: when the distance between the cleaning device and the obstacle on the front side in the first traveling direction is less than or equal to a preset spraying distance, control the nozzle to spray the cleaning liquid downward in the first traveling direction.

[0055] In the above embodiments, the cleaning device can spray the cleaning liquid before the scraping strip switches to the first state, so that the cleaning dead zone is wetted, and then the scraping strip in the first state scrapes the cleaning liquid on the surface to be cleaned, improving the cleaning effect on the cleaning dead zone.

[0056] In the cleaning device control method provided by the embodiments of the present disclosure, the cleaning device includes: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided at the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly includes a cleaning member and a squeegee assembly, the cleaning member is used for cleaning the surface to be cleaned, the squeegee assembly is used for scraping off dirt on the surface to be cleaned, the squeegee assembly includes a squeegee and a driving part, the squeegee is arranged on the front side of the cleaning member in the first traveling direction; the driving assembly is configured to drive the squeegee to switch between a first state and a second state; when the squeegee is in the first state, the squeegee is in contact with the surface to be cleaned; when the squeegee is in the second state, there is a gap between the squeegee and the surface to be cleaned; the cleaning device travels in a first traveling direction for a first travel, and after stopping the first travel, travels in a second traveling direction opposite to the first traveling direction for a second travel; the method includes: during the first travel of the cleaning device, controlling the squeegee to maintain the second state; before the second travel, at least compensating for the response duration of the squeegee switching from the second state to the first state, and controlling the squeegee to switch to the first state. By compensating for the response duration, the influence of the extension of the decision-making process and the execution process of the squeegee moving from the second state to the first state on the time point when the squeegee reaches the first state can be reduced, and the timeliness of the squeegee moving from the second state to the first state can be improved. On the one hand, the cleaning blind area generated by the cleaning member during the first travel of the cleaning device can be cleaned, reducing the cleaning blind area; on the other hand, the residual cleaning traces left by the cleaning member during the second travel can be reduced, thereby improving the user experience.

[0057] In the prior art, a squeegee assembly is installed at the front end of the cleaning member to reduce the water stains on the surface to be cleaned when the cleaning device is pulled backward. However, since the squeegee assembly is arranged on the front side of the cleaning member, there is a certain distance between the squeegee and the cleaning member, which will cause a cleaning dead zone on the front side of the cleaning member when the cleaning member is cleaning. Especially when cleaning along the edge, the cleaning dead zone on the front side of the cleaning member is further enlarged, increasing the cleaning difficulty.

[0058] This solution determines the switching timing of the scraper by judging the current state of the cleaning device and predicting the subsequent state through the travel speed during the first travel process, i.e., the forward process. Specifically, when the speed during the first travel process is less than or equal to the speed threshold, the scraper is controlled to switch to prepare for the subsequent second travel. The state of the scraper is adjusted in advance so that when the cleaning device makes the second travel along the second travel direction, the scraper can be in the first state; thereby, the scraper can clean the cleaning dead zone between the front side of the cleaning element and the scraper to the maximum extent; further, when the cleaning device makes the second travel along the second travel direction, the scraper is in the first state, which enables the scraper to scrape water stains on the entire cleaning area when the cleaning element retreats, thereby reducing residual water stains. In addition, judging by speed can not only quickly determine the state of the cleaning device, but also have high sensitivity and accuracy; it can effectively improve the timeliness of the scraper strip switching from the second state to the first state; and by judging the state of the cleaning device by speed, in some special scenarios, such as front edge cleaning, by controlling the speed, it can be ensured that the cleaning device controls the scraper strip to switch its state when it is about to reach the front edge area to be cleaned, thereby achieving edge cleaning of the front edge area to be cleaned, and comprehensive cleaning of the cleaning dead zone between the scraper strip edge and the cleaning member, further improving the cleaning effect, cleaning efficiency and comprehensiveness of the cleaning equipment.

[0059] The cleaning equipment control method provided in the present application can not only reduce the residual water stains during the cleaning process of the cleaning equipment, but also solve the problem of the cleaning dead zone on the front side of the cleaning member at the same time, especially when the cleaning member performs front side edge cleaning, it can achieve a close fit with the front side corners, realize zero edge cleaning, and thus achieve the ultimate cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 is a schematic diagram of a cleaning device structure according to an exemplary embodiment;

[0061] Figure 2 is a schematic diagram of a cleaning device structure according to an exemplary embodiment;

[0062] Figure 3 is a flow chart of a cleaning equipment control method according to an exemplary embodiment;

[0063] Figure 4 is a schematic diagram of cleaning equipment according to an exemplary embodiment;

[0064] Figure 5 is another cleaning schematic diagram of a cleaning device according to an exemplary embodiment;

[0065] Figure 6is another cleaning schematic diagram of a cleaning device according to an exemplary embodiment;

[0066] Figure 7 is a flow chart of a cleaning equipment control method according to an exemplary embodiment;

[0067] Figure 8 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0068] Fig. 9 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0069] Fig.10 is a schematic diagram of another cleaning device according to an exemplary embodiment;

[0070] Fig.11 The figure is another cleaning schematic diagram of a cleaning device according to an exemplary embodiment. DETAILED DESCRIPTION

[0071] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0072] The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0073] In each embodiment of the present disclosure, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0074] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0075] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0076] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0077] In some embodiments, the terms "at least one", "one or more", "a plurality of", "multiple", etc. can be used interchangeably.

[0078] In some embodiments, "at least one of A and B", "A and / or B", "A in one case, B in another case", "A in one case, B in another case", etc., may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0079] In some embodiments, the recording method of "A or B" may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0080] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, value or content of the description objects. The statement of the description object refers to the description in the context of the claims or embodiments, and should not constitute redundant restrictions due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and the "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the numerical value of the description object is not limited by the ordinal number, and can be one or more. Taking the "first device" as an example, the numerical value of the "device" can be one or more. In addition, the objects modified by different prefixes may be the same or different. For example, if the description object is "device", then the "first device" and the "second device" may be the same device or different devices, and their types may be the same or different. For another example, if the description object is "information", then the "first information" and the "second information" may be the same information or different information, and their contents may be the same or different.

[0081] In some embodiments, “including A”, “comprising A”, “used to indicate A”, and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0082] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “at the time of…”, “when…”, “if…”, “if…”, etc. can be used interchangeably.

[0083] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0084] In addition, each element, each row, or each column in the table of the embodiments of the present disclosure may be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns may also be implemented as an independent embodiment.

[0085] For details, see Figure 1 and Figure 2As shown, the cleaning device comprises at least a body assembly 1 and a floor brush assembly 2; the body assembly 1 (not shown) is rotatably connected to the floor brush assembly 2, a handle 11 is provided on the top of the body assembly 1, and the floor brush assembly 2 can move on the surface to be cleaned.

[0086] In a possible implementation, the user can move the floor brush assembly 2 on the surface to be cleaned and control the moving direction of the floor brush assembly 2 by pushing and pulling the handle 11 .

[0087] In one possible implementation, the floor brush assembly 2 has at least partial driving force for driving the body assembly 1 to move, and the user provides partial or full driving force for the movement of the floor brush assembly 2 through the handle 11, and the user can control the moving direction of the floor brush assembly 2 through the handle 11.

[0088] In one possible implementation, the floor brush assembly 2 may include: a floor brush body 21, a controller (not shown), a walking system 22, a cleaning member 23, and a scraper bar 241 assembly 24, wherein the scraper bar 241 assembly 24 includes a scraper bar 241 and a driving unit 242.

[0089] In a possible implementation, the floor brush assembly 2 and / or the body assembly 1 further includes a sensing system (not shown).

[0090] The cleaning element 23 may specifically include one or more of the following: a roller brush, a mop, and the like.

[0091] In a possible implementation, the cleaning device further includes a clean water tank, a sewage tank and a dust suction device. Any of the clean water tank, the sewage tank and the dust suction device can be arranged in the floor brush assembly 2 or in the body assembly 1.

[0092] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices that can have control functions.

[0093] In a possible implementation, the cleaning member 23 is in a main brush cavity at the bottom of the floor brush body 21. The main brush cavity is connected to a dust suction channel of the cleaning device.

[0094] In a possible implementation, the cleaning equipment also includes a water spray device and a water squeezing bar. The water spray device is used to draw clean water from the clean water tank and spray it onto the cleaning element 23. The water squeezing bar is used to scrape the dirty water generated after cleaning the surface to be cleaned on the cleaning element 23 away from the cleaning element 23 and suck it into the dirty water tank through the dust suction device.

[0095] refer to Figure 1 and Figure 2The walking system 22 is arranged on the floor brush body 21, and is used to support the movement of the floor brush assembly 2. The walking system 22 may be powered or unpowered.

[0096] The above-mentioned sensor system may include at least one of a visual sensor, a laser sensor, a gyroscope, an accelerometer, a speed sensor, a mechanical sensor, an infrared sensor, an ultrasonic sensor, a visual sensor, etc. to obtain at least one information such as motion state information, position information and obstacle information of the cleaning equipment.

[0097] For example, a speed sensor, an acceleration sensor, etc. may be used to detect the speed, acceleration, etc. of the cleaning device. An infrared sensor, an ultrasonic sensor, a visual sensor, etc. may be used to detect the distance between the cleaning device and the obstacle. Here, the moving speed of the cleaning device may be the moving speed of the floor brush assembly 2.

[0098] The cleaning device can perform a first movement along a first movement direction, or a second movement along a second movement direction. The first movement direction and the second movement direction are used to distinguish two different movement directions of the cleaning device. For example, the first movement direction can be the forward direction of the cleaning device, and the first movement can be forward; the second movement direction can be the backward direction of the cleaning device, and the second movement can be backward.

[0099] In a possible implementation, the cleaning device realizes the first travel and the second travel based on pushing and pulling by the user.

[0100] In a possible implementation, the cleaning device realizes the first travel and / or the second travel based on its own power and / or the pushing and pulling force of the user.

[0101] The scraper bar 241 is arranged on the front side of the cleaning member 23 in the first traveling direction; the driving part 242 is configured to drive the scraper bar 241 to switch between a first state and a second state; the driving component is configured to drive the scraper bar 241 to switch between a first state and a second state; when the scraper bar 241 is in the first state, the scraper bar 241 is in contact with the surface to be cleaned; when the scraper bar 241 is in the second state, there is a gap between the scraper bar 241 and the surface to be cleaned; the cleaning device performs a first movement along the first traveling direction, and after stopping the first movement, performs a second movement along a second traveling direction opposite to the first traveling direction.

[0102] In a possible implementation, the driving unit 242 may include a motor and a transmission component, etc. The transmission component converts the rotational force of the motor into a force that drives the scraper bar 241 to move up and down.

[0103] In a possible implementation manner, the first traveling direction and the second traveling direction are opposite.

[0104] It is understandable that during the process of the cleaning device switching from the first travel to the second travel, the cleaning device will inevitably be in a stopped state. Here, during the process of the cleaning device switching from the first travel to the second travel, the duration of the stopped state is the stagnation duration.

[0105] In a possible implementation, the driving member is used to drive the scraper bar 241 to move at least in a direction perpendicular to the ground, so that the scraper bar 241 can switch between the first state and the second state.

[0106] In a possible implementation, the scraper strip 241 at least contacts the surface to be cleaned when in the first state.

[0107] In a possible implementation, when the scraper strip 241 is in the first state, there is an interference portion between the scraper strip 241 and the mask to be cleaned.

[0108] The scraper bar 241 may be made of a flexible material, such as rubber, silicone, etc. When the scraper bar 241 is in the first state, the scraper bar 241 is in a compressed state, or the portion of the scraper bar 241 that contacts the surface to be cleaned may be in a deformed and extended state.

[0109] In a possible implementation, when the scraping bar 241 is in the second state, a bottom end of the scraping bar 241 close to the surface to be cleaned has a predetermined gap with the surface to be cleaned.

[0110] In a possible implementation, when the scraper bar 241 switches from the second state to the first state, the moving time of the scraper bar 241 is relatively short. For example, it can be considered that the moving time of the scraper bar 241 is approximately equal to 0.

[0111] It is understandable that the predetermined gap cannot be too small. A predetermined gap that is too small can easily cause the scraper strip 241 to easily get small solid particles stuck between the scraper strip 241 and the surface to be cleaned, scratching the ground. In addition, a small gap makes it easier for dirt to adhere, causing the scraper strip 241 to become dirty more easily, and dirty the surface to be cleaned when it descends to the ground (the scraper strip 241, the roller brush, the roller brush cover, and the surface to be cleaned form a relatively closed area, the gap is small, the air flow formed by the suction process is faster, and the bottom surface of the scraper strip 241 is exposed to more airflow and is therefore more easily dirty).

[0112] It is understandable that the above-mentioned cleaning equipment is only for illustration and does not constitute a limitation of the embodiments of this specification.

[0113] The scraper bar 241 needs to be switched to the first state before the second advance. That is, when the cleaning device retreats, the scraper bar 241 needs to contact the surface to be cleaned, so that the water stains remaining in the cleaning process of the cleaning member 23 can be scraped off when the cleaning device retreats.

[0114] In an actual working scenario, the controller is used to trigger the squeegee 241 to switch from the second state to the first state. The controller needs to combine sensing information (such as at least one of the cleaning device's motion state information, position information, and obstacle information, etc.) to determine whether the squeegee 241 needs to switch states; after the controller determines that the squeegee 241 needs to switch and sends a switching signal to the turntable, the driving unit 242 needs to drive the squeegee 241 to move. In this process, it takes a certain amount of time for the sensing system to sense, the controller to make a decision, and / or the driving unit 242 to drive. That is, the actual time point when the squeegee 241 switches to the first state has a lag relative to the theoretical time point when the squeegee 241 switches to the first state. Therefore, the squeegee 241 usually switches to the first state during the second movement of the cleaning device. In this way, stains that are not scraped off by the squeegee 241 will be generated during the second movement.

[0115] Therefore, how to switch the squeegee 241 to the first state before the cleaning device performs the second movement, improve the cleaning degree of the surface to be cleaned, and improve the customer experience is an urgent problem to be solved.

[0116] Embodiment 1

[0117] The embodiment of the present disclosure provides a cleaning device control method, as Figure 3 shown, the method includes:

[0118] Step 301: During the first movement of the cleaning device, control the squeegee 241 to maintain the second state;

[0119] Step 302: Before performing the second movement, at least compensate for the response time of the squeegee 241 to switch from the second state to the first state, and control the squeegee 241 to switch to the first state.

[0120] Here, during the first movement, the cleaning member 23 cleans the surface to be cleaned in the forward direction. Therefore, the squeegee 241 maintains the second state to reduce the squeegee 241 from blocking the surface to be cleaned from entering the cleaning range of the cleaning member 23.

[0121] When the cleaning device is held by the user, it usually moves in a forward and backward reciprocating manner. That is, the cleaning device reciprocates between the first movement and the second movement.

[0122] It can be understood that there must be a stop state where the cleaning device stops moving between the first movement and the second movement.

[0123] In this embodiment, the cleaning member 23 can be a rotary brush, a cleaning brush, a hair brush, a brush disc, etc. A possible way for the cleaning member 23 to clean the surface to be cleaned is as described in the above embodiment, and will not be elaborated here.

[0124] Figure 423 and the scraper 241 assembly 24 of the cleaning device, the cleaning member 23 can be a roller brush, the cleaning device moves from the first travel state to the stop state, in the first travel direction from the contact portion between the roller brush and the surface to be cleaned to the position of the scraper 241 (such as Figure 4 The range indicated by arrow X) is the blind area of ​​the cleaning member 23. Meanwhile, during the first movement of the cleaning device, the cleaning member 23 will leave cleaning marks such as water stains or dirt on the moving track covered by it, which need to be scraped off by the cleaning device during the second movement. Therefore, the scraper bar 241 needs to be switched to the first state before the cleaning device makes the second movement, so that the blind area can be cleaned on the one hand, and the cleaning marks left by the cleaning member 23 can be further cleaned on the other hand.

[0125] In a possible implementation, the response time may include at least one of the following:

[0126] The perception system obtains the perception information that satisfies the switching of the scraper strip 241 and sends the perception information to the controller for the perception duration;

[0127] The controller processes the sensing information and sends a switching signal to trigger the scraper strip 241 to switch from the second state to the first state, and the processing time required;

[0128] The driving member receives the switching signal and transmits the driving force to the scraper bar 241, so that the scraper bar 241 starts to switch the driving duration.

[0129] In a possible implementation, the driving duration may include at least one of the following:

[0130] The time it takes for a power unit such as a motor to generate driving force after receiving a switching signal;

[0131] The driving force transmission structural components between the power unit and the scraper strip 241 are used to overcome the transmission delay caused by at least one of friction, gap between components, inertia, tolerance between components, etc. when transmitting the driving force.

[0132] In a possible implementation, the response time and / or the driving time may be obtained through actual measurement of the cleaning device.

[0133] In a possible implementation, compensating for the response time of the scraper strip 241 switching from the second state to the first state may include at least one of the following:

[0134] The response time is compensated by adjusting the starting time when the scraper strip 241 switches from the second state to the first state. For example, the starting time may be advanced.

[0135] The response time is compensated by adjusting the moving speed of the scraper bar 241 from the second state to the first state. For example, the moving speed of the scraper bar 241 may be increased.

[0136] By compensating for the response time, the influence of the extension of the decision-making process and the execution process of the scraper 241 moving from the second state to the first state on the time point when the scraper 241 reaches the first state can be reduced, thereby improving the timeliness of the scraper 241 moving from the second state to the first state. On the one hand, the cleaning blind spot generated by the cleaning element 23 during the first movement of the cleaning device can be cleaned to reduce the cleaning blind spot; on the other hand, the residual cleaning traces left by the cleaning element 23 during the second movement can be reduced, thereby improving the user experience.

[0137] In some embodiments, the cleaning device has a stagnation time during the switching process between the first travel and the second travel; before the second travel, at least compensating the response time of the scraper bar 241 switching from the second state to the first state, and controlling the scraper bar 241 to switch to the first state, includes at least one of the following:

[0138] During the first movement of the cleaning device, the response time is compensated to control the scraper bar 241 to switch from the second state to the first state, so that when the cleaning device stops the first movement, the scraper bar 241 switches to the first state;

[0139] During the first movement of the cleaning device, the response time is compensated to control the scraper bar 241 to switch from the second state to the first state, the scraper bar 241 has not been completely switched to the first state when the cleaning device stops the first movement, and the scraper bar 241 is controlled to switch to the first state before the cleaning device performs the second movement;

[0140] In response to the cleaning device stopping the first movement, the scraper bar 241 is controlled to switch from the second state to the first state by compensating the response time, and the response time is less than or equal to the stagnation time, and the scraper bar 241 is controlled to switch to the first state before the cleaning device performs the second movement.

[0141] In this embodiment, the first speed of the cleaning device when it stops the first movement is equal to zero. The stagnation duration of the cleaning device can be obtained by determining the duration period during which the first speed is equal to zero, and the time point when the scraper completes the switching from the second state to the first state is controlled within the duration period during which the first speed is equal to zero, thereby ensuring that the scraper can maintain the first state before the second movement. This can effectively prevent the scraper from switching to the first state during the first movement of the cleaning device, thereby affecting the normal cleaning process of the cleaning device; improve the stability and safety of the cleaning process of the cleaning device; thereby reduce the residual water stains during the cleaning process of the cleaning device, and can simultaneously clean the cleaning dead zone on the front side of the roller brush.

[0142] Here, the moving process of the cleaning device may include a first travel, a second travel, and a stop state during the process from the first travel to the second travel.

[0143] In a possible implementation, the controller determines the compensation duration based on the response duration, and determines a triggering time point for the scraper strip 241 to switch from the second state to the first state based on the compensation duration.

[0144] In a possible implementation, during the first movement of the cleaning device, the controller compensates the response time to control the scraper bar 241 to switch from the second state to the first state, so that the scraper bar 241 switches to the first state when the cleaning device is in a stopped state.

[0145] To compensate for the response time, the controller may switch the scraper bar 241 from the second state to the first state in advance. The controller may control the scraper bar 241 to switch from the second state to the first state before the cleaning device performs the first travel and enters the stop state.

[0146] The scraper bar 241 state is switched by at least one of the time in the first moving process and the stagnation time in the transition process between the first moving process and the second moving process, and the time in the second moving process is no longer occupied, so that the scraper bar 241 is switched to the first state before the second moving process, thereby cleaning the blind spot and removing the cleaning traces remaining in the second moving process, thereby improving the user experience.

[0147] In a possible implementation, the controller can determine the first travel stop time based on the motion state information of the cleaning device, wherein the first travel stop time is also the start time when the cleaning device enters the stop state (that is, the start time of the stagnation duration).

[0148] Exemplarily, the controller may predict the stop moment of the first travel based on the speed of the first travel and the acceleration of the cleaning device in the current second travel direction, and control the squeegee 241 to switch from the second state to the first state before the stop moment (i.e., during the first travel).

[0149] In some embodiments, the method further includes: when the distance between the cleaning device and an obstacle in the first travel direction is less than or equal to a predetermined interval distance, stopping the first travel, where the predetermined interval distance is less than 1 cm.

[0150] Here, the stop moment of the first travel may also be determined based on the distance between the cleaning device and the obstacle.

[0151] Here, the distance between the cleaning device and the obstacle may include at least one of the following:

[0152] The distance between the foremost end of the cleaning device and the obstacle in the first travel direction;

[0153] The distance between the squeegee 241 and the obstacle;

[0154] The distance between the sensor for sensing the obstacle and the obstacle;

[0155] The distance between a predetermined reference point of the cleaning device and the obstacle;

[0156] The distance between the point on the cleaning device closest to the obstacle in the first travel direction and the obstacle.

[0157] It can be understood that the positions of the points on the cleaning device are relatively fixed. Therefore, by determining the distance between one point and the obstacle, the distances between other points and the obstacle can be determined. In this embodiment, the distance between the squeegee 241 and the obstacle is taken as an example for illustration.

[0158] In a possible implementation, the predetermined interval distance may be 0, that is, the squeegee 241 is in contact with or has an interference with the obstacle.

[0159] When the cleaning device performs the first travel, the controller may determine the time point when the distance between the cleaning device and the obstacle is less than or equal to the predetermined interval distance as the stop moment of the first travel.

[0160] The controller may also pre-judge the stop moment of the first travel based on the perception of the sensing system.

[0161] In a possible implementation, the controller can predict the first travel stop time based on the distance between the cleaning device and the obstacle in the first travel direction, and trigger the scraper bar 241 to switch from the second state to the first state at the start time before the stop time, wherein the interval between the predicted stop time and the start time is greater than the response time. In this way, the timeliness of the scraper bar 241 switching from the second state to the first state can be improved.

[0162] In this embodiment, by setting the time interval between the start moment and the stop moment to be greater than the response time (i.e., the time interval between the start moment and the end moment), the scraper bar completes the first state before the cleaning device stops, and even if the cleaning device stops for a shorter time, it will not affect the cleaning effect of the subsequent second movement; by ensuring the scraper bar state during the subsequent second movement, not only can the residual water stains during the cleaning process of the cleaning device be reduced, but also the problem of the cleaning dead zone on the front side of the cleaning component can be solved at the same time, thereby achieving the ultimate cleaning effect.

[0163] The controller can determine the starting time for triggering the scraper bar 241 to switch from the second state to the first state based on the stop time of the first movement, the compensation time and / or the stagnation time of the cleaning device in the stop state, and then adjust the time point when the scraper bar 241 switches to the first state.

[0164] Here, the controller can control the scraper bar 241 to switch to the first state at the stop moment of the first travel of the cleaning device. The controller can also control the scraper bar 241 to switch to the first state when the cleaning device is in a stopped state. In this way, the scraper bar 241 is switched to the first state before the second travel.

[0165] The controller may determine whether the cleaning device is in a stopped state based on the sensing information of the sensing system, and control the scraper bar 241 to switch to the first state when the cleaning device is in a stopped state.

[0166] Exemplarily, the controller determines that the speed of the cleaning device is 0, and then controls the scraper bar 241 to switch to the first state.

[0167] In a possible implementation, the controller may control the scraper bar 241 to switch to the first state in a stopped state after the first travel.

[0168] Here, the stop time of the stop state is greater than the stagnation time, and therefore, the scraper bar 241 can be switched from the second state to the first state within the stagnation time.

[0169] In some embodiments, controlling the scraper bar 241 to switch from the second state to the first state includes at least one of the following:

[0170] During the first movement of the cleaning device, the speed of the first movement is less than or equal to a speed threshold, and the scraper bar 241 is controlled to switch from the second state to the first state;

[0171] During the first movement of the cleaning device, the acceleration of the cleaning device is toward the second movement direction and is greater than the acceleration threshold, and the scraper bar 241 is controlled to switch from the second state to the first state;

[0172] During the first travel of the cleaning device, the distance between the cleaning device and the obstacle in front of the first travel direction is less than or equal to a distance threshold, and the scraper bar 241 is controlled to switch from the second state to the first state;

[0173] During the first movement of the cleaning device, the angle between the body component 1 and the surface to be cleaned is less than or equal to an angle threshold, and the scraper bar 241 is controlled to switch from the second state to the first state.

[0174] Here, the first travel stop time can also be predicted based on the first travel speed. The time intervals of the first travel stop time when the cleaning device is at different speeds can be counted in advance, and then the stop time of the cleaning device can be determined based on the current speed of the cleaning device.

[0175] In one possible implementation, the speed threshold can be determined based on the time interval from the time when the cleaning device stops at different speeds to the first travel stop, as well as the response time. When the speed of the first travel is less than or equal to the speed threshold, the scraper bar 241 is switched to the first state before the second travel. In the prior art, a scraper bar assembly is added to the front end of the cleaning member to reduce water stains on the surface to be cleaned when the cleaning device is pulled back. However, since the scraper bar assembly is arranged on the front side of the cleaning member, there is a distance between the scraper bar and the cleaning member, which will cause the cleaning member to have a cleaning dead zone on the front side of the cleaning member when cleaning. In particular, when cleaning the front edge, the cleaning dead zone on the front side of the cleaning member is further expanded, increasing the difficulty of cleaning.

[0176] This solution determines the switching timing of the scraper by judging the current state of the cleaning device and predicting the subsequent state through the travel speed during the first travel process, i.e., the forward process. Specifically, when the speed during the first travel process is less than or equal to the speed threshold, the scraper is controlled to switch to prepare for the subsequent second travel. The state of the scraper is adjusted in advance so that when the cleaning device makes the second travel along the second travel direction, the scraper can be in the first state; thereby, the scraper can clean the cleaning dead zone between the front side of the cleaning element and the scraper to the maximum extent; further, when the cleaning device makes the second travel along the second travel direction, the scraper is in the first state, which enables the scraper to scrape water stains on the entire cleaning area when the cleaning element retreats, thereby reducing residual water stains. In addition, judging by speed can not only quickly determine the state of the cleaning device, but also have high sensitivity and accuracy; it can effectively improve the timeliness of the scraper strip switching from the second state to the first state; and by judging the state of the cleaning device by speed, in some special scenarios, such as front edge cleaning, by controlling the speed, it can be ensured that the cleaning device controls the scraper strip to switch its state when it is about to reach the front edge area to be cleaned, thereby achieving edge cleaning of the front edge area to be cleaned, and comprehensive cleaning of the cleaning dead zone between the scraper strip edge and the cleaning member, further improving the cleaning effect, cleaning efficiency and comprehensiveness of the cleaning equipment.

[0177] The cleaning equipment control method provided in the present application can not only reduce the residual water stains during the cleaning process of the cleaning equipment, but also solve the problem of the cleaning dead zone on the front side of the cleaning member at the same time, especially when the cleaning member performs front side edge cleaning, it can achieve a close fit with the front side corners, realize zero edge cleaning, and thus achieve the ultimate cleaning effect.

[0178] Here, the first travel stop time can also be predicted based on the interval distance between the cleaning device and the obstacle. The time interval from when the cleaning device and the obstacle are at different interval distances to the first travel stop time (such as when the distance between the cleaning device and the obstacle is less than or equal to the predetermined interval distance) can be counted in advance, and then the stop time of the cleaning device can be determined based on the current distance between the cleaning device and the obstacle.

[0179] In a possible implementation, the distance threshold may be determined based on the time interval to the first travel stop moment of the cleaning device at different interval distances, and the response time, etc. So that the scraper bar 241 is switched when the interval distance is less than or equal to the distance threshold, and the scraper bar 241 may be switched to the first state before the second travel.

[0180] For example, Figure 5As shown, the controller triggers the scraper bar 241 to switch from the second state to the first state when the cleaning device is in the first movement and the distance from the obstacle is equal to the distance threshold. The scraper bar 241 switches from the first state to the second state during the process from the distance of the cleaning device to the obstacle equal to the distance threshold to the distance of the cleaning device to the obstacle equal to the preset interval distance, during which the response time of the scraper bar 241 switching from the second state to the first state is included. Therefore, the scraper bar 241 can switch to the first state at the moment of stopping the first movement or in the stopped state after the first movement. Here, the preset interval distance is the distance between the cleaning device and the obstacle when the first movement is stopped. In this way, when the cleaning device is in the second movement, the scraper bar 241 can supplement the cleaning blind area between the cleaning member 23 and the obstacle, and can also completely supplement the cleaning traces produced by the cleaning member 23 during the second movement, thereby improving the cleaning effect.

[0181] In a possible implementation, the distance threshold is greater than or equal to a predetermined interval distance.

[0182] Here, the stopping moment of the first movement can also be predicted based on the angle between the body assembly 1 and the surface to be cleaned. When using the cleaning device, the floor brush assembly 2 is usually moved by pushing and pulling the body assembly 1. The body assembly 1 and the floor brush assembly 2 are rotatably connected. During the pushing and pulling process, the floor brush assembly 2 always remains parallel to the surface to be cleaned, so the angle between the body assembly 1 and the surface to be cleaned will change. When the angle between the body assembly 1 and the surface to be cleaned is small, it means that the floor brush assembly 2 has been pushed to a farther position, that is, the cleaning device is about to stop the first movement. Therefore, the controller can determine the stopping moment of the cleaning device based on the angle between the body assembly 1 and the surface to be cleaned.

[0183] In a possible implementation, the angle threshold may be determined based on the time interval from the cleaning device to the first travel stop moment at different angles between the body component 1 and the surface to be cleaned, as well as the response duration, etc., so that the scraper bar 241 is switched when the angle between the body component 1 and the surface to be cleaned is less than or equal to the angle threshold, and the scraper bar 241 may be switched to the first state before the second travel.

[0184] The controller can also predict the motion state of the cleaning device based on the acceleration of the cleaning device. When the cleaning device is in the first movement, if there is an acceleration in the second movement direction, and the acceleration is greater than the acceleration threshold (for example, the user starts to significantly slow down the first movement of the cleaning device), then the controller can predict that the cleaning device is about to stop the first movement and switch to the second movement. At this time, the cleaning device can switch the scraper bar 241 from the second state to the first state.

[0185] By means of the speed of the first movement, the acceleration of the second movement direction, the distance to the obstacle, and the angle between the body component 1 and the surface to be cleaned, it is possible to predict the transition of the cleaning device from the first movement to the second movement, so as to switch the state of the scraper 241 in advance and compensate for the response time, thereby cleaning the blind spots and reducing the residual cleaning traces left by the cleaning member 23 during the second movement, thereby improving the user experience.

[0186] In some embodiments, the method further comprises:

[0187] In response to the scraper bar 241 being switched to the first state during the first travel of the cleaning device, the scraper bar 241 is controlled to switch to the second state.

[0188] Since the user's pushing and pulling of the cleaning device is not completely regular, the cleaning device's first movement, second movement, and / or stopping of movement are unpredictable. For example, the speed at which the user pushes and pulls the cleaning device is unpredictable to a certain extent, and the controller predicts that the cleaning device is about to stop the first movement based on the cleaning device, while the actual user may continue to push the cleaning device to perform the first movement.

[0189] In the above embodiment, after the controller triggers the scraper bar 241 to switch from the second state to the first state, the cleaning device may still be in the first travel. If the scraper bar 241 is in the first state during the first travel of the cleaning device, the dirt in front of the cleaning member 23 in the first travel direction will be pushed away by the scraper bar 241 and will not be cleaned by the cleaning member 23, thereby affecting the cleaning effect.

[0190] Therefore, if the scraper bar 241 is switched to the first state when the cleaning device is in the first running state, the controller may switch the scraper bar 241 to the second state to reduce the influence of the scraper bar 241 sticking to the ground on the cleaning effect of the first running cleaning member 23 .

[0191] In this embodiment, if the scraper bar contacts the ground during the forward movement of the cleaning device, not only will the cleaning effect of the cleaning device be deteriorated, but if the scraper bar drops to contact the surface to be cleaned during the forward movement, it will also affect the forward speed of the cleaning device, reducing the cleaning efficiency and affecting the user experience. Based on this, in the present application, during the working process of the cleaning device, when the scraper bar is in the first state, and if the cleaning device continues to move in the first direction of travel, it is necessary to control the scraper bar to switch to the second state. This setting can not only ensure the normal cleaning work of the cleaning device, but also give full play to the cleaning performance of the scraper bar and avoid the adverse effects caused by the scraper bar; it makes the operation of the scraper bar more intelligent and improves the user experience.

[0192] In some embodiments, the method further comprises at least one of the following:

[0193] Determining a second speed at which the scraper strip 241 switches from the second state to the first state according to a first speed of the first travel, wherein the first speed is negatively correlated with the second speed;

[0194] Determining, according to the first speed of the first travel, an advance offset or a lag offset of a starting moment when the scraper strip 241 switches from the second state to the first state;

[0195] A third speed at which the scraper bar 241 switches from the first state to the second state is determined based on a first distance between the cleaning device and the obstacle in front of the first traveling direction at the starting moment, wherein the first distance is negatively correlated with the third speed.

[0196] The controller can adjust the speed at which the scraper bar 241 switches between the first state and the second state by controlling the driving unit 242 in the main body of the scraper bar 241. For example, the controller can adjust the speed of the motor driving the scraper bar 241 to achieve the speed at which the scraper bar 241 switches between the first state and the second state.

[0197] In one possible implementation, the first speed may include a moving speed of the cleaning device when the controller triggers the scraper bar 241 to move from the second state to the first state.

[0198] The first speed is negatively correlated with the interval time from the current moment of the cleaning device to the moment of stopping the first movement. The greater the first speed, the shorter the time when the cleaning device stops the first movement, and the second speed of the scraper 241 can be smaller. The smaller the first speed, the longer the time when the cleaning device stops the first movement, and the second speed of the scraper 241 can be larger.

[0199] In a possible implementation, the first speed may be the speed of the cleaning device when the scraper bar 241 changes from the second state to the first state. When the scraper bar 241 changes from the second state to the first state, the first speed of the cleaning device changes from fast to slow, and the second speed may change from slow to fast accordingly. By adjusting the second speed, the response time of the scraper bar 241 may be adjusted to adapt to different first travel scenarios.

[0200] Since the first speed is negatively correlated with the interval from the current moment to the first stop moment of the cleaning device, the response time can be compensated by adjusting the starting moment to further improve the accuracy of the scraper bar switching, so that the scraper bar can be ensured to be in the first state when the cleaning device is performing the second movement.

[0201] Exemplarily, the greater the first speed, the shorter the time the cleaning device stops the first travel, the advance offset can be increased or the lag offset can be shortened. The smaller the first speed, the longer the time the cleaning device stops the first travel, the advance offset can be shortened or the lag offset can be increased.

[0202] The controller may also adjust the third speed of the scraper bar 241 from the second state to the first state based on the first distance between the cleaning device and the obstacle at the starting moment.

[0203] In an exemplary embodiment, the larger the first distance is, the longer the time when the cleaning device stops the first movement is, and the smaller the third speed of the scraper bar 241 can be. The smaller the first distance is, the shorter the time when the cleaning device stops the first movement is, and the larger the second speed of the scraper bar 241 can be. Thus, the first state can be switched to the first state at the moment when the first movement stops or the stopped state of the cleaning device.

[0204] Through the first speed and the first distance, the descent speed and / or descent offset of the scraper bar 241 is adjusted, thereby improving the control accuracy of the scraper bar 241 to adapt to the switching of the scraper bar 241 in different scenes.

[0205] Example 2

[0206] Here, if Figure 6 During the first travel of the cleaning device, if there is an obstacle in the first travel direction, the cleaning device may stop the first travel when the distance between the cleaning device and the obstacle is less than or equal to a predetermined interval distance.

[0207] The stopping time of the first travel can also be determined based on the distance between the cleaning device and the obstacle. Here, the distance between the cleaning device and the obstacle can include at least one of the following: the distance between the front end of the cleaning device and the obstacle in the first travel direction; the distance between the scraper bar 241 and the obstacle; the distance between the sensor for sensing the obstacle and the obstacle; the distance between a predetermined reference point of the cleaning device and the obstacle.

[0208] It is understandable that the positions of various points on the cleaning device are relatively fixed, so the distances between other points and the obstacle can be determined by determining the distance between one point and the obstacle. This embodiment is described by taking the distance between the scraper 241 and the obstacle as an example.

[0209] In a possible implementation, the predetermined spacing distance may be 0, that is, the scraper strip 241 is in contact with or interferes with the obstacle.

[0210] When the cleaning device performs the first travel, the controller can determine the time point when the distance between the cleaning device and the obstacle is less than or equal to the predetermined interval distance as the stop time of the first travel. The controller can also pre-determine the stop time of the first travel based on the perception of the sensor system.

[0211] Accordingly, the present disclosure provides a cleaning device control method, such as Figure 7 As shown, the method includes:

[0212] Step 701: During the first movement of the cleaning device, controlling the scraper bar 241 to maintain the second state;

[0213] Step 702: Before performing the second movement, at least compensate for the response time of the scraper bar 241 switching from the second state to the first state, and control the scraper bar 241 to switch to the first state, so that the scraper bar 241 can clean the surface to be cleaned between the scraper bar 241 and the cleaning member 23 when the cleaning device stops during the second movement of the cleaning device.

[0214] In a possible implementation, the controller can trigger the scraper 241 to switch from the second state to the first state at the start time before the first travel stop time, wherein the interval between the predicted stop time and the start time is greater than the response time. In this way, the timeliness of the scraper 241 switching from the second state to the first state can be improved.

[0215] The controller can determine the starting time for triggering the scraper bar 241 to switch from the second state to the first state based on the stop time of the first movement, the compensation time and / or the stagnation time of the cleaning device in the stop state, and then adjust the time point when the scraper bar 241 switches to the first state.

[0216] Here, the controller can control the scraper bar 241 to switch to the first state at the stop moment of the first travel of the cleaning device. The controller can also control the scraper bar 241 to switch to the first state when the cleaning device is in a stopped state. In this way, the scraper bar 241 is switched to the first state before the second travel.

[0217] The controller may determine whether the cleaning device is in a stopped state based on the sensing information of the sensing system, and control the scraper bar 241 to switch to the first state when the cleaning device is in a stopped state.

[0218] Exemplarily, the controller determines that the speed of the cleaning device is 0, and then controls the scraper bar 241 to switch to the first state.

[0219] In a possible implementation, the controller may control the scraper bar 241 to switch to the first state in a stopped state after the first travel.

[0220] In a possible implementation, the response time may include at least one of the following:

[0221] The perception system obtains the perception information that satisfies the switching of the scraper strip 241 and sends the perception information to the controller for the perception duration;

[0222] The controller processes the sensing information and sends a switching signal to trigger the scraper strip 241 to switch from the second state to the first state, and the processing time required;

[0223] The driving member receives the switching signal and transmits the driving force to the scraper bar 241, so that the scraper bar 241 starts to switch the driving duration.

[0224] In a possible implementation, the driving duration may include at least one of the following:

[0225] The time it takes for a power unit such as a motor to generate driving force after receiving a switching signal;

[0226] The driving force transmission structural components between the power unit and the scraper strip 241 are used to overcome the transmission delay caused by at least one of friction, gap between components, inertia, tolerance between components, etc. when transmitting the driving force.

[0227] In a possible implementation, the response time and / or the driving time may be obtained through actual measurement of the cleaning device.

[0228] In a possible implementation, compensating for the response time of the scraper strip 241 switching from the second state to the first state may include at least one of the following:

[0229] The response time is compensated by adjusting the starting time when the scraper strip 241 switches from the second state to the first state. For example, the starting time may be advanced.

[0230] The response time is compensated by adjusting the moving speed of the scraper bar 241 from the second state to the first state. For example, the moving speed of the scraper bar 241 may be increased.

[0231] By compensating for the response time, the influence of the decision-making process and the extension of the execution process of the scraper 241 moving from the second state to the first state during the transition of the cleaning device from the first movement to the second movement due to approaching an obstacle on the time point when the scraper 241 reaches the first state can be reduced, thereby improving the timeliness of the scraper 241 moving from the second state to the first state. On the one hand, the cleaning blind area generated by the cleaning member 23 during the first movement of the cleaning device can be cleaned to reduce the cleaning blind area; on the other hand, the residual cleaning traces left by the cleaning member 23 during the second movement can be reduced, thereby improving the user experience.

[0232] In some embodiments, the cleaning device has a stagnation time during the switching process between the first travel and the second travel; before the second travel, at least compensating the response time of the scraper bar 241 switching from the second state to the first state, and controlling the scraper bar 241 to switch to the first state, includes at least one of the following:

[0233] During the first movement of the cleaning device, the response time is compensated to control the scraper bar 241 to switch from the second state to the first state, so that when the cleaning device is less than or equal to the predetermined interval distance from the obstacle, the scraper bar 241 switches to the first state;

[0234] During the first movement of the cleaning device, the response time is compensated to control the scraper bar 241 to switch from the second state to the first state, the scraper bar 241 has not been completely switched to the first state when the cleaning device stops the first movement, and the scraper bar 241 is controlled to switch to the first state before the cleaning device performs the second movement;

[0235] In response to the cleaning device being less than or equal to a predetermined interval distance from the obstacle, the response time is compensated to control the scraper bar 241 to switch from the second state to the first state, and the response time is less than or equal to the stagnation time, and the scraper bar 241 is controlled to switch to the first state before the cleaning device performs the second movement.

[0236] Here, the moving process of the cleaning device may include a first travel, a second travel, and a stop state during the process from the first travel to the second travel.

[0237] In a possible implementation, the controller determines the compensation duration based on the response duration, and determines a triggering time point for the scraper strip 241 to switch from the second state to the first state based on the compensation duration.

[0238] In a possible implementation, during the first movement of the cleaning device, the controller compensates the response time to control the scraper bar 241 to switch from the second state to the first state, so that the scraper bar 241 switches to the first state when the cleaning device is in a stopped state.

[0239] To compensate for the response time, the controller may switch the scraper bar 241 from the second state to the first state in advance. The controller may control the scraper bar 241 to switch from the second state to the first state when the cleaning device is less than or equal to the predetermined interval distance from the obstacle.

[0240] In a possible implementation, the controller can determine the first travel stop time based on the distance between the cleaning device and the obstacle, wherein the first travel stop time is also the start time when the cleaning device enters the stop state.

[0241] Exemplarily, the controller may predict the stop moment of the first movement based on the distance between the cleaning device and the obstacle, and before the stop moment (when the distance between the cleaning device and the obstacle is less than or equal to the predetermined interval distance), control the squeegee 241 to switch from the second state to the first state.

[0242] When the cleaning device makes the first movement, the controller may determine the time point when the distance between the cleaning device and the obstacle is less than or equal to the predetermined interval distance as the stop moment of the first movement.

[0243] The controller may also pre-judge the stop moment of the first movement based on the perception of the sensing system.

[0244] In a possible implementation, the controller may trigger the squeegee 241 to switch from the second state to the first state at the starting moment before the stop moment of the first movement, where the interval between the predicted stop moment and the starting moment is greater than the response duration. In this way, the timeliness of the squeegee 241 switching from the second state to the first state can be improved.

[0245] The controller may determine the starting moment for triggering the squeegee 241 to switch from the second state to the first state based on the stop moment of the first movement, the compensation duration, and / or the stagnation duration when the cleaning device is in the stopped state, and then adjust the time point when the squeegee 241 switches to the first state.

[0246] As Figure 8 shown, here, the controller may control the squeegee 241 to switch to the first state at the stop moment of the first movement of the cleaning device. The controller may also control the squeegee 241 to switch to the first state when the cleaning device is in the stopped state. In this way, the squeegee 241 is switched to the first state before the second movement.

[0247] The controller may determine whether the cleaning device is in the stopped state based on the perception information of the sensing system, and control the squeegee 241 to switch to the first state when the cleaning device is in the stopped state. Here, the stopped state may be that the distance between the cleaning device and the obstacle is less than or equal to the predetermined interval distance.

[0248] Exemplarily, when the controller determines that the speed of the cleaning device is 0, it controls the squeegee 241 to switch to the first state.

[0249] In a possible implementation, the controller may control the squeegee 241 to switch to the first state in the stopped state after the first movement.

[0250] In the case of no contradiction, Embodiment 2 may include any one or more of the embodiments in Embodiment 1, which will not be elaborated here.

[0251] Embodiment 3

[0252] The present application also provides a cleaning device, such as a floor scrubber, etc. The floor scrubber includes a controller. The control device is used to execute the cleaning device control method as described in any of the above embodiments, which will not be described in detail here.

[0253] In some embodiments, in the first state, the bottom end of the scraper strip 241 in contact with the surface to be cleaned is deformed and extended toward the cleaning member 23 .

[0254] The scraper strip 241 can be made of flexible materials such as rubber and silicone.

[0255] In a possible implementation, the bottom end of the scraper strip 241 may be provided with an inclined surface, and when the bottom surface contacts the surface to be cleaned, the bottom end is deformed and extended toward the cleaning member 23 due to the guiding effect of the inclined surface.

[0256] In one possible implementation, the scraper bar 241 can be tilted at a predetermined angle relative to a direction perpendicular to the surface to be cleaned so that the bottom end is biased toward the cleaning member 23. When the bottom surface contacts the surface to be cleaned, the bottom end is deformed and extended toward the cleaning member 23 due to the tilt of the scraper bar 241.

[0257] In a possible implementation, the length of the deformed extension portion of the scraper strip 241 is greater than or equal to the size of the cleaning blind area between the scraper strip 241 and the cleaning member 23. After the scraper strip 241 is deformed and extended, the dirt in the cleaning blind area can be pushed to the cleaning member 23 for cleaning by the cleaning member 23, thereby improving the cleaning effect.

[0258] In some embodiments, Fig. 9 As shown, during the switching process of the scraper bar 241 from the second state to the first state, the movement trajectory of the bottom end of the scraper bar 241 is an arc, wherein in the first moving direction, there is at least a first trajectory point on the arc, and the distance between the first trajectory point and the cleaning member 23 is greater than the distance between the bottom end of the scraper bar 241 and the cleaning member 23 when the scraper bar 241 is in the second state.

[0259] In one possible implementation, the movement trajectory of the bottom end of the scraper strip 241 can be an arc, so that the scraper strip 241 approaches the cleaning member 23 from a position far away from the cleaning member 23. During the approach process, the cleaning member 23 can scrape the dirt at the far end into the cleaning range of the scraper strip 241.

[0260] like Fig. 9 As shown, the scraper strip 241 can extend into the angle between the obstacle and the surface to be cleaned via an arc motion trajectory, and scrape out the dirt at the deepest part of the angle, thereby improving the cleaning effect.

[0261] In some embodiments, Fig.10As shown, during the switching process of the scraper bar 241 from the second state to the first state, the movement trajectory of the bottom end of the scraper bar 241 is a straight line, and the angle between the straight line and the first plane is an acute angle. The first plane is the part of the surface to be cleaned between the scraper bar 241 and the cleaning member 23.

[0262] like Fig.10 As shown, when the scraper bar 241 switches to the first state, the movement direction of the bottom end of the scraper bar 241 includes at least the first moving direction, that is, the movement trajectory of the scraper bar 241 includes the first moving direction and the direction toward the surface to be cleaned. In this way, the scraper bar 241 can extend into the angle between the obstacle and the surface to be cleaned, and scrape out the dirt at the deepest part of the angle, thereby improving the cleaning effect.

[0263] In some embodiments, Fig.11 As shown, the cleaning device further comprises a nozzle 25 for spraying cleaning liquid to the front side of the scraper bar 241 in the first traveling direction;

[0264] The controller is used to control the nozzle 25 to spray cleaning liquid downward in the first traveling direction when the distance between the cleaning device and the obstacle in front of the first traveling direction is less than or equal to a preset water spraying distance.

[0265] In a possible implementation, the cleaning liquid may include at least one of the following: water and a cleaning agent.

[0266] Here, the nozzle 25 may spray the cleaning liquid while the cleaning device is performing the first pass.

[0267] In a possible implementation, the cleaning fluid sprayed by the nozzle 25 in the first traveling direction does not exceed the scraper strip 241 in the first state.

[0268] In a possible implementation, the scraper strip 241 in the first state can scrape the cleaning fluid sprayed during the second traveling process.

[0269] In a possible implementation, the spraying timing of the nozzle 25 may be controlled by a controller.

[0270] In one possible implementation, the spray may spray the cleaning fluid based on a user operation.

[0271] In a possible implementation, the preset water spraying distance is greater than the distance threshold. In this way, the cleaning device can spray the cleaning liquid before the scraper bar 241 switches to the first state, and then the scraper bar 241 in the first state scrapes the cleaning liquid on the surface to be cleaned, thereby cleaning the surface to be cleaned.

[0272] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above cleaning equipment control method is implemented.

[0273] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning device in the above-mentioned embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0274] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0275] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0276] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0277] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0278] In the description of this specification, reference to "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0279] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning equipment control method, characterized in that: The cleaning device comprises: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraping bar assembly, the scraping bar assembly is used to scrape off dirt on the surface to be cleaned, the scraping bar assembly comprises a scraping bar, the scraping bar is arranged on the front side of the cleaning member in a first travel direction, and has a first state and a second state; when the scraping bar is in the first state, the scraping bar contacts the surface to be cleaned; when the scraping bar is in the second state, there is a gap between the scraping bar and the surface to be cleaned; the cleaning device can perform a first travel along the first travel direction; The method comprises: During the first movement of the cleaning device, obtaining a first speed of the cleaning device; When the first speed is less than or equal to a speed threshold, controlling the scraper strip to start switching from the second state to the first state; The cleaning device is controlled to perform a second movement along a second movement direction, wherein the scraper bar is in the first state during the second movement of the cleaning device; and the second movement direction is opposite to the first movement direction.

2. The method according to claim 1, characterized in that The method further comprises: When the scraper bar is in the first state and the cleaning device is performing the first travel, the scraper bar is controlled to switch to the second state.

3. The method according to claim 1, characterized in that When the first speed is less than or equal to a speed threshold, controlling the scraper strip to start switching from the second state to the first state comprises: In the case where the first speed is equal to zero, determining a duration period during which the first speed is equal to zero; wherein the duration period is a total time period from an initial moment to an end moment when the first speed is equal to zero; The scraper strip is controlled to complete the state switching from the second state to the first state within the duration period.

4. The method according to claim 1, characterized in that: When the first speed is less than or equal to a speed threshold, controlling the scraper strip to start switching from the second state to the first state comprises: A second speed at which the wiper strip switches from the second state to the first state is determined according to the first speed, wherein the first speed is negatively correlated to the second speed.

5. The method according to claim 1, characterized in that When the first speed is less than or equal to a speed threshold, controlling the scraper strip to start switching from the second state to the first state comprises: According to the first speed, an advance offset or a retard offset of a starting time when the wiper strip switches from the second state to the first state is determined.

6. The method according to claim 1, characterized in that When the first speed is less than or equal to a speed threshold, controlling the scraper strip to start switching from the second state to the first state comprises: determining a starting time for the wiper strip to switch from the second state to the first state; Determining a first distance between the cleaning device and a target obstacle at the starting moment; wherein the target obstacle is located on a side of the scraper bar away from the cleaning member in the first traveling direction; A third speed at which the wiper strip switches from the second state to the first state is determined according to the first distance, wherein the first distance is negatively correlated with the third speed.

7. The method according to claim 1, characterized in that When the first speed is less than or equal to a speed threshold, controlling the scraper strip to start switching from the second state to the first state comprises: When controlling the scraper bar to switch from the second state to the first state, the scraper bar moves linearly near the bottom end of the surface to be cleaned; wherein the angle between the plane formed by the motion trajectory of the bottom end and the surface to be cleaned near the cleaning member is an acute angle.

8. The method according to claim 1, characterized in that: When the first speed is less than or equal to a speed threshold, controlling the scraper strip to start switching from the second state to the first state comprises: During the process of controlling the scraper strip to switch from the second state to the first state, the scraper strip moves in an arc near the bottom end of the surface to be cleaned, wherein in the first moving direction, there is at least a first trajectory point on the motion trajectory of the bottom end, and the distance between the first trajectory point and the cleaning member is greater than the distance between the bottom end of the scraper strip and the cleaning member when the scraper strip is in the second state.

9. The method according to claim 1, characterized in that: When the first speed is less than or equal to a speed threshold, controlling the scraper strip to start switching from the second state to the first state comprises: determining a stopping time of the cleaning device at which the first speed in the first direction of travel is zero; The scraper strip is controlled to switch from the second state to the first state at a starting time, wherein the starting time is earlier than the stopping time; the time interval between the starting time and the stopping time is greater than the time interval between the starting time and the ending time; and the ending time indicates the completion time of the scraper strip switching from the second state to the first state.

10. A cleaning device, characterized in that: The cleaning device comprises: a body assembly, a floor brush assembly and a controller; the body assembly is rotatably connected to the floor brush assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraper bar assembly, the cleaning member is configured to clean the surface to be cleaned by a rolling brush, the scraper bar assembly is used to scrape off dirt on the surface to be cleaned, the scraper bar assembly comprises a scraper bar and a driving part, the scraper bar is arranged on the front side of the cleaning member in the first travel direction; the driving assembly is configured to drive the scraper bar to switch between a first state and a second state; when the scraper bar is in the first state, the scraper bar is in contact with the surface to be cleaned; when the scraper bar is in the second state, there is a gap between the scraper bar and the surface to be cleaned; the controller is used to execute the control method described in any one of claims 1 to 9.

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