Cleaning method, device and equipment and readable storage medium

Abstract

The invention discloses a cleaning method, device and equipment and a readable storage medium, the cleaning method, device and equipment are applied to the cleaning equipment provided with a water absorption scrabbling assembly and a rolling brush assembly, and when a cleaning task is executed, the cleaning equipment stops pumping liquid to the rolling brush assembly at the end position, and the water absorption scrabbling assembly is controlled to be in a descending state. Then, the cleaning equipment is controlled to linearly advance by a first distance so as to suck away water stains between the water suction scrabbling assembly and the rolling brush assembly; and the cleaning equipment turns around after advancing by the first distance and linearly advances by the second distance after turning around, so that the cleaning equipment is sucked away by the water suction raking assembly to execute advancing for the last time. By the adoption of the scheme, the behavior of the cleaning equipment at the end point is added to clean away residual water stains between the water absorption scrabbling assembly and the rolling brush assembly at the end point, and the residual water stains generated in the last straight advancing process of the cleaning equipment, namely the straight advancing process of the cleaning equipment with the end position as the end point are removed; therefore, the purpose of improving the cleaning quality on the premise that the hardware structure is not changed is achieved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of artificial intelligence technology, and in particular to a cleaning method, device, equipment and readable storage medium. Background Art

[0002] With the development of artificial intelligence (AI), various intelligent devices are increasingly used in various fields, among which cleaning robots are a common intelligent device.

[0003] According to the size of the workplace, cleaning robots can be divided into two categories: one is household robots, which are suitable for small places such as users' homes, and the other is commercial robots, which are suitable for places that require large-area cleaning, such as shopping malls and hospitals. The chassis of commercial robots is equipped with roller brushes, squeegee components, etc. During work, commercial robots use roller brushes to clean the work surface and use squeegee components to absorb water stains on the work surface.

[0004] However, after cleaning the work surface using the above cleaning method, some water stains will always remain on the ground at the end point, resulting in poor cleaning quality. Summary of the invention

[0005] The embodiments of the present application provide a cleaning method, apparatus, device and readable storage medium, which improve the cleaning quality without changing the hardware structure by increasing the behavior of the cleaning device at the end point to clean up the residual water stains.

[0006] In a first aspect, an embodiment of the present application provides a cleaning method, which is applied to a cleaning device having a squeegee assembly and a roller brush assembly, and the method comprises:

[0007] When the cleaning task is completed, the pumping of liquid to the roller brush assembly stops at the end position;

[0008] Controlling the squeegee assembly to be in a descending state;

[0009] Control the cleaning device to move forward in a straight line for a first distance and then turn around;

[0010] The cleaning device is controlled to turn around and then move forward in a straight line for a second distance, so that during the process of the cleaning device moving the first distance and the second distance, the squeegee assembly is used to suck away water stains on the work surface, and the first area cleaned during the process of moving the second distance intersects with the second area, and the second area is the area cleaned during the process of the cleaning device moving in a straight line with the end position as the end point.

[0011] In a second aspect, an embodiment of the present application provides a cleaning device, which is integrated on a cleaning device having a squeegee assembly and a roller brush assembly, and the cleaning device includes:

[0012] A first control module, configured to stop pumping liquid to the roller brush assembly at an end position when the cleaning task is completed;

[0013] A second control module, used for controlling the squeegee assembly to be in a descending state;

[0014] The processing module is used to control the cleaning device to move forward in a straight line for a first distance and then turn around, and control the cleaning device to move forward in a straight line for a second distance after turning around, so that during the process of the cleaning device moving the first distance and the second distance, the squeegee assembly is used to suck away water stains on the work surface, and the first area cleaned during the process of moving the second distance intersects with the second area, and the second area is the area cleaned during the process of the cleaning device moving in a straight line with the end position as the end point.

[0015] In a third aspect, an embodiment of the present application provides a cleaning device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the cleaning device implements the method described in the first aspect or various possible implementation methods of the first aspect.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the method described in the first aspect or various possible implementation methods of the first aspect.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product comprising a computing program, and when the computer program is executed by a processor, the method described in the first aspect or various possible implementation methods of the first aspect is implemented.

[0018] The cleaning method, device, equipment and readable storage medium provided in the embodiments of the present application are applied to a cleaning device having a squeegee assembly and a roller brush assembly. When the cleaning task is completed, the cleaning device stops pumping liquid to the roller brush assembly at the end position, and controls the squeegee assembly to be in a descending state. After that, the cleaning device is controlled to move forward in a straight line for a first distance to suck away the water stains between the squeegee assembly and the roller brush assembly; the cleaning device turns around after moving the first distance, and moves in a straight line for a second distance after turning around, so as to use the squeegee assembly to suck away the last movement of the cleaning device. With this solution, by increasing the behavior of the cleaning device at the end point to clean up the residual water stains between the squeegee assembly and the roller brush assembly at the end position, and the residual water stains during the last straight movement of the cleaning device, that is, the cleaning device moves forward in a straight line with the end position as the end point, thereby achieving the purpose of improving the cleaning quality without changing the hardware structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1A It is a front view of the cleaning device provided by an embodiment of the present application;

[0021] Figure 1B is a top view of a cleaning device provided by an embodiment of the present application;

[0022] Figure 2A It is a schematic diagram of the overall structure of the cleaning device provided in an embodiment of the present application after the outer shell is removed;

[0023] Figure 2B is a bottom view of the cleaning device provided in an embodiment of the present application;

[0024] Figure 3 is a flow chart of the cleaning method provided in an embodiment of the present application;

[0025] Figure 4 is a schematic diagram of a “U”-shaped path in the cleaning method provided in an embodiment of the present application;

[0026] Figure 5 This is a schematic diagram of an application scenario of the cleaning method provided in an embodiment of the present application;

[0027] Figure 6 is another application scenario schematic diagram of the cleaning method provided in an embodiment of the present application;

[0028] Figure 7 A schematic diagram of a cleaning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] With the advancement of technology and the continuous improvement of living standards, people's demand for cleaning equipment is increasing, and intelligent cleaning equipment is becoming more and more common, such as commercial robots that clean in commercial environments such as shopping malls, office buildings, hotels, and hospitals.

[0030] Most commercial robots tend to move in a U-shaped trajectory when cleaning a work surface. After completing the cleaning task, there will always be some water stains at the end point, which means that there is always an area that is not cleaned and the cleaning quality is poor.

[0031] Based on this, the embodiments of the present application provide a cleaning method, device, equipment and readable storage medium, which improve the cleaning quality without changing the hardware structure by increasing the behavior of the cleaning equipment at the end point to clean up the residual water stains.

[0032] The cleaning device provided in the embodiment of the present application is a cleaning device having a squeegee assembly and a roller brush assembly. The squeegee assembly is located at the rear end of the cleaning device chassis and has a certain distance from the roller brush assembly, such as 0.5 meters, 0.4 meters, etc., which is not limited in the embodiment of the present application. During the cleaning process, the roller brush assembly is used to clean the working surface, and the squeegee assembly is used to absorb water stains on the working surface.

[0033] In the embodiment of the present application, after the cleaning device completes the cleaning task, a certain behavior is added at the end position, such as moving straight ahead for a first distance and then turning around, and then moving straight ahead for a second distance after turning around, so as to suck away the remaining water stains. The behavior added by the cleaning device at the end position is hereinafter referred to as "water collection".

[0034] Figure 1A This is a front view of the cleaning device provided by the embodiment of the present application. Figure 1B This is a top view of the cleaning device provided by the embodiment of the present application. Figure 1A to Figure 1B , a power-assisting handle 11 for the user to hold is arranged on the cleaning device. In automatic mode, the user does not need to hold the power-assisting handle 11; when the user holds the power-assisting handle 11, the cleaning device enters manual mode and moves under human push. Based on the power-assisting handle 11, the cleaning device has a power-assisting function. The power-assisting function means that when the cleaning device enters manual mode, the cleaning device provides power by itself, so that the cleaning device moves under the power provided by itself and the force of the user. Moreover, the cleaning device can adjust the power according to the change of the user's force, that is, the power output by the cleaning device itself is dynamic, not static. In this way, the cleaning device can dynamically adjust the power according to the change of the user's force, so that the power output by itself can meet the user's needs in real time, thereby achieving the purpose of reducing the user's burden.

[0035] The cleaning device is also provided with a switch button 12, a selection button 13, an emergency stop button 14, a recharge button 15 and a squeegee assembly 16. The switch button 12 is used to control the power on or off of the cleaning device. The selection button 13 is, for example, a rotary button. By rotating the selection button 13, the user can control the cleaning device to enter a normal floor washing mode, a deep floor washing mode, a water absorption mode, etc. When an emergency occurs, the user presses the emergency stop button 14 to quickly stop the cleaning device. After the user presses the recharge button 15, the cleaning device returns to the charging pile and charges after docking with the charging pile. The squeegee assembly 16 can automatically lift and automatically pressurize. In the floor washing mode, the squeegee assembly 16 descends to wipe the work surface, etc., to avoid residual water stains. When pushing dust, the squeegee assembly 16 automatically lifts to reduce friction and loss to the squeegee assembly 16.

[0036] Figure 2A It is a schematic diagram of the overall structure of the cleaning device provided in an embodiment of the present application after the outer shell is removed. Figure 2B This is a bottom view of the cleaning device provided in the embodiment of the present application. Figure 2A and Figure 2B , the chassis 21 of the cleaning device is provided with a universal wheel assembly 22, a roller brush assembly 23, a driving wheel assembly 24 and a squeegee assembly 25 in sequence. Based on this design, during the movement of the cleaning device, the universal wheel assembly 22, the roller brush assembly 23, the driving wheel assembly 24 and the squeegee assembly 25 successively pass through the working surface. The squeegee assembly 25 is also called a water suction rake assembly, a water suction rake, etc.

[0037] The cleaning device travels on the working surface through the universal wheel assembly 22 and the driving wheel assembly 24. Wherein, the universal wheel assembly 22 is arranged at the front end of the chassis 21, and the driving wheel assembly 24 is relatively located at the rear portion of the chassis 21.

[0038] The cleaning device 22 cleans the working surface through the roller brush assembly 23 and the squeegee assembly 25. The roller brush assembly 23 includes a first roller brush 231 and a second roller brush 232 for cleaning the working surface, and the first roller brush 231 and the second roller brush 232 are arranged side by side from front to back. During the movement of the cleaning device, the first roller brush 231 and the second roller brush 232 clean the working surface in turn, which has a good cleaning effect. The squeegee assembly 25 is arranged at the rear end of the chassis 21 and is configured to suck away water stains on the working surface to prevent the working surface from being wet and slippery, thereby further improving the cleaning effect.

[0039] It should be noted that, although the cleaning device is described here as the roller brush assembly 23 including the first roller brush 231 and the second roller brush 232, the present embodiment is not limited thereto, and in other feasible implementations, the roller brush assembly 23 may only include the first roller brush 231 or the second roller brush 232.

[0040] The driving assembly 24 includes a first driving wheel 241 and a second driving wheel 242 distributed on the left and right sides of the direction of travel of the cleaning device. The first driving wheel 241 and the second driving wheel 242 can stably support the chassis 21 on the left and right sides, thereby ensuring the stability of the cleaning device in the left and right directions. The first driving wheel 241 and the second driving wheel 242 are configured to be differentially controlled to achieve the steering of the cleaning device.

[0041] For example, when the first driving wheel 241 and the second driving wheel 242 rotate at the same speed, the cleaning device moves straight. When the first driving wheel 241 rotates at a speed greater than the second driving wheel 242, the cleaning device turns toward the second driving wheel 242; when the second driving wheel 242 rotates at a speed greater than the first driving wheel 241, the cleaning device turns toward the first driving wheel 241.

[0042] Please refer to Figure 2B The universal wheel assembly 22 is arranged in the middle position of the front end of the chassis 21. The universal wheel assembly 22, the first driving wheel 241 and the second driving wheel 242 are distributed in a triangle, which can stably support the chassis 21, improve the stability of the cleaning equipment when walking, and easily realize steering.

[0043] Please refer to Figure 2A and Figure 2B A mounting frame 26 is fixedly arranged above the chassis 21, and a water tank assembly 27 is installed above the mounting frame 26 and is located above the roller brush assembly 23. The water tank assembly 27 is heavy and is arranged above the roller brush assembly 23, which helps to concentrate the center of gravity of the cleaning device in the middle or near the middle position, so as to improve the stability of the cleaning device and make the overall structure more compact. In addition, it is convenient to open and close the water tank assembly 27, and to install and remove the water tank assembly 27. There is space between the chassis 21 and the mounting frame 26 for installing other components of the cleaning device.

[0044] The rear end portion of the universal wheel assembly 22 is located below the water tank assembly 27, and the front end portion extends forward to the outside of the water tank assembly 27. The front end portion of the driving wheel assembly 24 is located below the water tank assembly 27, and the rear end portion extends backward to the outside of the water tank assembly 27. The universal wheel assembly 22, the driving wheel assembly 24, and the water tank assembly 27 are compactly positioned, and the universal wheel assembly 22 and the driving wheel assembly 24 can stably support the water tank assembly 27 from both the front and rear sides to prevent the cleaning device from tilting forward when it stops in an emergency.

[0045] In one embodiment, the water tank assembly 27 includes a solution tank for containing clean water or a mixture of clean water and cleaning liquid. During the cleaning process, the cleaning device uses the negative pressure provided by the water pump to spray the liquid in the solution tank onto the second roller brush 232, or directly onto the working surface, thereby improving the cleaning effect of the cleaning device on the working surface. During the water collection process, the cleaning device turns off the water pump and stops pumping liquid to the roller brush assembly 23 or the working surface.

[0046] In another embodiment, the water tank assembly 27 includes a clean water tank and a cleaning liquid tank, the clean water tank is used to hold clean water, the cleaning liquid tank is used to hold cleaning liquid, and the cleaning device also includes a three-way valve, the three-way valve has two input ends and an output end, one of the input ends is connected to the clean water tank, and the other input end is connected to the cleaning liquid tank. During the cleaning process, the cleaning device uses the negative pressure provided by the water pump to pump the clean water in the clean water tank into the three-way valve, and uses the cleaning liquid pump to pump the cleaning liquid in the cleaning liquid tank into the three-way valve, and the clean water and the cleaning liquid are mixed and sprayed from the output end of the three-way valve onto the second roller brush 232, or directly sprayed onto the work surface, thereby improving the cleaning effect of the cleaning device on the work surface.

[0047] After completing the cleaning task, during the water collection process, the cleaning device controls the water pump to stop pumping clean water to the roller brush assembly, and controls the cleaning liquid pump to stop pumping cleaning liquid to the roller brush assembly.

[0048] For example, during the water collection process, on the one hand, the cleaning device turns off the water pump and the solution pump, thereby stopping pumping clean water, cleaning solution or mixed solution to the roller brush assembly 23 or the working surface from the end position. On the other hand, the squeegee assembly 25 continues to absorb water, thereby sucking away the water stains between the roller brush assembly 23 and the squeegee assembly 25. After turning around, the squeegee assembly 25 continues to absorb water, thereby sucking away the water stains generated by the straight line travel of the cleaning device before reaching the end position. By starting from two aspects, the water stains on the working surface are sucked away, thereby achieving the purpose of improving the cleaning effect of the working surface.

[0049] With this solution, during the water collection process, the cleaning equipment no longer pumps liquid to the roller brush assembly or the work surface, but the squeegee assembly continues to absorb water, thereby sucking away residual water stains, thereby achieving the purpose of improving the cleaning effect.

[0050] In addition, the water tank assembly 27 may further include a sewage tank configured to contain sewage sucked away by the squeegee assembly 25 .

[0051] It should be noted that the above Figure 1A to Figure 2B The structure of the cleaning device shown does not constitute a limitation on the cleaning device. The cleaning device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0052] Below, based on Figure 1A-Figure 2BThe cleaning method described in the embodiment of the present application is described in detail. For example, please refer to Figure 3 , Figure 3 Flow chart of the cleaning method provided in the embodiment of the present application. This embodiment includes:

[0053] 301. When the cleaning task is completed, stop pumping liquid into the roller brush assembly at the end position.

[0054] During the operation of the cleaning equipment, the cleaning equipment will plan the path according to the pre-created environment map and clean. The preset shaped tracks generated during the cleaning process include "U" shaped tracks, "bow" shaped tracks, "Z" shaped tracks, etc.

[0055] The end position is also called the end point, for example, the center of the U-shaped track. Usually, after the cleaning device completes the cleaning task of an area, it returns to the base station. The base station is also called a workstation, charging pile, maintenance station, etc. The cleaning device performs tasks such as charging, adding water, drying the mop, and removing foreign matter from the roller brush assembly at the base station.

[0056] In the embodiment of the present application, after the cleaning device completes the cleaning task for an area, it does not immediately return to the base station, but performs some actions at the end position to absorb the water stains remaining on the working surface.

[0057] In this step, when the cleaning device determines that the cleaning task has been completed, the current position is used as the end position. Alternatively, when the cleaning device starts cleaning, it estimates the end position in advance based on the environment map. During the cleaning process, when the distance between the current position and the end position is less than the preset distance, it is considered that the cleaning position has been completed and the end position has been reached.

[0058] After the cleaning device reaches the end position, it first stops pumping liquid to the roller brush assembly. For example, when the cleaning device only has a solution tank for holding clean water or a mixed liquid, when the cleaning device reaches the end position to perform the water collection work, the cleaning device turns off the water pump, thereby stopping pumping liquid to the roller brush assembly or the working surface. The liquid is, for example, clean water or a mixed liquid, and the mixed liquid is a mixture of clean water and cleaning liquid.

[0059] For another example, when a water tank and a cleaning liquid tank, a water pump corresponding to the water tank, and a cleaning liquid pump corresponding to the cleaning liquid tank are provided on the cleaning equipment, when the cleaning equipment reaches the end position to perform the water collecting work, the cleaning equipment turns off the water pump and the cleaning liquid pump, so that the mixed liquid of clean water and cleaning liquid is no longer pumped out to the roller brush assembly or the working surface through the three-way valve.

[0060] In this step, pumping liquid to the roller brush assembly or the working surface is stopped at the end position, so that during the subsequent movement of the cleaning device, only the water stains generated before the end position are cleaned without further generating more water stains.

[0061] 302. Control the squeegee assembly to be in a descending state.

[0062] Normally, after the cleaning device completes the cleaning task for an area, it immediately lifts the squeegee assembly and returns to the base station. In the embodiment of the present application, when the cleaning device reaches the end position, it does not immediately lift the squeegee assembly, but keeps the squeegee assembly in a lowered state so that the squeegee assembly continues to contact the work surface.

[0063] It should be noted that there is no strict sequence between step 301 and step 302.

[0064] 303. Control the cleaning device to move forward in a straight line for a first distance and then turn around.

[0065] Normally, the cleaning device moves in a straight line for a distance to reach the end position. After reaching the end position, the cleaning device keeps the squeegee assembly in a descending state, stops spraying liquid on the roller brush assembly or the working surface, and continues to move in a straight line for the first distance. After that, the cleaning device turns around. Among them, the purpose of moving in a straight line for the first distance is to use the squeegee assembly to suck away the water stains between the roller brush assembly and the squeegee assembly. This is because: the squeegee assembly is located at the rear end of the cleaning device chassis, and the roller brush assembly is located in front of the squeegee assembly, and a driving assembly is provided between the squeegee assembly and the roller brush assembly, and the distance between the squeegee assembly and the roller brush assembly is relatively large, such as 0.4 meters. During the working process, the water pump pumps the liquid out of the solution tank, thereby spraying the liquid onto the roller brush assembly or the working surface, and the roller brush assembly and the squeegee assembly pass through the working surface in turn, so that the squeegee assembly sucks away the water stains generated by the roller brush assembly. After reaching the end position, the squeegee assembly does not pass through the working surface between itself and the roller brush assembly, resulting in residual water stains on the working surface between the squeegee assembly and the roller brush assembly.

[0066] In this step, after reaching the end position, the cleaning device continues to move forward in a straight line for the first distance. During this process, the water pump of the cleaning device no longer sprays liquid onto the roller brush or the working surface, but the squeegee assembly continues to work, thereby being able to absorb the water stains remaining on the working surface between the roller brush assembly and the squeegee assembly.

[0067] 304. Control the cleaning device to turn around and then move forward in a straight line for a second distance, so that the squeegee assembly can be used to absorb water stains on the working surface during the cleaning device moving the first distance and the second distance.

[0068] The first area cleaned by the cleaning device during the second distance intersects with the second area, and the second area is the area cleaned by the cleaning device during the straight-line advance with the end position as the end point.

[0069] During the U-shaped movement of the cleaning device, the cleaning areas of adjacent parallel tracks intersect. Figure 4 , Figure 4 It is a schematic diagram of the “U”-shaped path in the cleaning method provided in an embodiment of the present application.

[0070] Please refer to Figure 4 , the cleaning device starts cleaning from the black filled position, and the moving trajectory is in the shape of a "U" and finally reaches the end position, which is shown as the gray filled circle in the figure. After reaching the end position, the cleaning device continues to move straight for the first distance and then turns around, and then continues to move straight for the second distance after turning around. The trajectory of moving straight for the first distance, turning around, and then moving straight for the second distance is shown by the dotted arrow in the figure.

[0071] Figure 4 In the figure, track ① and track ② are two adjacent straight track tracks. The cleaning area corresponding to track ① is the diagonal line filling area in the figure, and the cleaning area corresponding to track ② is the dot filling area in the figure. The dot filling area and the diagonal line filling area intersect. The residual water stains in the diagonal line filling area cleaned by the cleaning equipment are mainly located in the dot-dash area in the figure. Since the dot filling area and the diagonal line filling area intersect, the cleaning equipment can absorb the water stains in the dot-dash area after cleaning the dot filling area. Obviously, since every two adjacent straight track tracks intersect, the water stains remaining in the adjacent straight track tracks can be eliminated during this straight line travel.

[0072] However, the cleaning device moves straight forward with the end position as the end point, i.e., the second area to be cleaned Figure 4 In the dot-filled area corresponding to track ② in the figure, there is a part that does not intersect with the oblique line-filled area, and the residual water stains in the non-intersecting part cannot be sucked away, such as the double-dash line area in the figure. In the embodiment of the present application, the first area (not shown in the figure) cleaned during the travel of the cleaning device after turning around intersects with the second area, so that the squeegee assembly sucks away the residual water stains in the second area, that is, the residual water stains on the double-dash line.

[0073] The cleaning method provided in the embodiment of the present application is applied to a cleaning device having a squeegee assembly and a roller brush assembly. When the cleaning task is completed, the cleaning device stops pumping liquid to the roller brush assembly at the end position, and controls the squeegee assembly to be in a descending state. After that, the cleaning device is controlled to move forward in a straight line for a first distance to suck away the water stains between the squeegee assembly and the roller brush assembly; the cleaning device turns around after moving the first distance, and moves in a straight line for a second distance after turning around, so as to use the squeegee assembly to suck away the last movement of the cleaning device. With this solution, by increasing the behavior of the cleaning device at the end point to clean up the residual water stains between the squeegee assembly and the roller brush assembly at the end position, and the residual water stains during the last straight movement of the cleaning device, that is, the cleaning device moves forward in a straight line with the end position as the end point, thereby achieving the purpose of improving the cleaning quality without changing the hardware structure.

[0074] Optionally, in the above embodiment, before the cleaning device turns around after moving forward in a straight line for a first distance, the power of the fan is increased to increase the negative pressure provided to the squeegee assembly.

[0075] Exemplarily, the bottom of the squeegee assembly has a water suction port, which extends in the direction of action of the cleaning device to increase the cleaning range. The water suction port of the squeegee assembly is connected to the sewage tank through a water suction channel, and the power device of the cleaning device forms a negative pressure in the water suction channel, so that the water stains on the working surface enter the water suction channel through the water suction port and then enter the sewage tank. The power device is, for example, a fan, etc., which brings the water stains on the working surface into the water suction channel through airflow.

[0076] In the embodiment of the present application, before the cleaning device travels a first distance in a straight line, the power of the fan is first increased, thereby increasing the negative pressure in the water suction channel, so that the squeegee assembly absorbs more water stains.

[0077] By adopting this solution, the power of the fan is increased during the water collection process to increase the negative pressure provided to the squeegee assembly, so that the cleaning equipment can absorb the residual water stains to the greatest extent in the process of turning around after traveling a first distance and traveling a second distance in a straight line, thereby achieving the purpose of improving the cleaning quality.

[0078] Optionally, in the above embodiment, the rotation speed of the roller brush assembly is increased before the cleaning device turns around after moving forward in a straight line for a first distance.

[0079] In the embodiment of the present application, the greater the rotation speed of the roller brush assembly, the greater the cleaning force, thereby wiping off more water stains. The roller brush assembly includes a first roller brush for cleaning and a second roller brush for mopping. The first roller brush is located in front of the second roller brush. Based on this design, during the cleaning process, the cleaning device first uses the first roller brush to clean the working surface, then uses the second roller brush to mop the working surface, and finally uses the squeegee to suck away the water stains on the working surface.

[0080] During the water collection process, the cleaning device increases the rotation speed of the roller brush assembly, so that the rotation speed of the first roller brush and / or the second roller brush is accelerated. When the rotation speed of the first roller brush is accelerated, the working surface can be cleaned more vigorously; when the rotation speed of the second roller brush is accelerated, the working surface can be mopped more vigorously.

[0081] By adopting this solution, the conversion of the roller brush assembly is increased during the water collection process, so that the cleaning device can sweep and / or mop the residual water stains on the work surface to the greatest extent in the process of turning around after traveling a first distance and traveling a second distance in a straight line, thereby achieving the purpose of improving the cleaning quality.

[0082] Optionally, in the above embodiment, when the cleaning device moves forward in a straight line for a first distance and then turns around, if the track of the cleaning device when cleaning the work surface is a U-shaped track, the direction of the U-shaped track is determined. When the direction of the U-shaped track is clockwise, the cleaning device is controlled to move forward in a straight line for the first distance and then turn around from the right side, and then move in a straight line for the second distance. When the direction of the U-shaped track is counterclockwise, the cleaning device is controlled to move forward in a straight line for the second distance and then turn around from the left side, and then move in a straight line for the second distance.

[0083] In the embodiment of the present application, when the trajectory of the cleaning device is a U-shaped trajectory, the cleaning device can move from the inside to the outside to form the U-shaped trajectory; or the cleaning device can also move from the outside to the inside to form the U-shaped trajectory. Regardless of whether it is from the inside to the outside or from the outside to the inside, the cleaning device can move in a clockwise direction or in a counterclockwise direction. For example Figure 4 In the embodiment, the cleaning device moves from outside to inside and moves in a counterclockwise direction.

[0084] When the cleaning device reaches the end position, if it is currently moving in a counterclockwise direction, it will turn around from the left after traveling the first distance. Figure 4 As shown. The left side refers to the left side of the cleaning device based on the direction of travel of the cleaning device. This is because: when the cleaning device travels counterclockwise, the last straight line travel of the cleaning device, that is, the straight line travel trajectory of the cleaning device with the end position as the end point, is located on the left side of the robot. When the cleaning device travels clockwise, the last straight line travel of the cleaning device, that is, the straight line travel trajectory of the cleaning device with the end position as the end point, is located on the right side of the robot.

[0085] With this solution, the cleaning device turns around according to the direction of the U-shaped trajectory, so that the cleaning device can clean up the water stains remaining on the last straight-line trajectory to the greatest extent, thereby achieving the purpose of improving the cleaning quality.

[0086] Optionally, in the above embodiment, the first distance is greater than or equal to the distance between the roller brush assembly and the squeegee assembly.

[0087] In the embodiment of the present application, the squeegee assembly and the roller brush assembly are respectively arranged on different sides of the driving wheel based on the traveling direction, and the squeegee assembly is arranged at the rear end of the cleaning device chassis. Based on this design, during the cleaning process, the roller brush assembly first cleans the working surface, and then the squeegee assembly sucks away the remaining water stains. When reaching the end position, water stains remain on the working surface between the roller brush assembly and the squeegee assembly.

[0088] In the embodiment of the present application, the first distance is greater than the distance between the roller brush assembly and the squeegee assembly. For example, if the distance between the roller brush assembly and the squeegee assembly is 0.3 m, 0.4 m or 0.5 m, the first distance is, for example, 0.4 m, 0.5 m or 0.6 m. Alternatively, the first distance is 0.3 m, 0.4 m or 0.5 m. In this way, since the cleaning device stops spraying liquid onto the roller brush assembly or the working surface during the water collection process, the cleaning robot can absorb the residual water stains on the working surface between the roller brush assembly and the squeegee assembly after traveling the first distance without generating new residual water stains.

[0089] By adopting this solution, since the first distance is greater than or equal to the distance between the roller brush assembly and the squeegee assembly, the cleaning device can travel the first distance after reaching the end position and absorb the residual water stains on the working surface between the roller brush assembly and the squeegee assembly, thereby achieving the purpose of improving the cleaning quality.

[0090] Optionally, in the above embodiment, the second distance is greater than or equal to the distance that the cleaning device moves forward in a straight line with the end position as the end point.

[0091] In the embodiments of the present application, when the cleaning equipment performs cleaning tasks in different working environments, different trajectories are generated. For example, when the working area is a long and narrow corridor, the U-shaped trajectory is relatively "flat", and when the working area is a square area in a shopping mall, the U-shaped trajectory is very square. Different U-shaped trajectories have different lengths of the last straight-line movement of the cleaning equipment, that is, the straight-line movement trajectory of the cleaning equipment with the end position as the end point. For example, when the working area is a long and narrow corridor, the trajectory of the last straight-line movement is longer; for another example, when the working area is a square area, the trajectory of the last straight-line movement is shorter.

[0092] In the embodiment of the present application, regardless of the shape of the U-shaped track, the second distance is greater than or equal to the length of the last straight line movement of the cleaning device, that is, the length of the straight line movement track of the cleaning device with the end position as the end point. Obviously, in the embodiment of the present application, the length of the second distance is likely to be different for different workplaces.

[0093] By adopting this scheme, since the second distance is greater than or equal to the distance that the cleaning device moves in a straight line with the end position as the end point, no matter what shape of the U-shaped trajectory is used, the cleaning device can clean up the water stains remaining during the last straight-line movement, that is, the straight-line movement of the cleaning device with the end position as the end point, thereby achieving the purpose of improving the cleaning quality.

[0094] Optionally, in the above embodiment, after the cleaning device travels the second distance, the squeegee assembly is controlled to be in a raised state, and then the cleaning device is controlled to return to the base station.

[0095] In the embodiment of the present application, after the cleaning device completes the cleaning task, it performs the water-collecting task, that is, it travels a first distance in a straight line at the end position, then turns around and travels a second distance. Afterwards, the cleaning device controls the squeegee assembly to enter a raised state so that it no longer contacts the working surface, and returns to the base station for charging, cleaning sewage, etc.

[0096] With this solution, the cleaning equipment automatically lifts the squeegee assembly and returns to the base station after completing the water-collecting task, which has a high degree of automation and reduces the cost of manual maintenance.

[0097] The above cleaning method is described in detail below in combination with specific application scenarios.

[0098] Application scenario 1:

[0099] Figure 5 This is a schematic diagram of an application scenario of the cleaning method provided in the embodiment of the present application. Figure 5 , the workplace is a relatively long and narrow corridor.

[0100] Please refer to Figure 5 , the cleaning device starts cleaning from the black filled position, and the moving trajectory is like a "U" shape, and finally reaches the end position, which is shown as the gray filled circle in the figure. The U-shaped trajectory is counterclockwise. After reaching the end position, the cleaning device turns off the water pump and the cleaning liquid pump, keeps the squeegee assembly in a descending state, and increases the power of the fan and the speed of the roller brush assembly, and then continues to move straight for the first distance and turns from the left. After turning around, continue to move straight for the second distance. The trajectory of moving straight for the first distance, turning around, and then moving straight for the second distance is shown by the dotted arrow in the figure.

[0101] Application scenario 2:

[0102] Figure 6 This is another schematic diagram of an application scenario of the cleaning method provided in the embodiment of the present application. Figure 6 , the workplace is a square area.

[0103] Please refer to Figure 6, the cleaning device starts cleaning from the black filled position, and the moving trajectory is in the shape of a "U", and finally reaches the end position, which is shown by the gray filled circle in the figure. The U-shaped trajectory is clockwise. After reaching the end position, the cleaning device turns off the water pump and the cleaning liquid pump, keeps the squeegee assembly in a descending state, and increases the power of the fan and the speed of the roller brush assembly, and then continues to move straight for the first distance and turns from the right. After turning around, continue to move straight for the second distance. The trajectory of moving straight for the first distance, turning around, and then moving straight for the second distance is shown by the dotted arrow in the figure.

[0104] Figure 5 The second distance and Figure 6 The second distance in is not the same length.

[0105] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0106] Figure 7 A schematic diagram of a cleaning device provided in an embodiment of the present application. The cleaning device is integrated on a cleaning device having a squeegee assembly and a roller brush assembly, and the cleaning device 700 includes: a first control module 71 , a second control module 72 and a travel module 74 .

[0107] The first control module 71 is used to stop pumping liquid to the roller brush assembly at the end position when the cleaning task is completed;

[0108] The second control module 72 is used to control the squeegee assembly to be in a descending state;

[0109] The processing module 73 is used to control the cleaning device to move forward in a straight line for a first distance and then turn around, and control the cleaning device to move forward in a straight line for a second distance after turning around, so that during the process of the cleaning device moving the first distance and the second distance, the squeegee assembly can be used to suck away water stains on the working surface, and the first area cleaned during the process of moving the second distance intersects with the second area, and the second area is the area cleaned during the process of the cleaning device moving in a straight line with the end position as the end point.

[0110] In a feasible implementation, the processing module 73 controls the cleaning device to move forward in a straight line for a first distance and before turning around, and is also used to increase the power of the fan to increase the negative pressure provided to the squeegee assembly.

[0111] In a feasible implementation, the processing module 73 controls the cleaning device to move forward in a straight line for a first distance and before turning around, and is also used to increase the rotation speed of the roller brush assembly.

[0112] In a feasible implementation, the processing module 73 controls the cleaning device to move forward in a straight line for a first distance and then turn around. When the trajectory of the cleaning device when cleaning the work surface is a U-shaped trajectory, the processing module 73 is used to determine the direction of the U-shaped trajectory; when the direction is clockwise, the processing module 73 controls the cleaning device to move forward in a straight line for a first distance and then turn around from the right side; when the direction is counterclockwise, the processing module 73 controls the cleaning device to move forward in a straight line for a first distance and then turn around from the left side.

[0113] In a feasible implementation, the first distance is greater than or equal to the distance between the roller brush assembly and the squeegee assembly.

[0114] In a feasible implementation, the second distance is greater than or equal to a distance that the cleaning device moves forward in a straight line with the end position as the end point.

[0115] In a feasible implementation, the processing module 73 controls the cleaning device to turn around and then move forward in a straight line for a second distance, and is also used to control the squeegee assembly to be in a raised state, thereby controlling the cleaning device to return to the base station.

[0116] In a feasible implementation, the first control module 71 is used to control the water pump to stop pumping clean water into the roller brush assembly and control the cleaning liquid pump to stop pumping cleaning liquid into the roller brush assembly at the end position when the cleaning device completes the cleaning task.

[0117] The cleaning device provided in the embodiment of the present application can perform the actions of the cleaning equipment in the above embodiment. Its implementation principle and technical effect are similar and will not be repeated here.

[0118] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the cleaning method implemented by the above cleaning device.

[0119] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the cleaning method implemented by the above cleaning device is implemented.

[0120] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0121] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A cleaning method, characterized in that, it is applied to a cleaning device having a water suction squeegee assembly and a rotary brush assembly, and the method includes: When the cleaning task is completed, stop pumping liquid to the rotary brush assembly at the end position; Control the water suction squeegee assembly to be in a lowered state; Control the cleaning device to move straight forward a first distance and then turn around; Control the cleaning device to move straight forward a second distance after turning around, so that during the process of the cleaning device moving the first distance and the second distance, the water stains on the working surface are sucked away by the water suction squeegee assembly, and the first area cleaned during the process of moving the second distance intersects with the second area, and the second area is the area cleaned during the process of the cleaning device moving straight forward with the end position as the end point.

2. The method according to claim 1, characterized in that, before controlling the cleaning device to move straight forward a first distance and then turn around, it further includes: Increase the power of the blower to increase the negative pressure provided to the water suction squeegee assembly.

3. The method according to claim 1, characterized in that, before controlling the cleaning device to move straight forward a first distance and then turn around, it further includes: Increase the rotation speed of the rotary brush assembly.

4. The method according to any one of claims 1 to 3, characterized in that, controlling the cleaning device to move straight forward a first distance and then turn around includes: When the trajectory of the cleaning device during cleaning on the working surface is a figure-eight trajectory, determine the direction of the figure-eight trajectory; When the direction is clockwise, control the cleaning device to move straight forward a first distance and then turn around from the right; When the direction is counterclockwise, control the cleaning device to move straight forward a first distance and then turn around from the left.

5. The method according to any one of claims 1 to 3, characterized in that, the first distance is greater than or equal to the distance between the rotary brush assembly and the water suction squeegee assembly.

6. The method according to any one of claims 1 to 3, characterized in that, the second distance is greater than or equal to the distance that the cleaning device moves straight forward with the end position as the end point.

7. The method according to any one of claims 1 to 3, characterized in that, after controlling the cleaning device to turn around and then move straight forward a second distance, it further includes: Control the water suction squeegee assembly to be in a lifted state; Control the cleaning device to return to the base station.

8. The method according to any one of claims 1 to 3, characterized in that, when the cleaning task is completed, stopping pumping liquid to the rotary brush assembly at the end position includes: When the cleaning task is completed, control the water pump to stop pumping clean water to the rotary brush assembly at the end position, and control the cleaning liquid pump to stop pumping cleaning liquid to the rotary brush assembly.

9. A cleaning device, characterized in that, it is integrated on a cleaning device having a water suction squeegee assembly and a rotary brush assembly, and the cleaning device includes: A first control module for stopping pumping liquid to the rotary brush assembly at the end position when the cleaning task is completed; A second control module for controlling the water suction squeegee assembly to be in a lowered state; The processing module is configured to control the cleaning device to move straight forward for a first distance and then turn around, and control the cleaning device to move straight forward for a second distance after turning around, so that during the process of the cleaning device moving the first distance and the second distance, the water stains on the working surface are sucked away by the water suction squeegee assembly, and the first area cleaned during the process of moving the second distance intersects with the second area, where the second area is the area cleaned during the process of the cleaning device moving straight forward with the end position as the end point.

10. A cleaning device, comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein, when the processor executes the computer program, the cleaning device implements the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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