Self-cleaning device and control method thereof

Abstract

The invention relates to an autonomous cleaning device and a control method thereof. The autonomous cleaning device comprises a host; the rolling brush device is arranged on the main machine and used for cleaning the working area; the control device is arranged on the host and used for receiving the control instruction and controlling the self-cleaning device to execute a corresponding cleaning strategy according to the control instruction; the control device is configured to obtain the winding state of the rolling brush device in the preset area; and controlling the autonomous cleaning device to execute a winding release strategy according to the winding state. According to the scheme, the control device obtains the winding state of the rolling brush device in the preset area and controls the autonomous cleaning device to execute the winding removal strategy according to the winding state, the accuracy of obtaining the winding state of the rolling brush device can be improved, the cleaning efficiency of the autonomous cleaning device is improved, and the use experience feeling of a user is improved.

Description

Technical Field

[0001] This application relates to the technical field of cleaning devices, and particularly relates to an autonomous cleaning device and a control method thereof. Background Art

[0002] The autonomous cleaning device can autonomously clean the area to be cleaned according to the cleaning instruction, which brings certain convenience to people's lives. However, after cleaning for a period of time, the roller brush of the autonomous cleaning device is easily entangled by foreign objects, affecting the cleaning effect. Currently, during the process of the autonomous cleaning device performing the cleaning task, the winding state of its roller brush is detected by the rotation speed of the roller brush. If the rotation speed of the roller brush decreases during the process of the autonomous cleaning device performing the cleaning task, it is determined that the roller brush is in the winding state. However, during the process of the autonomous cleaning device performing the cleaning task, the decrease in the rotation speed of the roller brush is affected by various factors. For example, when the autonomous cleaning device cleans in areas such as carpets and thresholds, the interaction between the roller brush and the carpet / threshold will also reduce the rotation speed of the roller brush. Determining that the roller brush is in the winding state based on the decrease in the rotation speed of the roller brush during the process of the autonomous cleaning device performing the cleaning task has a high probability of misjudgment. The misjudgment will interrupt the cleaning task of the autonomous cleaning device or cause abnormal use of the autonomous cleaning device, reducing the user experience. Summary of the Invention

[0003] In view of the above technical problems, this application provides an autonomous cleaning device and a control method thereof. Among them, the autonomous cleaning device includes a control device and a roller brush device. The control device obtains the winding state of the roller brush device in a preset area and controls the autonomous cleaning device to execute a winding release strategy according to the winding state, which can improve the accuracy of obtaining the winding state of the roller brush device, improve the cleaning efficiency of the autonomous cleaning device, and enhance the user experience.

[0004] To solve the above technical problems, this application provides an autonomous cleaning device, including: a main body; a roller brush device disposed on the main body for cleaning the working area; a control device disposed on the main body for receiving control instructions and controlling the autonomous cleaning device to execute corresponding cleaning strategies according to the control instructions; the control device is configured to: obtain the winding state of the roller brush device in a preset area; control the autonomous cleaning device to execute a winding release strategy according to the winding state.

[0005] Optionally, the control device is configured to: after receiving the control instruction for controlling the autonomous cleaning device to execute the first cleaning strategy, detect whether the autonomous cleaning device is docked in the preset area; if the autonomous cleaning device is docked in the preset area, obtain the winding state of the roller brush device before controlling the autonomous cleaning device to drive out of the preset area and execute the first cleaning strategy.

[0006] Optionally, the control device is further configured to: after the autonomous cleaning device completes the first cleaning strategy, control the autonomous cleaning device to return and dock at the preset area; within the preset area, detect the winding state of the roller brush device to determine the first winding state information of the roller brush device; and control the autonomous cleaning device to execute a winding release strategy according to the first winding state information.

[0007] Optionally, obtaining the winding state of the roller brush device includes: obtaining the second winding state information of the roller brush device in the preset area; the control device is configured to: if the second winding state information does not meet the preset conditions, detect the winding state of the roller brush device; if the second winding state information meets the preset conditions, control the autonomous cleaning device to drive out of the preset area to execute the first cleaning strategy.

[0008] Optionally, the second winding state information is obtained after the autonomous cleaning device executes the second cleaning strategy, and the execution order of the second cleaning strategy and the first cleaning strategy is adjacent.

[0009] Optionally, when detecting the winding state of the roller brush device, the control device is configured to: control the roller brush device to run and collect the operating parameters of the roller brush device; if the operating parameters are within the first preset range, the roller brush device is in a wound state; if the operating parameters exceed the first preset range, control the autonomous cleaning device to drive out of the preset area to execute the first cleaning strategy.

[0010] Optionally, when controlling the autonomous cleaning device to execute a winding release strategy according to the winding state, the control device is configured to: when the operating parameters are within the first preset range but exceed the second preset range, control the autonomous cleaning device to execute the first release strategy; when the operating parameters are within the second preset range, control the autonomous cleaning device to execute the second release strategy.

[0011] Optionally, when controlling the autonomous cleaning device to execute the first release strategy, the control device is further configured to: if the operating parameter meets the first preset range but exceeds the second preset range, control the autonomous cleaning device to output the first roller brush winding information; if the output times of the first roller brush winding information reach the preset times and the roller brush device has not been cleaned, control the autonomous cleaning device to execute the first cleaning strategy; if the output times of the first roller brush winding information do not reach the preset times and the roller brush device has been cleaned, after the roller brush device is cleaned, control the autonomous cleaning device to execute the first cleaning strategy; after outputting the first roller brush winding information, if the actual waiting duration of the autonomous cleaning device in the preset area exceeds the preset waiting duration and the roller brush device has not been cleaned, control the autonomous cleaning device to execute the first cleaning strategy; after outputting the first roller brush winding information, if the actual waiting duration of the autonomous cleaning device in the preset area does not exceed the preset waiting duration and the roller brush device has been cleaned, after the roller brush device is cleaned, control the autonomous cleaning device to execute the first cleaning strategy.

[0012] Optionally, when controlling the autonomous cleaning device to execute the second release strategy, the control device is further configured to: when the operating parameter meets the second preset range, control the autonomous cleaning device to stop until the roller brush device is cleaned.

[0013] Optionally, the control device is further configured to: during the process of the autonomous cleaning device executing the cleaning strategy, in response to a maintenance instruction for maintaining the autonomous cleaning device, control the autonomous cleaning device to return and dock in the preset area; detect the winding state of the roller brush device in the preset area to determine the third winding state information of the roller brush device; control the autonomous cleaning device to execute the winding release strategy according to the third winding state information.

[0014] Optionally, the operating parameter at least includes any one of the average sampling current, rotational power and rotational speed when the roller brush device is running.

[0015] Optionally, a dirt collection component is arranged in the preset area; the control device is further configured to: before detecting the winding state of the roller brush device, start the dirt collection component so as to collect the dirt scattered by the roller brush device during the winding state detection process through the dirt collection component.

[0016] Optionally, a roller brush cleaning component is further arranged in the preset area, and the roller brush cleaning component is used for cutting and recovering the dirt wound on the roller brush device to clean the roller brush device.

[0017] Optionally, the autonomous cleaning device is provided with a sensor assembly for detecting the working / docking area of the autonomous cleaning device to identify whether the autonomous cleaning device is docked in the preset area.

[0018] The present application also provides a control method for an autonomous cleaning device. The autonomous cleaning device includes a roller brush device. The control method includes: obtaining the winding state of the roller brush device in a preset area; and controlling the autonomous cleaning device to execute a winding release strategy according to the winding state.

[0019] The autonomous cleaning device and its control method of the present application. The autonomous cleaning device includes: a main body; a roller brush device disposed on the main body for cleaning a working area; a control device disposed on the main body for receiving a control instruction and controlling the autonomous cleaning device to execute a corresponding cleaning strategy according to the control instruction. The control device is configured to: obtain the winding state of the roller brush device in a preset area; and control the autonomous cleaning device to execute a winding release strategy according to the winding state. Based on the control device obtaining the winding state of the roller brush device in a preset area and controlling the autonomous cleaning device to execute a winding release strategy according to the winding state, the present application can avoid misjudging the winding state of the roller brush device during the execution of the cleaning strategy and the interruption of the cleaning task caused by the misjudgment, improve the accuracy of obtaining the winding state of the roller brush device, improve the cleaning efficiency of the autonomous cleaning device, and enhance the user experience. Description of the Drawings

[0020] Figure 1 is a schematic block diagram of the structure of the autonomous cleaning device provided in Embodiment 1 of the present application;

[0021] Figure 2 is a schematic exploded view of the roller brush device provided in Embodiment 1 of the present application;

[0022] Figure 3 is a schematic flow chart of the specific process for detecting the winding state of the roller brush device provided in Embodiment 1 of the present application Figure 1 ;

[0023] Figure 4 is a schematic flow chart of the specific process for detecting the winding state of the roller brush device provided in Embodiment 1 of the present application Figure 2 ;

[0024] Figure 5 is a schematic flow chart of the control method of the autonomous cleaning device provided in Embodiment 2 of the present application. Detailed Description of the Embodiments

[0025] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items. In the present invention, "each" includes one and more than two quantities.

[0027] Figure 1 It is a schematic structural diagram of the autonomous cleaning device provided in the first embodiment of the present application. As Figure 1 and in combination with Figure 2 shown, the autonomous cleaning device provided in the embodiment of the present application includes:

[0028] A main body;

[0029] A rotary brush device 1, arranged on the main body, for cleaning the working area;

[0030] A control device, arranged on the main body, for receiving control instructions and controlling the autonomous cleaning device to execute corresponding cleaning strategies according to the control instructions;

[0031] The control device is configured to:

[0032] Obtain the winding state of the rotary brush device in a preset area;

[0033] Control the autonomous cleaning device to execute a winding release strategy according to the winding state.

[0034] Among them, the control device obtains the winding state of the rotary brush device 1 in the preset area and controls the autonomous cleaning device to execute the winding release strategy according to the winding state, which can avoid misjudging the winding state of the rotary brush device and the interruption of the cleaning task caused by the misjudgment during the execution of the cleaning strategy, improve the accuracy of obtaining the winding state of the rotary brush device, improve the cleaning efficiency of the autonomous cleaning device, and enhance the user experience.

[0035] The brush roller device 1 in the current self - cleaning device usually includes a housing 11 and a brush roller 12 housed in the housing 11. Among them, the housing 11 includes a first housing 111, a second housing 112 detachably connected to the first housing 111, and a locking component 113 for locking the second housing 112 on the first housing 111; the first housing 111 and the second housing 112 enclose each other to form a receiving space for housing the brush roller 12.

[0036] Along the length direction of the first housing 111, receiving grooves 1111 are respectively formed at both ends of the first housing 111, and an open groove 114 is formed on the second housing 112. End caps 121 corresponding to the receiving grooves 1111 are respectively arranged at both ends of the brush roller 12 in the extending direction, so that the brush roller 12 is rotatably received in the receiving space. Further, at least one side of the end cap 121 is drivingly connected to a driving component in the self - cleaning device through a driving structure passing through the receiving groove 1111, so that the brush roller 12 can rotate and can be exposed from the open groove 114 formed on the second housing 112, and then contact the working area, complete the task of picking up dirt in the working area by rotation, and then be recovered into the main machine under the action of negative pressure to complete the cleaning of the working area.

[0037] However, during the rotation of the brush roller 12, it is inevitable that ribbon - like dirt in the working area, such as hair, string, etc., will be wound around its outer periphery; on the one hand, the winding of the ribbon - like dirt will reduce the cleaning efficiency of the brush roller 12; on the other hand, the ribbon - like dirt is likely to enter between the receiving groove 1111 and the end cap 121, and then cause the blocking of the driving component that drives the brush roller 12 to rotate, resulting in abnormal use and reduced service life of the self - cleaning device.

[0038] In fact, to solve the problem of the winding of the brush roller 12 in the current self - cleaning device, it is usually carried out during the operation of the self - cleaning device. When the self - cleaning device passes through areas such as carpets and doors in the cleaning area, both the carpet and the threshold will affect the operating parameters of the brush roller 12. Therefore, when identifying the winding state of the brush roller 12 through the operating parameters of the brush roller 12, the value for determining the winding state of the brush roller 12 usually needs to be set large enough to avoid the influence of carpets, thresholds, etc. on the identification of the winding state of the brush roller. However, a larger threshold will lead to misjudgment in the identification of the winding state of the brush roller 12. For example, the winding of the brush roller 12 is already very serious, but because it does not reach the corresponding identification threshold, the brush roller 12 is in an overloaded working state, causing damage to the self - cleaning device.

[0039] Based on this, the present application detects the winding state of the rolling brush 12 in a preset area, so as to keep the environment stable during the detection of the rolling brush winding, prevent the influence of the floor, door sill, etc. on the detection of the rolling brush winding when detecting the rolling brush winding state in the working area, and accurately identify the winding state of the rolling brush 12.

[0040] Optionally, the preset area includes a designated area other than the carpet area, an area of a designated material that is not easily adhered to by dirt, etc.

[0041] Optionally, the control device is configured to:

[0042] After receiving a control instruction to control the autonomous cleaning device to execute the first cleaning strategy, detect whether the autonomous cleaning device is docked in the preset area;

[0043] If the autonomous cleaning device is docked in the preset area, before controlling the autonomous cleaning device to drive out of the preset area to execute the first cleaning strategy, obtain the winding state of the rolling brush device.

[0044] Wherein, the autonomous cleaning device is provided with a sensor assembly, and the sensor assembly is used to detect the working / docking area of the autonomous cleaning device to identify whether the autonomous cleaning device is docked in the preset area.

[0045] Exemplarily, after receiving a control instruction to control the autonomous cleaning device to execute the first cleaning strategy, the material of the working / docking area of the autonomous cleaning device can be identified by an ultrasonic sensor. If it is identified that the material of the working / docking area of the autonomous cleaning device is the same as or similar to the material of the floor, it can be determined that the autonomous cleaning device is docked in the preset area; after receiving a control instruction to control the autonomous cleaning device to execute the first cleaning strategy, the docking area of the autonomous cleaning device can also be identified by a charging detection sensor, a position detection sensor, etc. For example, if it is detected by the charging detection sensor that the charging electrode plate of the autonomous cleaning device is in contact with the charging electrode plate of the base station, it can be determined that the autonomous cleaning device is docked in the preset area. Another example is that if the position detection sensor detects that the autonomous cleaning device is docked on the base of the base station, it can be determined that the autonomous cleaning device is docked in the preset area.

[0046] It is worth mentioning that when it is determined that the autonomous cleaning device is docked in the preset area, before controlling the autonomous cleaning device to drive out of the preset area to execute the first cleaning strategy and obtaining the winding state of the rolling brush device, it can not only avoid detecting the winding state of the rolling brush device during the execution of the cleaning strategy, or misjudging the winding state of the rolling brush device during the execution of the cleaning strategy, resulting in the interruption of the cleaning task and reducing the cleaning efficiency, but also avoid secondary pollution of the cleaning area caused by the rotation of the rolling brush device during the detection of the winding state of the rolling brush device.

[0047] Optionally, the control device is further configured to:

[0048] After the autonomous cleaning device completes the first cleaning strategy, it controls the autonomous cleaning device to return and dock in a preset area;

[0049] Within the preset area, detect the winding state of the roller brush device to determine the first winding state information of the roller brush device;

[0050] Control the autonomous cleaning device to execute a winding release strategy according to the first winding state information.

[0051] Specifically, after the autonomous cleaning device completes the first cleaning strategy, first control the autonomous cleaning device to return and dock in the preset area, then detect the winding state of the roller brush device in the preset area, and finally control the autonomous cleaning device to execute the winding release strategy according to the detection result of the winding state of the roller brush device (i.e., the first winding state information), which can avoid secondary pollution of the cleaning area caused by the rotation of the roller brush device during the detection of the winding state of the roller brush device after the autonomous cleaning device completes the first cleaning strategy.

[0052] Optionally, obtaining the winding state of the roller brush device includes: obtaining the second winding state information of the roller brush device in the preset area;

[0053] The control device is configured to:

[0054] If the second winding state information does not meet the preset conditions, detect the winding state of the roller brush device;

[0055] If the second winding state information meets the preset conditions, control the autonomous cleaning device to drive out of the preset area and execute the first cleaning strategy.

[0056] Wherein, the second winding state information is obtained after the autonomous cleaning device completes the second cleaning strategy, and the second cleaning strategy is adjacent to the first cleaning strategy in the execution order. The first cleaning strategy and the second cleaning strategy can be the same cleaning strategy or different cleaning strategies, but after completing the first cleaning strategy or the second cleaning strategy, the winding state of the roller brush device needs to be detected.

[0057] Specifically, after obtaining the second winding state information of the roller brush device (i.e., the winding state information of the roller brush device after the autonomous cleaning device executes the previous cleaning control instruction (i.e., the second cleaning strategy)) in the preset area, if the second winding state information does not meet the preset conditions, indicating that the roller brush device is in a winding state after the autonomous cleaning device executes the previous cleaning strategy, then an unwinding strategy is executed on the roller brush device before controlling the autonomous cleaning device to drive out of the preset area. This can ensure the necessity of detecting the winding state of the roller brush device and improve the efficiency of detecting the winding state of the roller brush device. If the second winding state information meets the preset conditions, indicating that the roller brush device is not in a winding state after the autonomous cleaning device executes the previous cleaning strategy, then the autonomous cleaning device can be directly controlled to drive out of the preset area to execute the first cleaning strategy.

[0058] Optionally, when detecting the winding state of the roller brush device, the control device is further configured to:

[0059] Control the roller brush device to run and collect the operating parameters of the roller brush device;

[0060] If the operating parameters are within the first preset range, the roller brush device is in a winding state;

[0061] If the operating parameters exceed the first preset range, control the autonomous cleaning device to drive out of the preset area to execute the first cleaning strategy.

[0062] Wherein, the operating parameters at least include any one of the average sampling current, rotational power, and rotational speed when the roller brush device is running.

[0063] Exemplarily, when detecting the winding state of the roller brush device, control the roller brush device to run and collect the average sampling current during the running process of the roller brush device. If the average sampling current is greater than the first current threshold, it can be determined that the roller brush device is in a winding state, and the autonomous cleaning device can be controlled to execute an unwinding strategy according to the winding state. If the average sampling current is less than or equal to the first current threshold, indicating that the roller brush device is not in a winding state, then the autonomous cleaning device can be controlled to drive out of the preset area to execute the first cleaning strategy.

[0064] Exemplarily, when detecting the winding state of the roller brush device, control the roller brush device to run and collect the rotational speed of the roller brush device during the running process. If the rotational speed of the roller brush device is less than the first rotational speed threshold, it can be determined that the roller brush device is in a winding state, and the autonomous cleaning device can be controlled to execute an unwinding strategy according to the winding state. If the rotational speed of the roller brush device is greater than or equal to the first rotational speed threshold, indicating that the roller brush device is not in a winding state, then the autonomous cleaning device can be controlled to drive out of the preset area to execute the first cleaning strategy.

[0065] Optionally, when controlling the autonomous cleaning device to execute the winding release strategy according to the winding state, the control device is further configured to:

[0066] When the operating parameters meet the first preset range but exceed the second preset range, control the autonomous cleaning device to execute the first release strategy;

[0067] When the operating parameters meet the second preset range, control the autonomous cleaning device to execute the second release strategy.

[0068] Among them, when the operating parameters meet the first preset range but exceed the second preset range, such as the average sampling current is greater than the first current threshold and less than the second current threshold, it indicates that the winding degree of the roller brush device is not serious and has little impact on the autonomous cleaning device executing the first cleaning strategy. Then, the autonomous cleaning device can be controlled to execute the first release strategy, such as pushing the winding information of the roller brush device through the APP and / or voice broadcast. When the operating parameters meet the second preset range, such as the average sampling current is greater than the second current threshold, it indicates that the winding degree of the roller brush device is relatively serious and has a greater impact on the autonomous cleaning device executing the first cleaning strategy. Then, it is necessary to control the autonomous cleaning device to execute the second release strategy, such as controlling the autonomous cleaning device to stop.

[0069] Optionally, when controlling the autonomous cleaning device to execute the first release strategy, the control device is further configured to:

[0070] If the operating parameters meet the first preset range but exceed the second preset range, then control the autonomous cleaning device to output the first roller brush winding information;

[0071] If the output times of the first roller brush winding information reach the preset times and the roller brush device has not been cleaned, then control the autonomous cleaning device to execute the first cleaning strategy;

[0072] If the output times of the first roller brush winding information do not reach the preset times and the roller brush device has been cleaned, then after the roller brush device is cleaned, control the autonomous cleaning device to execute the first cleaning strategy;

[0073] After outputting the first roller brush winding information, if the actual waiting duration of the autonomous cleaning device in the preset area exceeds the preset waiting duration and the roller brush device has not been cleaned, then control the autonomous cleaning device to execute the first cleaning strategy;

[0074] After outputting the first roller brush winding information, if the actual waiting duration of the autonomous cleaning device in the preset area does not exceed the preset waiting duration and the roller brush device has been cleaned, then after the roller brush device is cleaned, control the autonomous cleaning device to execute the first cleaning strategy.

[0075] Optionally, when the operating parameters meet the first preset range but exceed the second preset range, the first roller brush entanglement information can be pushed and / or voice broadcasted through the APP, such as "The roller brush device is in an entangled state, please clean the roller brush device in time", and the output times of the first roller brush entanglement information are counted. If the output times of the first roller brush entanglement information reaches the preset times and the roller brush device is not cleaned, the autonomous cleaning device is controlled to execute the first cleaning strategy. If the output times of the first roller brush entanglement information does not reach the preset times and the roller brush device is cleaned, after the roller brush device is cleaned, the autonomous cleaning device is controlled to execute the first cleaning strategy. Among them, when the output times of the first roller brush entanglement information reaches the preset times and the roller brush device is not cleaned, the actual waiting time of the autonomous cleaning device in the preset area can be further counted. If the actual waiting time of the autonomous cleaning device in the preset area exceeds the preset waiting time and the roller brush device is still not cleaned, the autonomous cleaning device is controlled to execute the first cleaning strategy. If the actual waiting time of the autonomous cleaning device in the preset area does not exceed the preset waiting time and the roller brush device is cleaned, after the roller brush device is cleaned, the autonomous cleaning device is controlled to execute the first cleaning strategy. The preset number of times and the preset waiting time are set to reserve time for the user to clean the roller brush device.

[0076] Optionally, when controlling the autonomous cleaning device to execute the second release strategy, the control device is further configured to:

[0077] When the operating parameters are within the second preset range, the autonomous cleaning device is controlled to stop until the roller brush device is cleaned.

[0078] Among them, when the operating parameters are within the second preset range, the degree of entanglement of the roller brush device is serious. If the autonomous cleaning device is controlled to forcibly execute the cleaning strategy at this time, it will cause damage to the roller brush device or abnormal use of the autonomous cleaning device. The autonomous cleaning device needs to be controlled to shut down until the roller brush device is cleaned. At the same time, the second roller brush entanglement information can be pushed through the APP, such as "The autonomous cleaning device cannot execute the cleaning strategy due to serious entanglement of the roller brush device. In order to avoid damage to the roller brush device, the autonomous cleaning device has been controlled to shut down" until the roller brush device is cleaned.

[0079] like Figure 3As shown, after receiving a control instruction to control the autonomous cleaning device to execute the first cleaning strategy, the control device detects whether the autonomous cleaning device is docked in a preset area. If the autonomous cleaning device is not docked in the preset area, the control device controls the autonomous cleaning device to execute the first cleaning strategy. If the autonomous cleaning device is docked in the preset area, after obtaining the second winding state information of the roller brush device after the autonomous cleaning device executes the second cleaning strategy, it is determined whether the second winding state information meets the preset conditions. If the second winding state information meets the preset conditions, the control device controls the autonomous cleaning device to drive out of the preset area and execute the first cleaning strategy. If the second winding state information does not meet the preset conditions, the control device controls the roller brush device to operate and collects the operating parameters of the roller brush device. It is determined whether the operating parameters of the roller brush device conform to the first preset range. If the operating parameters of the roller brush device do not conform to the first preset range, the control device controls the autonomous cleaning device to drive out of the preset area and execute the first cleaning strategy. If the operating parameters of the roller brush device conform to the first preset range, it is further determined whether the operating parameters of the roller brush device conform to the second preset range. If the operating parameters of the roller brush device exceed the second preset range, the first roller brush winding information is pushed through the APP and / or voice broadcast. If the operating parameters of the roller brush device conform to the second preset range, the control device controls the autonomous cleaning device to stop and pushes the second roller brush winding information through the APP until the roller brush device is cleaned.

[0080] Optionally, the control device is further configured to:

[0081] During the process of the autonomous cleaning device executing the cleaning strategy, in response to an instruction to maintain the autonomous cleaning device, the control device controls the autonomous cleaning device to return and dock in the preset area;

[0082] When the autonomous cleaning device is docked in the preset area, the winding state of the roller brush device is detected to determine the third winding state information of the roller brush device;

[0083] According to the third winding state information, the control device controls the autonomous cleaning device to execute the winding release strategy.

[0084] Optionally, the cleaning strategy separately mentioned in this application and the first cleaning strategy and / or the second cleaning strategy may be the same cleaning strategy or different cleaning strategies. After the autonomous cleaning device partially completes the cleaning strategy (i.e., during the execution of the cleaning strategy), first in response to an instruction to maintain the autonomous cleaning device (such as instructions for dust box dust removal, mop replacement, drainage, charging, etc.), control the autonomous cleaning device to return and dock in a preset area, then detect the winding state of the roller brush device in the preset area, and finally control the autonomous cleaning device to execute the winding release strategy according to the detection result of the winding state of the roller brush device (i.e., the third winding state information, and the third winding state information, the second winding state information, and the first winding state information may be the same winding state information or different winding state information). This can avoid secondary pollution of the cleaning area caused by the rotation of the roller brush device during the detection of the winding state of the roller brush device after the autonomous cleaning device partially completes the cleaning strategy. In addition, the autonomous cleaning device returns and docks in the preset area based on the maintenance instruction, and the cleaning task will not be interrupted additionally due to the autonomous cleaning device returning to the preset area to detect the winding state of the roller brush device, which can ensure the cleaning efficiency.

[0085] Optionally, a dirt collection component is provided in the preset area.

[0086] The control device is further configured to:

[0087] Before detecting the winding state of the roller brush device, start the dirt collection component so as to collect the dirt scattered by the roller brush device during the winding state detection through the dirt collection component.

[0088] Optionally, a roller brush cleaning component is further provided in the preset area. The roller brush cleaning component is used to cut and collect the dirt wound on the roller brush device to clean the roller brush device.

[0089] It is worth mentioning that a dirt collection component and a roller brush cleaning component are provided in the preset area. The dirt collection component can collect the dirt scattered by the roller brush device during the winding state detection. For example, the negative pressure provided by the dust collection device can collect the dirt scattered by the roller brush device during the winding state detection, avoiding the pollution of the preset area caused by the dirt scattered by the roller brush device during the winding state detection. When the detection result of the winding state of the roller brush of the autonomous cleaning device is abnormal (i.e., the roller brush device is in a winding state), the roller brush device can be cleaned by the roller brush cleaning component, and the dirt scattered during the cleaning process of the roller brush device can be collected by the dirt collection component, eliminating the need for manual cleaning by the user, which can free the user's hands and further improve the user experience. In addition, during the execution of the cleaning task by the autonomous cleaning device, if the user actively discovers that the roller brush device is in a winding state, the user can also control the autonomous cleaning device to return to the preset area through the button or APP on the autonomous cleaning device, and start the roller brush cleaning component and the dirt collection component in the preset area to clean the foreign objects wound on the roller brush device.

[0090] As Figure 4 shown, after the cleaning strategy is executed or during the execution of the cleaning strategy, the autonomous cleaning device returns and docks in a preset area, and determines whether the dirt collection component in the preset area is started. If the dirt collection component in the preset area is not started, the autonomous cleaning device is controlled to continue executing the subsequent cleaning strategy. If the dirt collection component in the preset area has been started, the roller brush device is controlled to operate, and the operating parameters of the roller brush device are collected. It is determined whether the operating parameters of the roller brush device meet the third preset range. If the operating parameters of the roller brush device exceed the third preset range, the autonomous cleaning device is controlled to continue executing the subsequent cleaning strategy. If the operating parameters of the roller brush device meet the third preset range, the first roller brush winding information is pushed through the APP and / or announced by voice; further, in another embodiment of the present application, it is also possible to directly determine whether the operating parameters of the roller brush device meet the fourth preset range. If the fourth preset range is met, the autonomous cleaning device is controlled to stop, and the second roller brush winding information is pushed through the APP until the roller brush device is cleaned. Among them, the third preset range and the first preset range can be the same preset range or different preset ranges, and the fourth preset range and the second preset range can be the same preset range or different preset ranges.

[0091] For the autonomous cleaning device provided in the first embodiment of the present application, after the control device receives a control instruction to control the autonomous cleaning device to execute the cleaning strategy, it first detects whether the autonomous cleaning device is docked in a preset area. If the autonomous cleaning device is docked in the preset area, before controlling the autonomous cleaning device to drive out of the preset area to execute the cleaning strategy, the winding state of the roller brush device is obtained, which can not only avoid detecting the winding state of the roller brush device during the execution of the cleaning strategy or misjudging the winding state of the roller brush device during the execution of the cleaning strategy, resulting in the interruption of the cleaning task and the reduction of the cleaning efficiency, but also avoid secondary pollution of the cleaning area caused by the rotation of the roller brush device during the detection of the winding state of the roller brush device, improve the accuracy of obtaining the winding state of the roller brush device, improve the cleaning efficiency of the autonomous cleaning device, and enhance the user experience. In addition, when the control device detects the winding state of the roller brush device when the autonomous cleaning device returns and docks in the preset area after executing the cleaning strategy, or when the autonomous cleaning device returns and docks in the preset area for maintenance during the execution of the cleaning strategy, it can avoid abnormal detection results of the winding state of the roller brush device during the execution of the cleaning strategy or misjudgment of the winding state of the roller brush device during the execution of the cleaning strategy, resulting in the autonomous cleaning device frequently returning to the preset area for cleaning, and can ensure the cleaning battery life of the autonomous cleaning device.

[0092] Figure 5 is a schematic flowchart of the control method of the autonomous cleaning device provided in the second embodiment of the present application. The autonomous cleaning device includes a roller brush device, as Figure 5As shown in the figure, the control method of the autonomous cleaning device provided by the embodiment of the present application includes:

[0093] Step S10: Obtain the winding state of the roller brush device in a preset area;

[0094] Step S20: Control the autonomous cleaning device to execute a winding release strategy according to the winding state.

[0095] The control method of the autonomous cleaning device provided by the second embodiment of the present application obtains the winding state of the roller brush device in a preset area and controls the autonomous cleaning device to execute a winding release strategy according to the winding state, which can avoid misjudging the winding state of the roller brush device and the interruption of the cleaning task caused by misjudgment during the execution of the cleaning strategy, improve the accuracy of obtaining the winding state of the roller brush device, improve the cleaning efficiency of the autonomous cleaning device, and enhance the user experience.

[0096] Optionally, step S10: Obtain the winding state of the roller brush device in a preset area, including:

[0097] After receiving the control instruction to control the autonomous cleaning device to execute the first cleaning strategy, detect whether the autonomous cleaning device is docked in the preset area;

[0098] If the autonomous cleaning device is docked in the preset area, obtain the winding state of the roller brush device before controlling the autonomous cleaning device to drive out of the preset area and execute the first cleaning strategy.

[0099] Optionally, the control method of the autonomous cleaning device provided by the present application further includes:

[0100] After the autonomous cleaning device completes the first cleaning strategy, control the autonomous cleaning device to return and dock in the preset area;

[0101] In the preset area, detect the winding state of the roller brush device to determine the first winding state information of the roller brush device;

[0102] Control the autonomous cleaning device to execute a winding release strategy according to the first winding state information.

[0103] Optionally, step S10: Obtain the winding state of the roller brush device in a preset area, further including:

[0104] In the preset area, obtain the second winding state information of the roller brush device;

[0105] If the second winding state information does not meet the preset conditions, detect the winding state of the roller brush device to obtain the winding state of the roller brush device;

[0106] If the second winding state information meets the preset conditions, control the autonomous cleaning device to drive out of the preset area and execute the first cleaning strategy.

[0107] Optionally, the second winding state information is detected after the autonomous cleaning device executes the second cleaning strategy, and the execution order of the second cleaning strategy is adjacent to that of the first cleaning strategy.

[0108] Optionally, detecting the winding state of the roller brush device includes:

[0109] Controlling the roller brush device to run and collecting the operating parameters of the roller brush device;

[0110] If the operating parameters meet the first preset range, the roller brush device is in a winding state;

[0111] If the operating parameters exceed the first preset range, control the autonomous cleaning device to drive out of the preset area and execute the first cleaning strategy.

[0112] Optionally, controlling the autonomous cleaning device to execute the winding release strategy according to the winding state includes:

[0113] When the operating parameters meet the first preset range but exceed the second preset range, control the autonomous cleaning device to execute the first release strategy;

[0114] When the operating parameters meet the second preset range, control the autonomous cleaning device to execute the second release strategy.

[0115] Optionally, controlling the autonomous cleaning device to execute the first release strategy includes:

[0116] If the operating parameters meet the first preset range but exceed the second preset range, control the autonomous cleaning device to output the first roller brush winding information;

[0117] If the output times of the first roller brush winding information reach the preset times and the roller brush device has not been cleaned, control the autonomous cleaning device to execute the first cleaning strategy;

[0118] If the output times of the first roller brush winding information do not reach the preset times and the roller brush device has been cleaned, after the roller brush device is cleaned, control the autonomous cleaning device to execute the first cleaning strategy;

[0119] After outputting the first roller brush winding information, if the actual waiting time of the autonomous cleaning device in the preset area exceeds the preset waiting time and the roller brush device has not been cleaned, control the autonomous cleaning device to execute the first cleaning strategy;

[0120] After outputting the first roller brush winding information, if the actual waiting time of the autonomous cleaning device in the preset area does not exceed the preset waiting time and the roller brush device has been cleaned, after the roller brush device is cleaned, control the autonomous cleaning device to execute the first cleaning strategy.

[0121] Optionally, controlling the autonomous cleaning device to execute the second release strategy includes:

[0122] When the operating parameters meet the second preset range, control the autonomous cleaning device to stop until the roller brush device is cleaned.

[0123] Optionally, the control method of the autonomous cleaning device provided in this application further includes:

[0124] During the process of the autonomous cleaning device executing the cleaning strategy, in response to a maintenance instruction for maintaining the autonomous cleaning device, control the autonomous cleaning device to return and dock at a preset area;

[0125] Detect the winding state of the roller brush device in the preset area to determine the third winding state information of the roller brush device;

[0126] Control the autonomous cleaning device to execute a winding release strategy according to the third winding state information.

[0127] Among them, the operating parameters at least include any one of the average sampling current, rotational power, and rotational speed when the roller brush device is running.

[0128] Optionally, a dirt collection component is provided in the preset area. Before detecting the winding state of the roller brush device, it further includes:

[0129] Start the dirt collection component so as to collect the dirt scattered by the roller brush device during the winding state detection through the dirt collection component.

[0130] Optionally, a roller brush cleaning component is further provided in the preset area. The roller brush cleaning component is used to cut and recycle the dirt wound on the roller brush device to clean the roller brush device.

[0131] Optionally, the autonomous cleaning device is provided with a sensor component. The sensor component is used to detect the working / docking area of the autonomous cleaning device to identify whether the autonomous cleaning device is docked at the preset area.

[0132] For the specific implementation process of this embodiment, refer to the corresponding content in Embodiment 1 of the autonomous cleaning device, which will not be elaborated here.

[0133] The control method of the autonomous cleaning device provided in the second embodiment of the present application, after receiving a control instruction to control the autonomous cleaning device to execute a cleaning strategy, first detects whether the autonomous cleaning device is docked in a preset area. If the autonomous cleaning device is docked in the preset area, before controlling the autonomous cleaning device to drive out of the preset area to execute the cleaning strategy, the winding state of the roller brush device is obtained. This can not only avoid detecting the winding state of the roller brush device during the execution of the cleaning strategy, or misjudging the winding state of the roller brush device during the execution of the cleaning strategy, which may lead to the interruption of the cleaning task and reduce the cleaning efficiency, but also avoid secondary pollution of the cleaning area caused by the rotation of the roller brush device during the detection of the winding state of the roller brush device. It can improve the accuracy of obtaining the winding state of the roller brush device, improve the cleaning efficiency of the autonomous cleaning device, and enhance the user experience. In addition, when the autonomous cleaning device returns and docks in the preset area after completing the cleaning strategy, or returns and docks in the preset area during the execution of the cleaning strategy due to maintenance needs, detecting the winding state of the roller brush device can avoid abnormal detection results of the winding state of the roller brush device during the execution of the cleaning strategy, or misjudging the winding state of the roller brush device during the execution of the cleaning strategy, which may cause the autonomous cleaning device to frequently return to the preset area for cleaning, and can ensure the cleaning endurance time of the autonomous cleaning device.

[0134] The above embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. An autonomous cleaning device, characterized in that, it includes: a main body; a rotary brush device arranged on the main body for cleaning the working area; a control device arranged on the main body for receiving control instructions and controlling the autonomous cleaning device to execute corresponding cleaning strategies according to the control instructions; the control device is configured to: acquire the winding state of the rotary brush device in a preset area; control the autonomous cleaning device to execute a winding release strategy according to the winding state.

2. The autonomous cleaning device according to claim 1, characterized in that, the control device is configured to: after receiving the control instruction for controlling the autonomous cleaning device to execute the first cleaning strategy, detect whether the autonomous cleaning device is docked in the preset area; if the autonomous cleaning device is docked in the preset area, acquire the winding state of the rotary brush device before controlling the autonomous cleaning device to drive out of the preset area to execute the first cleaning strategy.

3. The autonomous cleaning device according to claim 1 or 2, characterized in that, the control device is further configured to: after the autonomous cleaning device completes the first cleaning strategy, control the autonomous cleaning device to return and dock in the preset area; in the preset area, detect the winding state of the rotary brush device to determine the first winding state information of the rotary brush device; control the autonomous cleaning device to execute a winding release strategy according to the first winding state information.

4. The autonomous cleaning device according to claim 1, characterized in that, acquiring the winding state of the rotary brush device includes: acquiring the second winding state information of the rotary brush device in the preset area; the control device is configured to: if the second winding state information does not meet the preset conditions, detect the winding state of the rotary brush device; if the second winding state information meets the preset conditions, control the autonomous cleaning device to drive out of the preset area to execute the first cleaning strategy.

5. The autonomous cleaning device according to claim 4, characterized in that, the second winding state information is obtained after the autonomous cleaning device executes the second cleaning strategy, and the second cleaning strategy is adjacent to the first cleaning strategy in the execution order.

6. The autonomous cleaning device according to claim 4, characterized in that, when detecting the winding state of the rotary brush device, the control device is configured to: control the rotary brush device to run and collect the operation parameters of the rotary brush device; if the operation parameters are within the first preset range, the rotary brush device is in a winding state; if the operation parameters exceed the first preset range, control the autonomous cleaning device to drive out of the preset area to execute the first cleaning strategy.

7. The autonomous cleaning device according to claim 6, characterized in that, when controlling the autonomous cleaning device to execute a winding release strategy according to the winding state, the control device is configured to: when the operation parameters are within the first preset range but exceed the second preset range, control the autonomous cleaning device to execute the first release strategy; When the operating parameters meet the second preset range, control the autonomous cleaning device to execute the second release strategy.

8. The autonomous cleaning device according to claim 7, wherein, when controlling the autonomous cleaning device to execute the first release strategy, the control device is further configured to: if the operating parameters meet the first preset range but exceed the second preset range, control the autonomous cleaning device to output the first roller brush winding information; if the output times of the first roller brush winding information reach the preset times and the roller brush device has not been cleaned, control the autonomous cleaning device to execute the first cleaning strategy; if the output times of the first roller brush winding information do not reach the preset times and the roller brush device has been cleaned, after the roller brush device is cleaned, control the autonomous cleaning device to execute the first cleaning strategy; after outputting the first roller brush winding information, if the actual waiting time of the autonomous cleaning device in the preset area exceeds the preset waiting time and the roller brush device has not been cleaned, control the autonomous cleaning device to execute the first cleaning strategy; after outputting the first roller brush winding information, if the actual waiting time of the autonomous cleaning device in the preset area does not exceed the preset waiting time and the roller brush device has been cleaned, after the roller brush device is cleaned, control the autonomous cleaning device to execute the first cleaning strategy.

9. The autonomous cleaning device according to claim 7, wherein, when controlling the autonomous cleaning device to execute the second release strategy, the control device is further configured to: when the operating parameters meet the second preset range, control the autonomous cleaning device to stop until the roller brush device is cleaned.

10. The autonomous cleaning device according to claim 1, wherein, the control device is further configured to: during the process of the autonomous cleaning device executing the cleaning strategy, in response to a maintenance instruction for maintaining the autonomous cleaning device, control the autonomous cleaning device to return and dock in the preset area; detect the winding state of the roller brush device in the preset area to determine the third winding state information of the roller brush device; control the autonomous cleaning device to execute the winding release strategy according to the third winding state information.

11. The autonomous cleaning device according to claim 6, wherein, the operating parameters at least include any one of the average sampling current, rotational power and rotational speed when the roller brush device is running.

12. The autonomous cleaning device according to claim 1, wherein, the preset area is provided with a dirt collection component; the control device is further configured to: before detecting the winding state of the roller brush device, start the dirt collection component so as to collect the dirt scattered by the roller brush device during the winding state detection through the dirt collection component.

13. The autonomous cleaning device according to claim 1, wherein, the preset area is further provided with a roller brush cleaning component, and the roller brush cleaning component is used for cutting and recycling the dirt wound on the roller brush device to clean the roller brush device.

14. The autonomous cleaning device according to claim 1, characterized in that, the autonomous cleaning device is provided with a sensor assembly, and the sensor assembly is used to detect the working / docking area of the autonomous cleaning device so as to identify whether the autonomous cleaning device is docked in the preset area.

15. A control method for an autonomous cleaning device, characterized in that, the autonomous cleaning device includes a roller brush device, and the control method includes: acquiring the winding state of the roller brush device in a preset area; controlling the autonomous cleaning device to execute a winding release strategy according to the winding state.

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