Cleaning equipment control method and cleaning equipment

Abstract

The embodiment of the invention provides a cleaning equipment control method and cleaning equipment. The cleaning equipment comprises a machine body assembly and a floor brush assembly. The machine body assembly is rotationally connected with the floor brush assembly, a handle is arranged at the top of the machine body assembly, the floor brush assembly can move on a to-be-cleaned face, the floor brush assembly comprises a cleaning piece and a scraping strip assembly, the scraping strip assembly comprises a driving assembly, a connecting piece and a scraping strip, and the scraping strip is arranged on the front side of the cleaning piece in the first advancing direction. The first end of the scraping strip is rotatably connected to the connecting piece, and the driving assembly is used for driving the connecting piece to drive the scraping strip to linearly move in the direction of the to-be-cleaned face and further used for driving the scraping strip to swing; the second ends of the cleaning piece and the scraping strip are used for cleaning a to-be-cleaned surface; the control method of the cleaning equipment comprises the step of controlling the scraping strip to linearly move and swing so as to clean a to-be-cleaned surface.

Description

Technical Field

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

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

[0003] During the backward pulling process of the floor scrubber, a large amount of water stains are likely to remain on the ground. A scraping strip and a driving part can be installed at the front end of the roller brush. The driving part drives the scraping strip to move, so that the scraping strip contacts the ground, and the residual water stains and other impurities on the ground are scraped off during the movement of the floor scrubber. How to improve the cleaning effect of the scraping strip on the ground and how to clean the scraping strip body are problems to be solved urgently.

[0004] The information disclosed in this background art section is only intended to enhance the overall understanding of the present application and should not be regarded as an admission or any form of suggestion that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0005] In view of this, embodiments of the present disclosure provide a cleaning device control method and a cleaning device.

[0006] According to a first aspect of an embodiment of the present disclosure, there is provided a cleaning device control method. The cleaning device includes: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided at the top of the body assembly, the floor brush assembly can move on a surface to be cleaned, the floor brush assembly includes a cleaning part and a scraping strip assembly, the scraping strip assembly includes a driving assembly, a connecting part and a scraping strip, the scraping strip is provided on the front side of the cleaning part in a first traveling direction, a first end of the scraping strip is rotatably connected to the connecting part, the driving assembly is used to drive the connecting part to drive the scraping strip to perform a linear movement in the direction of the surface to be cleaned, and the driving assembly is further used to drive the scraping strip to swing; the cleaning part and a second end of the scraping strip are used to clean the surface to be cleaned;

[0007] The method includes:

[0008] Controlling the scraping strip to perform the linear movement and the swing to clean the surface to be cleaned.

[0009] In the above embodiment, by performing a linear movement and a swing of the scraping strip, the cleaning method of the scraping strip for the surface to be cleaned can be flexibly adjusted, the flexibility of the cleaning device for cleaning the surface to be cleaned is improved, different cleaning scenarios are adapted, and the user experience is enhanced.

[0010] In some embodiments, controlling the squeegee to perform the linear movement and the swinging to clean the surface to be cleaned includes:

[0011] Controlling the driving assembly to drive the squeegee to swing at least once, so as to clean the stains on the surface to be cleaned with the second end of the squeegee;

[0012] Controlling the driving assembly to drive the connecting piece to perform the linear movement, so as to adjust the interference amount of the second end of the squeegee abutting against the surface to be cleaned.

[0013] In the above embodiments, the dirt on the surface to be cleaned can be cleaned by swinging the squeegee, and the interference amount between the second end of the squeegee and the surface to be cleaned can meet the requirement of cleaning dirt by driving the squeegee to perform linear movement through the connecting piece, thereby improving the cleaning effect of the squeegee on the surface to be cleaned, and different cleaning ranges can be adopted to adapt to different cleaning scenarios and enhance the user experience. By adjusting the interference amount of the second end of the squeegee abutting against the surface to be cleaned, the requirements for cleaning different types of stains can be met, and the stain cleaning effect can be improved.

[0014] In some embodiments, controlling the squeegee to perform the linear movement and the swinging to clean the surface to be cleaned includes:

[0015] Determining to clean the included angle area between the obstacle and the surface to be cleaned. When the second end is not in contact with the surface to be cleaned, controlling the driving assembly to drive the second end of the squeegee to swing in the first traveling direction, so that the second end extends out of the front side surface until the distance between the second end and the obstacle is a first interval distance, wherein the front side surface includes the frontmost end of the floor brush assembly in the first traveling direction;

[0016] When the distance between the second end and the obstacle is the first interval distance, controlling the driving assembly to drive the connecting piece to perform the linear movement, so that the second end of the squeegee abuts against the surface to be cleaned, so that the floor brush assembly can clean the stains between the squeegee and the cleaning piece when moving in the second traveling direction, wherein the first traveling direction is opposite to the second traveling direction.

[0017] In the above embodiments, through the linear movement and swinging of the squeegee, the squeegee can extend into the included angle area to clean the included angle area, reduce the cleaning blind area, and enhance the user experience.

[0018] In some embodiments, the method further includes:

[0019] Determine that the second end of the squeegee strip abuts against the surface to be cleaned, and control the driving assembly to drive the second end of the squeegee strip to swing in the second traveling direction, so as to scrape the stains between the squeegee strip and the cleaning member towards the cleaning member.

[0020] In the above embodiments, through the swinging of the squeegee strip, the stains between the squeegee strip and the cleaning member can be scraped towards the cleaning member, thereby reducing the situation where the cleaning member cannot clean the stains between the squeegee strip and the cleaning member, reducing the cleaning blind area, improving the cleaning effect, and enhancing the customer experience.

[0021] In some embodiments, when the squeegee strip abuts against the surface to be cleaned, the swinging angle between the squeegee strip and the perpendicular line of the surface to be cleaned during the swinging of the squeegee strip is positively correlated with the moving distance of the connecting member towards the surface to be cleaned during the linear movement.

[0022] In the above embodiments, based on the swinging angle, the moving distance of the connecting member towards the surface to be cleaned is adjusted, thereby reducing the change in the interference amount between the second end of the squeegee strip and the surface to be cleaned caused by the swinging of the squeegee strip, improving the cleaning effect of the squeegee strip on the surface to be cleaned, and being able to adopt different cleaning ranges to adapt to different cleaning scenarios, enhancing the user experience.

[0023] In some embodiments, the method further includes: based on the first characterization parameter of the first abutting pressure generated when the second end of the squeegee strip abuts against the surface to be cleaned, adjusting the moving distance of the connecting member moving linearly towards the surface to be cleaned, so that the first abutting pressure is within the first abutting pressure range.

[0024] In the above embodiments, through the first characterization parameter, the first abutting pressure generated when the second end of the squeegee strip abuts against the surface to be cleaned can be determined, and then the moving distance of the connecting member is adjusted, so that the first abutting pressure when the second end of the squeegee strip abuts against the surface to be cleaned is within the first abutting pressure range, improving the cleaning effect of the squeegee strip.

[0025] In some embodiments, the first characterization parameter includes the driving current of the driving assembly driving the connecting member to perform the linear movement.

[0026] In the above embodiments, the first abutting pressure is characterized based on the driving current of the driving assembly, without the need to add a pressure sensor for sensing, simplifying the design of the cleaning device and reducing the cost of the cleaning device.

[0027] In some embodiments, the cleaning member includes a roller brush arranged parallel to the squeegee strip, and the method further includes:

[0028] Control the squeegee to perform the linear movement and the swing in the second traveling direction, so that the inner surface of the squeegee faces the roller brush and abuts against the roller brush, so as to clean the inner surface of the squeegee through the roller brush, wherein the first traveling direction is opposite to the second traveling direction.

[0029] In the above embodiments, through the movement of the squeegee, the inner surface of the squeegee is cleaned by the roller brush, the secondary pollution of the surface to be cleaned by the stains on the inner surface of the squeegee is reduced, the cleaning effect of the cleaning device on the surface to be cleaned is improved, and the user experience is enhanced.

[0030] In some embodiments, the controlling the squeegee to perform the linear movement and the swing, so that the inner surface of the squeegee faces the roller brush and abuts against the roller brush includes at least one of the following:

[0031] Control the driving component to drive the connecting piece to perform the linear movement to a first position, and then control the driving component to drive the squeegee to swing in the second traveling direction to a second position, so that the inner surface of the squeegee abuts against the roller brush;

[0032] Control the driving component to drive the squeegee to swing in the second traveling direction to a second position, and then control the driving component to drive the connecting piece to perform the linear movement to a first position, so that the inner surface of the squeegee abuts against the roller brush.

[0033] In the above embodiments, through the movement of the squeegee, the inner surface of the squeegee is cleaned by the roller brush, the secondary pollution of the surface to be cleaned by the stains on the inner surface of the squeegee is reduced, the cleaning effect of the cleaning device on the surface to be cleaned is improved, and the user experience is enhanced.

[0034] In some embodiments, the method further includes: adjusting the swing angle of the squeegee based on a second characterization parameter of a second abutting pressure generated when the inner surface of the squeegee abuts against the roller brush, so that the second abutting pressure is within a second abutting pressure range.

[0035] In the above embodiments, through the movement of the squeegee, the inner surface of the squeegee is cleaned by the roller brush, the secondary pollution of the surface to be cleaned by the stains on the inner surface of the squeegee is reduced, the cleaning effect of the cleaning device on the surface to be cleaned is improved, and the user experience is enhanced.

[0036] In some embodiments, the second characterization parameter includes at least one of the following: the driving current of the roller brush, the driving current of the driving component for driving the squeegee to rotate.

[0037] In the above embodiments, the driving current of the rotary brush and / or the driving current of the driving component for driving the squeegee to rotate are used to characterize the second abutting pressure. There is no need to add a pressure sensor to sense the second abutting pressure, which simplifies the design of the cleaning device and reduces the cost of the cleaning device.

[0038] According to a second aspect of the embodiments of the present disclosure, a cleaning device control method is provided. The cleaning device includes: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided at the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly includes a cleaning member and a squeegee assembly, the squeegee assembly includes a driving component, a connecting member and a squeegee, the squeegee is disposed on the front side of the cleaning member in the first traveling direction, the first end of the squeegee is rotatably connected to the connecting member, the driving component is used to drive the connecting member to drive the squeegee to perform a linear movement in the direction of the surface to be cleaned, and the driving component is further used to drive the squeegee to swing; the cleaning member and the second end of the squeegee are used to clean the surface to be cleaned; the cleaning member includes a rotary brush arranged parallel to the squeegee, and the method includes:

[0039] Controlling the squeegee to perform the linear movement and the swing in the second traveling direction, so that the squeegee abuts against the inner surface of the rotary brush, so as to clean the inner surface of the squeegee through the rotary brush, wherein the first traveling direction is opposite to the second traveling direction.

[0040] In the above embodiments, through the movement of the squeegee, the inner surface of the squeegee is cleaned by the rotary brush, reducing the secondary pollution of the surface to be cleaned by the stains on the inner surface of the squeegee, improving the cleaning effect of the cleaning device on the surface to be cleaned, and enhancing the user experience.

[0041] In some embodiments, the controlling the squeegee to perform the linear movement and the swing, so that the squeegee abuts against the inner surface of the rotary brush includes at least one of the following:

[0042] Controlling the driving component to drive the connecting member to perform the linear movement to a first position, and then controlling the driving component to drive the squeegee to swing in the second traveling direction to a second position, so that the inner surface of the squeegee abuts against the rotary brush;

[0043] Controlling the driving component to drive the squeegee to swing in the second traveling direction to a second position, and then controlling the driving component to drive the connecting member to perform the linear movement to a first position, so that the inner surface of the squeegee abuts against the rotary brush.

[0044] In the above embodiments, through the movement of the scraping strip, the inner surface of the scraping strip is cleaned by the roller brush, reducing the secondary pollution of the stains on the inner surface of the scraping strip to the surface to be cleaned, improving the cleaning effect of the cleaning device on the surface to be cleaned, and enhancing the user experience.

[0045] In some embodiments, the method further includes: adjusting the swing angle of the scraping strip based on a second characterization parameter of a second contact pressure generated when the inner surface of the scraping strip abuts against the roller brush, so that the second contact pressure is within a second contact pressure range.

[0046] In the above embodiments, through the second characterization parameter, the second contact pressure generated when the second end of the scraping strip abuts against the roller brush can be determined, and then the swing angle of the scraping strip can be adjusted so that the second contact pressure when the second end of the scraping strip abuts against the roller brush is within the second contact pressure range, improving the cleaning effect of the scraping strip.

[0047] In some embodiments, the method further includes:

[0048] Controlling the scraping strip to perform the linear movement and the swing to clean the surface to be cleaned.

[0049] In the above embodiments, by performing the linear movement and the swing of the scraping strip, the cleaning method of the scraping strip on the surface to be cleaned can be flexibly adjusted, improving the flexibility of the cleaning device in cleaning the surface to be cleaned, adapting to different cleaning scenarios, and enhancing the user experience.

[0050] In some embodiments, the controlling the scraping strip to perform the linear movement and the swing to clean the surface to be cleaned includes:

[0051] Controlling the driving component to drive the scraping strip to perform at least one swing to clean the stains on the surface to be cleaned with the second end of the scraping strip;

[0052] Controlling the driving component to drive the connecting piece to perform the linear movement to adjust the interference amount when the second end of the scraping strip abuts against the surface to be cleaned.

[0053] In the above embodiments, the cleaning of the dirt on the surface to be cleaned can be achieved by the swing of the scraping strip, and the interference amount between the second end of the scraping strip and the surface to be cleaned can be made to meet the cleaning dirt requirement by driving the scraping strip to perform the linear movement through the connecting piece, thereby improving the cleaning effect of the scraping strip on the surface to be cleaned, and being able to adopt different cleaning ranges to adapt to different cleaning scenarios, enhancing the user experience.

[0054] In some embodiments, the controlling the scraping strip to perform the linear movement and the swing to clean the surface to be cleaned includes:

[0055] It is determined to clean the included angle area between the obstacle and the surface to be cleaned. When the second end does not contact the surface to be cleaned, the driving assembly is controlled to drive the second end of the squeegee to swing in the first traveling direction, so that the second end extends out of the front side until the distance between the second end and the obstacle is a first interval distance, where the front side includes the foremost end of the floor brush assembly in the first traveling direction;

[0056] When the distance between the second end and the obstacle is the first interval distance, the driving assembly is controlled to drive the connecting piece to perform the linear movement, so that the second end of the squeegee abuts against the surface to be cleaned, so that the floor brush assembly cleans the stains between the squeegee and the cleaning member when moving in the second traveling direction, where the directions of the first traveling direction and the second traveling direction are opposite.

[0057] In the above embodiment, through the linear movement and swinging of the squeegee, the squeegee can extend into the included angle area to clean the included angle area, reduce the cleaning blind area, and improve the user experience.

[0058] In some embodiments, the method further includes:

[0059] It is determined that the second end of the squeegee abuts against the surface to be cleaned, and the driving assembly is controlled to drive the second end of the squeegee to swing in the second traveling direction to scrape the stains between the squeegee and the cleaning member towards the cleaning member.

[0060] In the above embodiment, through the swinging of the squeegee, the stains between the squeegee and the cleaning member can be scraped towards the cleaning member, thereby reducing the situation where the cleaning member cannot clean the stains between the squeegee and the cleaning member, reducing the cleaning blind area, improving the cleaning effect, and enhancing the customer experience.

[0061] In some embodiments, when the squeegee abuts against the surface to be cleaned, the swinging angle between the squeegee and the perpendicular line of the surface to be cleaned when the squeegee swings is positively correlated with the moving distance of the connecting piece towards the surface to be cleaned when performing the linear movement.

[0062] In some embodiments, the method further includes: based on the first characterization parameter of the first abutting pressure generated when the second end of the squeegee abuts against the surface to be cleaned, adjusting the moving distance of the connecting piece towards the surface to be cleaned when performing the linear movement, so that the first abutting pressure is within the first abutting pressure range; the first characterization parameter includes the driving current for the driving assembly to drive the connecting piece to perform the linear movement.

[0063] In the above embodiments, through the first characterization parameter, the first abutting pressure generated when the second end of the squeegee abuts against the surface to be cleaned can be determined, and then the moving distance of the connecting member can be adjusted so that the first abutting pressure when the second end of the squeegee abuts against the surface to be cleaned is within the first abutting pressure range, improving the cleaning effect of the squeegee.

[0064] According to a third aspect of the embodiments of the present disclosure, a cleaning device is provided, characterized in that the cleaning device includes: a controller, a body assembly, and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided at the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly includes a cleaning member and a squeegee assembly, the squeegee assembly includes a driving assembly, a connecting member, and a squeegee, the squeegee is provided on the front side of the cleaning member in the first traveling direction, the first end of the squeegee is rotatably connected to the connecting member, the driving assembly is used to drive the connecting member to drive the squeegee to move linearly in the direction of the surface to be cleaned, and the driving assembly is also used to drive the squeegee to swing; the cleaning member and the second end of the squeegee are used to clean the surface to be cleaned;

[0065] The controller is used to execute the method described in the first aspect.

[0066] In the above embodiments, by moving the squeegee linearly and swinging it, the cleaning method of the squeegee on the surface to be cleaned can be flexibly adjusted, improving the flexibility of the cleaning device in cleaning the surface to be cleaned, adapting to different cleaning scenarios, and enhancing the user experience.

[0067] According to a fourth aspect of the embodiments of the present disclosure, a cleaning device is provided, characterized in that the cleaning device includes: a controller, a body assembly, and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided at the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly includes a cleaning member and a squeegee assembly, the squeegee assembly includes a driving assembly, a connecting member, and a squeegee, the squeegee is provided on the front side of the cleaning member in the first traveling direction, the first end of the squeegee is rotatably connected to the connecting member, the driving assembly is used to drive the connecting member to drive the squeegee to move linearly in the direction of the surface to be cleaned, and the driving assembly is also used to drive the squeegee to swing; the cleaning member and the second end of the squeegee are used to clean the surface to be cleaned; the cleaning member includes a roller brush arranged parallel to the squeegee;

[0068] The controller is used to execute the method described in the second aspect.

[0069] In the above embodiments, through the movement of the squeegee, the inner surface of the squeegee is cleaned by the roller brush, reducing the secondary pollution of the surface to be cleaned by the stains on the inner surface of the squeegee, improving the cleaning effect of the cleaning device on the surface to be cleaned, and enhancing the user experience.

[0070] In the cleaning device control method provided by the embodiments of the present disclosure, the cleaning device includes: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided at the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly includes a cleaning member and a squeegee assembly, the squeegee assembly includes a driving assembly, a connecting member and a squeegee, the squeegee is arranged on the front side of the cleaning member in the first traveling direction, the first end of the squeegee is rotatably connected to the connecting member, the driving assembly is used to drive the connecting member to drive the squeegee to perform a linear movement in the direction of the surface to be cleaned, and the driving assembly is further used to drive the squeegee to swing; the second ends of the cleaning member and the squeegee are used to clean the surface to be cleaned; the method includes: controlling the squeegee to perform the linear movement and the swing to clean the surface to be cleaned. In this way, by performing a linear movement and a swing of the squeegee, the cleaning mode of the squeegee on the surface to be cleaned can be flexibly adjusted, the flexibility of the cleaning device in cleaning the surface to be cleaned is improved, different cleaning scenarios are adapted, and the user experience is enhanced. Description of the Drawings

[0071] Figure 1 is a schematic structural diagram of a cleaning device shown according to an embodiment;

[0072] Figure 2 is a schematic structural diagram of a floor brush assembly shown according to an embodiment;

[0073] Figure 3 is a schematic partial structural diagram of a floor brush assembly shown according to an embodiment;

[0074] Figure 4 is a schematic flowchart of a cleaning device control method shown according to an embodiment;

[0075] Figure 5 is a schematic diagram of the swing range of a squeegee shown according to an embodiment;

[0076] Figure 6 is a schematic diagram of the swing range of the squeegee after the connecting member moves shown according to an embodiment;

[0077] Figure 7 is a schematic diagram of the swing angle of a squeegee shown according to an embodiment;

[0078] Figure 8 is a schematic diagram of the swing angle of the squeegee after the connecting member moves shown according to an embodiment;

[0079] Figure 9 is a schematic diagram of the cleaning execution action of a cleaning device on an included angle area shown according to an embodiment;

[0080] Figure 10 Schematic diagram of the cleaning device performing cleaning operations on the included angle area after the movement of another connecting piece shown according to an embodiment;

[0081] Figure 11 Schematic diagram of a contact pressure shown according to an embodiment;

[0082] Figure 12 Schematic diagram of a cleaning wiper shown according to an embodiment;

[0083] Figure 13 Schematic diagram of the movement of the connecting piece in cleaning wiper mode 1 shown according to an embodiment;

[0084] Figure 14 Schematic diagram of the swing of the wiper in cleaning wiper mode 1 shown according to an embodiment;

[0085] Figure 15 Schematic diagram of the swing of the wiper in cleaning wiper mode 2 shown according to an embodiment;

[0086] Figure 16 Schematic diagram of the movement of the connecting piece in cleaning wiper mode 2 shown according to an embodiment;

[0087] Figure 17 Schematic diagram of another cleaning device control method flow shown according to an embodiment. Detailed implementation manners

[0088] To make the technical solutions and beneficial effects of the present invention more obvious and understandable, the following will be described in detail by listing specific embodiments. Among them, the drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical and scientific fields to which this application belongs.

[0089] The embodiments of the present disclosure are not exhaustive, but only schematic of some embodiments, and do not constitute a specific limitation on the protection scope of the present disclosure. Without conflict, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily. For example, the solution after removing some steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily. In addition, the optional implementation manners in an embodiment can be combined arbitrarily; furthermore, the embodiments can be combined arbitrarily. For example, some or all of the steps of different embodiments can be combined arbitrarily, and an embodiment can be combined arbitrarily with the optional implementation manners of other embodiments.

[0090] In each of the disclosed embodiments, unless otherwise specified or there is a logical conflict, the terms and / or descriptions among the embodiments are consistent and can be cross-referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0091] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the present disclosure.

[0092] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above-mentioned", "said", "aforementioned", "this", etc., can mean "one and only one", or can also mean "one or more", "at least one", etc. For example, in the case of using articles such as "a", "an", "the" in English translation, the noun after the article can be understood as a singular expression form or a plural expression form.

[0093] In the embodiments of the present disclosure, "a plurality of" means two or more.

[0094] In some embodiments, terms such as "at least one of (at least one, at least one item, at least one)", "one or more", "a plurality of", "multiple", etc. can be substituted for each other.

[0095] In some embodiments, notations such as "at least one of A and B", "A and / or B", "in one case A, in another case B", "one case A, another case B", etc. may include the following technical solutions according to the situation: In some embodiments, A (performing A independently of B); in some embodiments, B (performing B independently of A); in some embodiments, selecting to perform from A and B (A and B are selectively performed); in some embodiments, A and B (both A and B are performed). The same is true when there are more branches such as A, B, C, etc.

[0096] In some embodiments, notations such as "A or B" may include the following technical solutions according to the situation: In some embodiments, A (performing A independently of B); in some embodiments, B (performing B independently of A); in some embodiments, selecting to perform from A and B (A and B are selectively performed). The same is true when there are more branches such as A, B, C, etc.

[0097] The prefix words such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different described objects, and do not constitute limitations on the position, order, priority, value, or content of the described objects. For the statements of the described objects, refer to the descriptions in the claims or the context of the embodiments. Unnecessary restrictions should not be formed due to the use of prefix words. For example, if the described object is "field", the ordinal numbers before "field" in "first field" and "second field" do not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of "first field" and "second field". Again, for example, if the described object is "level", the ordinal numbers before "level" in "first level" and "second level" do not limit the priority between the "levels". Again, for example, the value of the described object is not restricted by the ordinal number and can be one or more. Taking "first device" as an example, the value of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, if the described object is "device", "first device" and "second device" can be the same device or different devices, and their types can be the same or different; again, for example, if the described object is "information", "first information" and "second information" can be the same information or different information, and their content can be the same or different.

[0098] In some embodiments, "including A", "containing A", "for indicating A", "carrying A" can be interpreted as directly carrying A or indirectly indicating A.

[0099] In some embodiments, terms such as "……", "determining……", "in the case of……", "when……", "when……", "if……", "if……" can be replaced with each other.

[0100] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above", etc. can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below", etc. can be replaced with each other.

[0101] In addition, each element, each row, or each column in the table of the embodiments of the present disclosure can be implemented as an independent embodiment, and any combination of any element, any row, and any column can also be implemented as an independent embodiment.

[0102] Refer to Figures 1 to 3 As shown in Figure 1 is a schematic diagram of the overall cleaning device, and the cleaning device at least includes a body assembly 1 and a floor brush assembly 2.Figure 2 It is a schematic structural diagram of the floor brush assembly 2. Figure 3 It is a partial structural schematic diagram of the floor brush assembly. The body assembly 1 is rotatably connected to the floor brush assembly 2. A handle 11 is provided at the top of the body assembly 1, and the floor brush assembly 2 can move on the surface to be cleaned.

[0103] In a possible implementation, the user can push and pull the handle 11 to move the floor brush assembly 2 on the surface to be cleaned and control the moving direction of the floor brush assembly 2.

[0104] In a possible implementation, the floor brush assembly 2 has at least part of the driving force to drive the body assembly 1 to move. The user provides part or all of the driving force for the movement of the floor brush assembly 2 through the handle 11, and the user can control the moving direction of the floor brush assembly 2 through the handle 11.

[0105] In a possible implementation, the floor brush assembly 2 may include: a floor brush body 21, a controller (not shown), a walking system 22, a cleaning member 23, a squeegee assembly 24. Among them, the squeegee 241 assembly 24 includes a squeegee 241, an adapter 242 and a driving assembly (not shown).

[0106] In a possible implementation, the floor brush assembly 2 and / or the body assembly 1 further includes a sensing system (not shown).

[0107] The above cleaning member 23 may specifically include one or more of the following: a roller brush, etc.

[0108] In a possible implementation, the cleaning device further includes a clean water tank, a sewage tank and a dust suction device. Any one of the clean water tank, the sewage tank and the dust suction device can be arranged on the floor brush assembly 2 or on the body assembly 1.

[0109] The above controller may include a microcontroller unit (MCU). Of course, the above controller may also include other devices capable of having a control function.

[0110] In a possible implementation, the above cleaning member 23 is in the main brush cavity at the bottom of the floor brush body 21. The main brush cavity is communicated with the dust suction channel of the cleaning device.

[0111] In a possible implementation, the cleaning device further includes a water spraying device and a water squeezing strip. The water spraying device is used to extract clean water from the clean water tank and spray it onto the cleaning member 23. The water squeezing strip is used to scrape the sewage generated after cleaning the surface to be cleaned on the cleaning member 23 and suck it into the sewage tank through the dust suction device.

[0112] Reference Figure 1 and Figure 2, the traveling system 22 is provided on the floor brush body 21 and is used to support the movement of the floor brush assembly 2. The traveling system 22 may or may not have power.

[0113] The above sensor system may include at least one of a vision sensor, a laser sensor, a gyroscope, an accelerometer, a speed sensor, a mechanical sensor, an infrared sensor, an ultrasonic sensor, a vision sensor, etc., to obtain at least one of information such as the motion state information, position information, and obstacle information of the cleaning device.

[0114] For example, a speed sensor, an acceleration sensor, etc. can be used to detect the speed, acceleration, etc. of the cleaning device. Infrared sensors, ultrasonic sensors, vision sensors, etc. are used to detect the distance between the cleaning device and the obstacle. Here, the moving speed of the cleaning device can be the moving speed of the floor brush assembly 2.

[0115] The cleaning device can perform a first travel along a first travel direction or a second travel along a second travel direction. The first travel direction and the second travel direction are used to distinguish two different travel directions of the cleaning device. For example, the first travel direction can be the forward direction of the cleaning device, and the first travel can be forward; the second travel direction can be the backward direction of the cleaning device, and the second travel can be backward.

[0116] In a possible implementation, the cleaning device realizes the first travel and the second travel based on the push and pull of the user.

[0117] In a possible implementation, the cleaning device realizes the first travel and / or the second travel based on its own power and / or the pushing and pulling force of the user.

[0118] The squeegee 241 is provided on the front side of the cleaning member in the first travel direction, and the first end of the squeegee 241 is rotatably connected to the connecting member 242. For example, the first end of the squeegee 241 is rotatably connected to the connecting end of the connecting member 242 facing the surface to be cleaned.

[0119] The driving assembly is used to drive the connecting member 242 to drive the squeegee to perform a linear movement in the direction of the surface to be cleaned. Here, the linear movement may include a reciprocating movement in the direction of the surface to be cleaned. For example, the connecting member 242 drives the squeegee to perform a linear movement at least in the direction perpendicular to the surface to be cleaned (as shown by arrow A), and the driving assembly is further used to drive the squeegee to swing. Such as swinging around the connecting end of the connecting member 242 (the swinging direction is as shown by arrow B); the cleaning member and the second end of the squeegee are used to clean the surface to be cleaned. The first end and the second end of the squeegee face away from each other.

[0120] In a possible implementation, the driving component 242 may include a motor, a transmission component, etc. The transmission component converts the rotational force of the motor into a driving force for driving the connecting member 242 to move linearly and a driving force for driving the squeegee 241 to swing.

[0121] For example, the connecting member 242 may adopt a rack drive method to achieve linear movement. The squeegee may achieve swinging through a gear drive method.

[0122] In a possible implementation, the driving component 242 may include a first motor and a second motor, which are respectively used to drive the connecting member 242 to move linearly and drive the squeegee 241 to swing.

[0123] In a possible implementation, the motor used to control the swinging of the squeegee 241 may be arranged within the range of the length dimension of the squeegee 241. That is, the motor does not extend beyond both sides in the length direction of the squeegee. In this way, during the edge cleaning process, the situation where the squeegee or the cleaning member cannot approach the edge due to the obstruction of the motor can be reduced.

[0124] It can be understood that the second end of the squeegee 241 needs to be in contact with the surface to be cleaned to achieve the cleaning of the surface to be cleaned.

[0125] In a possible implementation, when the squeegee 241 is in contact with the surface to be cleaned, the second end of the squeegee 241 has an interference part with the surface to be cleaned.

[0126] The squeegee 241 may be made of a flexible material such as rubber or silica gel. When the squeegee 241 is in contact with the surface to be cleaned, the second end of the squeegee 241 is in a compressed state, or the second end may be in a state of deformed extension.

[0127] In a possible implementation, the cross-section of the squeegee may be an isosceles triangle, and the apex angle of the isosceles triangle constitutes the second end of the squeegee.

[0128] In a possible implementation, the cross-section of the squeegee may be a right triangle, and one of the two acute angles of the right triangle constitutes the second end of the squeegee.

[0129] In a possible implementation, the squeegee may be made of a flexible material such as rubber and / or silica gel.

[0130] It can be understood that the above cleaning device is only for illustration and does not constitute a limitation of the embodiments of this specification.

[0131] In an actual cleaning scenario, a cleaning device often encounters stains that are difficult to clean with the cleaning member, areas that the cleaning member cannot reach (such as corner areas), etc. Therefore, how to use the squeegee to clean difficult-to-clean stains and / or use the squeegee to clean areas that the cleaning member cannot reach, and how to clean the squeegee to reduce the secondary contamination of the surface to be cleaned and improve the customer experience are problems that need to be solved urgently.

[0132] Embodiment 1

[0133] Correspondingly, in combination with the cleaning device of any of the above embodiments, the present disclosure provides a cleaning device control method, as Figure 4 shown, the method includes:

[0134] Step 401: Control the squeegee to perform the linear movement and the swinging to clean the surface to be cleaned.

[0135] In a possible implementation, the cleaning device control method can be executed by a controller of the cleaning device.

[0136] Here, the linear movement of the squeegee includes the squeegee following the driving of the connecting member and moving linearly in the direction of the surface to be cleaned.

[0137] In a possible implementation, the moving direction of the connecting member can be perpendicular to the surface to be cleaned. In this way, when the connecting member moves, it can drive the squeegee to move in a direction perpendicular to the surface to be cleaned. For example, moving perpendicular to the surface to be cleaned and towards the surface to be cleaned, or moving perpendicular to the surface to be cleaned and away from the surface to be cleaned.

[0138] In a possible implementation, the included angle between the moving direction of the connecting member and the surface to be cleaned is not equal to 90 degrees and not equal to 0 degrees. In this way, when the connecting member moves, it still generates a displacement in the direction perpendicular to the surface to be cleaned, that is, it can drive the squeegee to generate a displacement in the direction perpendicular to the surface to be cleaned.

[0139] In a possible implementation, the squeegee performing the linear movement and the swinging to clean the surface to be cleaned can include:

[0140] The squeegee performs linear movement and swinging to clean the surface to be cleaned.

[0141] The squeegee performs linear movement and swinging, and in combination with the movement of the cleaning device, it realizes the cleaning of the surface to be cleaned.

[0142] Exemplarily, the squeegee can perform linear movement so that the second end of the squeegee abuts against the surface to be cleaned, and through the swinging of the squeegee, the second end of the squeegee can scrape the stains on the surface to be cleaned.

[0143] Exemplarily, the squeegee can move linearly and swing so that the squeegee abuts against the surface to be cleaned at a specific angle, and by moving the cleaning device (such as moving in the first traveling direction and / or the second traveling direction), the second end of the squeegee can scrape off the stains on the surface to be cleaned.

[0144] Generally, during the movement of the cleaning device, the connecting member can keep the squeegee in a non-contact state with the surface to be cleaned, and clean the surface to be cleaned through the cleaning member. When it is necessary to use the squeegee to clean the surface to be cleaned, the connecting member can move towards the surface to be cleaned, so that the squeegee abuts against the surface to be cleaned, and the surface to be cleaned is cleaned at least by the swing of the squeegee.

[0145] In this way, by linearly moving and swinging the squeegee, the cleaning method of the squeegee on the surface to be cleaned can be flexibly adjusted, the flexibility of the cleaning device in cleaning the surface to be cleaned can be improved, different cleaning scenarios can be adapted, and the user experience can be enhanced.

[0146] In some embodiments, controlling the squeegee to perform the linear movement and the swing to clean the surface to be cleaned includes:

[0147] Controlling the driving component to drive the squeegee to swing at least once to clean the stains on the surface to be cleaned with the second end of the squeegee;

[0148] Controlling the driving component to drive the connecting member to perform the linear movement to adjust the interference amount of the second end of the squeegee abutting against the surface to be cleaned.

[0149] In some cleaning scenarios, the cleaning member includes a roller brush with a suede surface, and its friction force on the ground stains is small. Therefore, the cleaning effect on some stains adhering to the surface to be cleaned is not good. Therefore, the stains on the surface to be cleaned can be cleaned by the reciprocating swing of the squeegee. Since the second end of the squeegee abuts against the surface to be cleaned, a large friction force is generated between the second end of the squeegee and the surface to be cleaned, and the stains that are difficult to clean on the surface to be cleaned can be removed.

[0150] In a possible implementation manner, the user can instruct the controller to control the driving component to drive the squeegee to swing at least once through a control instruction. For example, the user can push and pull the cleaning device to make the stains within the cleaning range of the squeegee, and then the user can instruct the squeegee to swing to clean the stains through a control instruction.

[0151] In a possible implementation manner, the number of swings of the squeegee can be preset, or the user can instruct the controller through a control instruction. For stains that are difficult to remove, a larger number of swings of the squeegee can be used.

[0152] The swing angle of the squeegee is positively correlated with the cleaning range of the squeegee on the surface to be cleaned. Such as Figure 5As shown, since the second end of the squeegee rotates around the first end of the squeegee to achieve the swing of the squeegee, during the swing of the squeegee, the interference amount between the second end and the surface to be cleaned will change, and / or when the swing angle of the squeegee (the angle between the squeegee and the perpendicular line of the surface to be cleaned) exceeds a certain range, the second end of the squeegee will be disengaged from the surface to be cleaned. Too small an interference amount or the disengagement of the second end from the surface to be cleaned will weaken the cleaning effect on stains, and too large an interference amount will increase the resistance to the swing of the squeegee and hinder the swing of the squeegee.

[0153] Therefore, during the swing of the squeegee and / or when adjusting the swing range, the driving component can be controlled to drive the connecting piece to drive the squeegee to move linearly (towards or away from the surface to be cleaned) to adjust the interference amount between the second end of the squeegee and the surface to be cleaned.

[0154] Exemplarily, as Figure 5 shown, when the connecting piece is in the first position, the cleaning range of the squeegee for the surface to be cleaned is W1. In this scenario, during the swing of the squeegee, the interference amount between the second end of the squeegee and the surface to be cleaned is within the predetermined interference amount range. As Figure 6 shown, if it is necessary to expand the cleaning range to W2 and the swing angle of the squeegee needs to be increased, the interference amount between the second end of the squeegee and the surface to be cleaned will decrease, and even the second end of the squeegee will be disengaged from the surface to be cleaned. Therefore, the connecting piece can drive the squeegee to move towards the surface to be cleaned (as shown by arrow A) until the connecting piece is in Figure 6 the second position shown to enable the squeegee to clean the cleaning range W2. On the contrary, if the cleaning range of the squeegee for the surface to be cleaned needs to be switched from Figure 6 W2 shown to Figure 4 W1 shown, the situation where the interference amount between the second end of the squeegee and the surface to be cleaned may be too large may occur. The connecting piece can move from the Figure 6 second position shown to the Figure 5 first position shown to reduce the interference amount between the second end of the squeegee and the surface to be cleaned.

[0155] In a possible implementation, different positions of the connecting piece correspond to different cleaning ranges of the squeegee for the surface to be cleaned.

[0156] Here, by adjusting the interference amount between the second end of the squeegee and the surface to be cleaned, the frictional force between the squeegee and the surface to be cleaned can be adjusted. The greater the frictional force, the better the cleaning effect on the stains attached to the surface to be cleaned. Therefore, the cleaning device can adopt a larger interference amount for stubborn stains.

[0157] In one possible implementation, the cleaning device can identify stains or areas that have been cleaned to identify stubborn stains on the surface to be cleaned, and clean the stubborn stains by increasing the interference amount between the second end of the scraper and the surface to be cleaned, thereby improving the cleaning effect.

[0158] In this way, the scraper bar can be swung to clean the dirt on the surface to be cleaned, and the scraper bar can be driven to move linearly by the connector so that the interference between the second end of the scraper bar and the surface to be cleaned can meet the needs of cleaning dirt, thereby improving the cleaning effect of the scraper bar on the surface to be cleaned, and different cleaning ranges can be used to adapt to different cleaning scenarios to improve user experience. By adjusting the interference between the second end of the scraper bar and the surface to be cleaned, the needs of cleaning different types of stains can be met and the stain cleaning effect can be improved.

[0159] In some embodiments, when the scraper bar abuts against the surface to be cleaned, the swing angle between the scraper bar and the perpendicular line of the surface to be cleaned when the scraper bar swings is positively correlated with the distance the connecting member moves toward the surface to be cleaned when performing the linear movement.

[0160] Here, the connecting member can use linear movement (for example, along a linear direction perpendicular to the surface to be cleaned or a linear direction at a predetermined angle to the surface to be cleaned) to drive the scraper bar to move toward the surface to be cleaned or away from the surface to be cleaned. When the scraper bar is in contact with the surface to be cleaned and swings when it needs to clean the surface to be cleaned, the controller can control the connecting member to drive the scraper bar to move in the direction of the surface to be cleaned in real time based on the swing angle of the scraper bar, so as to adjust the interference between the second end of the scraper bar and the surface to be cleaned.

[0161] For example, Figure 7 and Figure 8 As shown, the swing angle α1 is greater than the swing angle α2. When the scraper strip is swung, the swing angle between the scraper strip and the vertical line of the surface to be cleaned changes from α1 to α2. As the swing angle of the scraper strip increases, the interference between the second end of the scraper strip and the surface to be cleaned will decrease, and even the second end of the scraper strip and the surface to be cleaned will be out of contact. Therefore, the connector can drive the scraper strip to move toward the surface to be cleaned (in the direction shown by arrow A) to keep the second end of the scraper strip and the surface to be cleaned in an interference state (for example, keep the interference between the second end of the scraper strip and the surface to be cleaned within a predetermined interference range). When the scraper strip is swung, the swing angle between the scraper strip and the vertical line of the surface to be cleaned changes from α2 to α1. As the swing angle of the scraper strip decreases, the interference between the second end of the scraper strip and the surface to be cleaned will increase and exceed the predetermined interference range. At this time, the connector can drive the scraper strip to move away from the surface to be cleaned (in the opposite direction shown by arrow A) to keep the interference between the second end of the scraper strip and the surface to be cleaned within the predetermined interference range.

[0162] In this way, the moving distance of the connecting piece towards the surface to be cleaned is adjusted based on the swinging angle, thereby reducing the change in the interference amount between the second end of the squeegee and the surface to be cleaned caused by the swinging of the squeegee, improving the cleaning effect of the squeegee on the surface to be cleaned, and being able to adopt different cleaning ranges to adapt to different cleaning scenarios, enhancing the user experience.

[0163] In some embodiments, controlling the squeegee to perform the linear movement and the swinging to clean the surface to be cleaned includes:

[0164] Determining to clean the angular area between the obstacle and the surface to be cleaned. When the second end is not in contact with the surface to be cleaned, controlling the driving assembly to drive the second end of the squeegee to swing in the first advancing direction, so that the second end extends out of the front side surface until the distance between the second end and the obstacle is a first spaced distance, where the front side surface includes the foremost end of the floor brush assembly in the first advancing direction;

[0165] When the distance between the second end and the obstacle is the first spaced distance, controlling the driving assembly to drive the connecting piece to perform the linear movement, so that the second end of the squeegee abuts against the surface to be cleaned, so that the floor brush assembly cleans the stains between the squeegee and the cleaning member when moving in the second advancing direction, where the first advancing direction is opposite to the second advancing direction.

[0166] Here, the angular area may include: the angular area between the surface to be cleaned (such as the ground) and the wall, the angular area between furniture (such as the legs of a table or chair) and the surface to be cleaned (such as the ground), etc. When cleaning the angular area between the obstacle (such as a wall, furniture, etc.) and the surface to be cleaned, such as Figure 9 shown, limited by the shape of the floor brush assembly and / or the cleaning member, the cleaning member cannot extend into the angular area, thus generating a cleaning blind area. Here, the squeegee can be used to clean the angular area.

[0167] In a possible implementation, the first spaced distance is greater than or equal to 0. When the first spaced distance is 0, the second end of the squeegee can abut against the obstacle.

[0168] Such as Figure 9 and Figure 10 shown, when the cleaning device moves to the angular area (the squeegee is in a state of not being in contact with the surface to be cleaned), the controller can control the driving assembly to drive the squeegee to swing in the first advancing direction (i.e., towards the obstacle), and the squeegee extends out of the foremost end of the floor brush assembly, so that the squeegee is closer to the obstacle. After the squeegee extends out of the foremost end of the floor brush assembly, the controller can control the driving assembly to drive the connecting piece to move towards the surface to be cleaned (as shown by the arrow A in Figure 10 ), so that the second end of the squeegee can abut against the surface to be cleaned. In this way, the second end of the squeegee can extend into the angular area.

[0169] After the second end of the squeegee can extend into the included angle area, the cleaning device can move in the second traveling direction (the direction away from the obstacle), so that the squeegee can scrape the stains in the included angle area away from the included angle area, and then the cleaning member cleans the stains.

[0170] In this way, by linearly moving and swinging the squeegee, the squeegee can extend into the included angle area to clean the included angle area, reduce the cleaning blind area, and improve the user experience.

[0171] In some embodiments, the method further includes:

[0172] Determine that the second end of the squeegee abuts against the surface to be cleaned, and control the driving assembly to drive the second end of the squeegee to swing in the second traveling direction, so as to scrape the stains between the squeegee and the cleaning member towards the cleaning member.

[0173] Here, the second end of the squeegee can swing in the second traveling direction (the direction towards the cleaning member) to scrape the stains between the squeegee and the cleaning member towards the cleaning member.

[0174] In a possible implementation manner, during the process of the second end of the squeegee swinging in the second traveling direction, the second end of the squeegee remains in contact with the surface to be cleaned.

[0175] In a possible implementation manner, during the cleaning process of the included angle area, after the squeegee extends into the included angle area, it can swing in the second traveling direction to scrape the stains in the included angle area towards the cleaning member.

[0176] In a possible implementation manner, when the cleaning device is cleaning along the first traveling direction and stops moving in the first traveling direction, the squeegee can be in contact with the surface to be cleaned under the drive of the connecting member and swing in the second traveling direction to scrape the stains between the squeegee and the cleaning member towards the cleaning member.

[0177] In a possible implementation manner, as in any of the above embodiments, during the swinging process of the squeegee, the connecting member can drive the squeegee to move along with the swinging angle of the squeegee, so that the squeegee maintains an interference fit with the surface to be cleaned and maintains the scraping effect on the stains.

[0178] In a possible implementation manner, the squeegee can directly scrape the stains to the bottom of the cleaning member for cleaning by the cleaning member.

[0179] In this way, through the swinging of the squeegee, the stains between the squeegee and the cleaning member can be scraped towards the cleaning member, thereby reducing the situation where the cleaning member cannot clean the stains between the squeegee and the cleaning member, reducing the cleaning blind area, improving the cleaning effect, and enhancing the customer experience.

[0180] In some embodiments, the method further includes: based on a first characterization parameter of a first contact pressure generated when the second end of the squeegee contacts the surface to be cleaned, adjusting the distance that the connecting member moves linearly towards the surface to be cleaned, so that the first contact pressure is within a first contact pressure range.

[0181] Since the second end of the squeegee frequently rubs against the surface to be cleaned, the second end of the squeegee will wear. Therefore, if the moving distance of the connecting member is a fixed value, when the second end of the squeegee wears significantly, it may occur that the second end of the squeegee cannot contact the cleaning surface, or the interference amount during contact is small. Therefore, the controller can adjust the connecting member based on the characterization parameter of the contact pressure, so that the second end of the squeegee can contact the surface to be cleaned.

[0182] In a possible implementation, the first characterization parameter includes the first contact pressure.

[0183] As Figure 11 shown, when the second end of the squeegee contacts the surface to be cleaned, the squeegee and the connecting member will bear the first contact pressure (as shown by arrow F). The controller can sense the first contact pressure through a sensor or the like to obtain the first characterization parameter. Then, based on the first characterization parameter, adjust the moving direction and / or moving distance of the connecting member, so that the first contact pressure is within the first contact pressure range.

[0184] In a possible implementation, the first characterization parameter may be the pressure value sensed by a pressure sensor. The pressure sensor can be arranged on the connecting member to sense the first contact pressure.

[0185] In this way, through the first characterization parameter, the first contact pressure generated when the second end of the squeegee contacts the surface to be cleaned can be determined, and then the moving distance of the connecting member can be adjusted, so that the first contact pressure when the second end of the squeegee contacts the surface to be cleaned is within the first contact pressure range, improving the cleaning effect of the squeegee.

[0186] In some embodiments, the first characterization parameter includes the driving current of the driving component for driving the connecting member to perform the linear movement.

[0187] Here, the driving component may include a motor or the like. The motor drives the connecting member to drive the squeegee to move. The first contact pressure generated when the second end of the squeegee contacts the surface to be cleaned will act on the connecting member in the opposite direction to prevent the movement of the connecting member, thereby increasing the load of the motor and affecting the driving current. Here, when the second end of the squeegee contacts the surface to be cleaned, the first contact pressure is positively correlated with the driving current. Therefore, the first contact pressure can be determined based on the driving current of the driving component for driving the connecting member to perform a linear movement.

[0188] Characterize the first abutting pressure based on the driving current of the driving component, without adding a pressure sensor for sensing, which simplifies the design of the cleaning device and reduces the cost of the cleaning device.

[0189] In some embodiments, the cleaning member includes a roller brush disposed parallel to the squeegee, and the method further includes:

[0190] Controlling the squeegee to perform the linear movement and the swing toward the second traveling direction, so that the inner surface of the squeegee abuts against the roller brush, so as to clean the inner surface of the squeegee through the roller brush, wherein the first traveling direction is opposite to the second traveling direction.

[0191] In a possible implementation, the length direction of the squeegee can be set along the axial direction of the roller brush.

[0192] Generally, the inner surface of the squeegee passes through to clean the surface to be cleaned. For example, the squeegee can abut against the surface to be cleaned. When the cleaning device moves in the second traveling direction, the squeegee can clean the stains that the cleaning member fails to clean. Or the squeegee can swing while abutting against the surface to be cleaned to clean the stains within the swing range of the squeegee. Therefore, the inner surface of the squeegee usually adheres to stains. If not cleaned in time, the stains on the inner surface will fall onto the surface to be cleaned, thereby causing secondary pollution to the surface to be cleaned.

[0193] Such as Figure 12 As shown, the squeegee can be driven to move through the connecting member, and through the swing of the squeegee toward the roller brush, the inner surface of the squeegee abuts against the roller brush, and the stains on the inner surface of the squeegee are cleaned by the friction generated by the rotation of the roller brush with the inner surface of the squeegee.

[0194] In this way, through the movement of the squeegee, the inner surface of the squeegee is cleaned by the roller brush, reducing the secondary pollution of the stains on the inner surface of the squeegee to the surface to be cleaned, improving the cleaning effect of the cleaning device on the surface to be cleaned, and enhancing the user experience.

[0195] In some embodiments, the controlling the squeegee to perform the linear movement and the swing, so that the inner surface of the squeegee abuts against the roller brush includes at least one of the following:

[0196] Controlling the driving component to drive the connecting member to perform the linear movement to a first position, and then controlling the driving component to drive the squeegee to swing toward the second traveling direction to a second position, so that the inner surface of the squeegee abuts against the roller brush;

[0197] Control the driving assembly to drive the swing of the wiper strip towards the second traveling direction to the second position, and then control the driving assembly to drive the connecting member to perform the linear movement to the first position, so that the inner surface of the wiper strip abuts against the roller brush.

[0198] As Figure 13 and Figure 14 shown, the wiper strip can first perform a linear movement (as shown by arrow A) driven by the connecting member to at least achieve movement in a direction perpendicular to the surface to be cleaned, so that the wiper strip can reach a position closer to the roller brush in the first direction. At a position closer to the roller brush, the controller can control the driving assembly to drive the wiper strip to swing towards the roller brush (as shown by arrow B) to achieve the abutment of the inner surface of the wiper strip against the roller brush. Furthermore, the inner surface of the wiper strip can be cleaned by the rotation of the roller brush.

[0199] As Figure 15 and Figure 16 shown, the wiper strip can also first swing towards the roller brush (as shown by arrow B) driven by the driving assembly to make the wiper strip reach the attitude when it abuts against the roller brush, and then be driven by the connecting member to perform a linear movement (as shown by arrow A) to at least achieve movement in a direction perpendicular to the surface to be cleaned, so that the inner surface of the wiper strip abuts against the roller brush. Furthermore, the inner surface of the wiper strip can be cleaned by the rotation of the roller brush.

[0200] In this way, through the movement of the wiper strip, the inner surface of the wiper strip is cleaned by the roller brush, reducing the secondary pollution of the surface to be cleaned by the stains on the inner surface of the wiper strip, improving the cleaning effect of the cleaning device on the surface to be cleaned, and enhancing the user experience.

[0201] In some embodiments, the method further includes: adjusting the swing angle of the wiper strip based on a second characterization parameter of a second abutting pressure generated when the inner surface of the wiper strip abuts against the roller brush, so that the second abutting pressure is within a second abutting pressure range.

[0202] During the cleaning process of the cleaning device, the roller brush will wear. If the moving distance of the connecting member is a fixed value and / or the swing angle of the wiper strip is a fixed value, then when the roller brush wears greatly, the inner surface of the wiper strip may not be able to abut against the roller brush or the interference fit is small, thus affecting the cleaning effect of the roller brush on the inner surface of the wiper strip. Or, it may also be the case that due to the dimensional deviation of the roller brush, the interference fit between the inner surface of the wiper strip and the roller brush is too large, hindering the rotation of the roller brush.

[0203] Therefore, the controller can adjust the swing angle of the wiper strip based on the second characterization parameter, so that the second abutting pressure of the inner surface of the wiper strip abutting against the roller brush is within the second abutting pressure range.

[0204] In a possible implementation manner, the second characterization parameter includes the second abutting pressure.

[0205] When the inner surface of the squeegee contacts the rotary brush, the squeegee and the rotary brush will bear a second contact pressure. The controller can sense the second contact pressure through a sensor or the like to obtain a second characterization parameter. Then, based on the second characterization parameter, the swing angle of the squeegee is adjusted so that the second contact pressure is within the second contact pressure range.

[0206] In a possible implementation, the second characterization parameter may include the pressure value sensed by the pressure sensor. The pressure sensor may be disposed on the squeegee or the rotary brush to sense the second contact pressure.

[0207] In this way, through the second characterization parameter, the second contact pressure generated when the second end of the squeegee contacts the rotary brush can be determined. Then, the swing angle of the squeegee is adjusted so that the second contact pressure when the second end of the squeegee contacts the rotary brush is within the second contact pressure range, improving the cleaning effect of the squeegee.

[0208] In some embodiments, the second characterization parameter includes at least one of the following: the drive current of the rotary brush, the drive current of the drive assembly for driving the squeegee to rotate.

[0209] Here, the drive assembly may include a motor or the like. The motor drives the connecting member to drive the squeegee to move. The second contact pressure generated when the second end of the squeegee contacts the rotary brush will act on the connecting member in the opposite direction to prevent the movement of the connecting member, thereby increasing the load on the motor and affecting the drive current. Here, when the second end of the squeegee contacts the rotary brush, the second contact pressure is positively correlated with the drive current. Therefore, the second contact pressure can be determined based on the drive current of the drive assembly for driving the connecting member to perform linear movement.

[0210] Here, the rotary brush can be driven by a motor or the like. The second contact pressure generated when the inner surface of the squeegee contacts the rotary brush will act on the motor in the opposite direction, thereby increasing the load on the motor and affecting the drive current. Here, when the inner surface of the squeegee contacts the rotary brush, the second contact pressure is positively correlated with the drive current. Therefore, the second contact pressure can be determined based on the drive current for driving the rotary brush.

[0211] Using the drive current of the rotary brush and / or the drive current of the drive assembly for driving the squeegee to rotate to characterize the second contact pressure eliminates the need to add a pressure sensor to sense the second contact pressure, simplifies the design of the cleaning device, and reduces the cost of the cleaning device.

[0212] Embodiment 2

[0213] Correspondingly, in combination with the cleaning device of any of the above embodiments, wherein the cleaning member includes a rotary brush disposed parallel to the squeegee, the present disclosure provides a cleaning device control method, as Figure 17 shown, the method includes:

[0214] Step 1701: Control the squeegee to perform the linear movement and the swing towards the second traveling direction, so that the inner surface of the squeegee abuts against the inner surface of the roller brush, so as to clean the inner surface of the squeegee through the roller brush, wherein the first traveling direction is opposite to the second traveling direction.

[0215] In a possible implementation, the cleaning device control method can be executed by the controller of the cleaning device.

[0216] Here, the linear movement of the squeegee includes that the squeegee follows the driving of the connecting piece and moves linearly in the direction of the surface to be cleaned.

[0217] In a possible implementation, the moving direction of the connecting piece can be perpendicular to the surface to be cleaned. In this way, when the connecting piece moves, it can drive the squeegee to move in a direction perpendicular to the surface to be cleaned. Such as moving perpendicular to the surface to be cleaned and towards the surface to be cleaned, or moving perpendicular to the surface to be cleaned and away from the surface to be cleaned.

[0218] In a possible implementation, the included angle between the moving direction of the connecting piece and the surface to be cleaned is not equal to 90 degrees and not equal to 0 degrees. In this way, when the connecting piece moves, it still generates a displacement in the direction perpendicular to the surface to be cleaned, that is, it can drive the squeegee to generate a displacement in the direction perpendicular to the surface to be cleaned.

[0219] In a possible implementation, the length direction of the squeegee can be set along the axial direction of the roller brush.

[0220] Generally, the inner surface of the squeegee passes through to clean the surface to be cleaned. For example, the squeegee can abut against the surface to be cleaned. When the cleaning device moves in the second traveling direction, the squeegee can clean the stains that the cleaning part fails to clean. Or the squeegee can swing in a state of abutting against the surface to be cleaned to clean the stains within the swinging range of the squeegee. Therefore, the inner surface of the squeegee usually adheres to stains. If not cleaned in time, the stains on the inner surface will fall onto the surface to be cleaned, thereby causing secondary pollution to the surface to be cleaned.

[0221] Such as Figure 12 As shown, the squeegee can be driven to move through the connecting piece, and through the swing of the squeegee towards the roller brush, the inner surface of the squeegee abuts against the roller brush, and the stains on the inner surface of the squeegee are cleaned by the friction generated by the rotation of the roller brush.

[0222] In this way, through the movement of the squeegee, the inner surface of the squeegee is cleaned by the roller brush, reducing the secondary pollution of the stains on the inner surface of the squeegee to the surface to be cleaned, improving the cleaning effect of the cleaning device on the surface to be cleaned, and enhancing the user experience.

[0223] In some embodiments, controlling the squeegee to perform the linear movement and the swinging, and making the inner surface of the squeegee abut against the roller brush includes at least one of the following:

[0224] Controlling the driving assembly to drive the connecting piece to perform the linear movement to a first position, and then controlling the driving assembly to drive the squeegee to swing in the second traveling direction to a second position, so that the inner surface of the squeegee abuts against the roller brush;

[0225] Controlling the driving assembly to drive the squeegee to swing in the second traveling direction to a second position, and then controlling the driving assembly to drive the connecting piece to perform the linear movement to a first position, so that the inner surface of the squeegee abuts against the roller brush.

[0226] As Figure 13 and Figure 14 shown, the squeegee can first perform a linear movement (as shown by arrow A) driven by the connecting piece to at least achieve a movement in a direction perpendicular to the surface to be cleaned, so that the squeegee can reach a position relatively close to the roller brush in a first direction. At a position relatively close to the roller brush, the controller can control the driving assembly to drive the squeegee to swing towards the roller brush (as shown by arrow B) to achieve the abutment of the inner surface of the squeegee against the roller brush. Then, the inner surface of the squeegee can be cleaned by the rotation of the roller brush.

[0227] As Figure 15 and Figure 16 shown, the squeegee can also first swing towards the roller brush (as shown by arrow B) driven by the driving assembly to enable the squeegee to reach the posture when it abuts against the roller brush, and then be driven by the connecting piece to perform a linear movement (as shown by arrow A) to at least achieve a movement in a direction perpendicular to the surface to be cleaned, so that the inner surface of the squeegee abuts against the roller brush. Then, the inner surface of the squeegee can be cleaned by the rotation of the roller brush.

[0228] In this way, through the movement of the squeegee, the inner surface of the squeegee is cleaned by the roller brush, the secondary pollution of the surface to be cleaned by the stains on the inner surface of the squeegee is reduced, the cleaning effect of the cleaning device on the surface to be cleaned is improved, and the user experience is enhanced.

[0229] In some embodiments, the method further includes: adjusting the swinging angle of the squeegee based on a second characterization parameter of a second abutting pressure generated when the inner surface of the squeegee abuts against the roller brush, so that the second abutting pressure is within a second abutting pressure range.

[0230] During the cleaning process of the cleaning device, the roller brush will wear. If the moving distance of the connecting piece is a fixed value and / or the swinging angle of the scraping strip is a fixed value, then when the roller brush wears significantly, the inner surface of the scraping strip may not be in contact with the roller brush or the interference fit may be small, thus affecting the cleaning effect of the roller brush on the inner surface of the scraping strip. Or, it may also be the case that due to the size deviation of the roller brush, the interference fit between the inner surface of the scraping strip and the roller brush is large, hindering the rotation of the roller brush.

[0231] Therefore, the controller can adjust the swinging angle of the scraping strip based on the second characterization parameter, so that the second contact pressure between the inner surface of the scraping strip and the roller brush is within the second contact pressure range.

[0232] In a possible implementation, the second characterization parameter includes the second contact pressure.

[0233] When the inner surface of the scraping strip is in contact with the roller brush, the scraping strip and the roller brush will bear the second contact pressure. The controller can sense the second contact pressure through a sensor or the like to obtain the second characterization parameter. Then, based on the second characterization parameter, the swinging angle of the scraping strip is adjusted so that the second contact pressure is within the second contact pressure range.

[0234] In a possible implementation, the second characterization parameter can include the pressure value sensed by the pressure sensor. The pressure sensor can be arranged on the scraping strip or the roller brush to sense the second contact pressure.

[0235] In this way, through the second characterization parameter, the second contact pressure generated when the second end of the scraping strip is in contact with the roller brush can be determined, and then the swinging angle of the scraping strip is adjusted so that the second contact pressure between the second end of the scraping strip and the roller brush is within the second contact pressure range, improving the cleaning effect of the scraping strip.

[0236] In some embodiments, the second characterization parameter includes at least one of the following: the drive current of the roller brush, the drive current of the drive assembly for driving the scraping strip to rotate.

[0237] The drive assembly can include a motor or the like. The motor drives the connecting piece to drive the scraping strip to move. The second contact pressure generated when the second end of the scraping strip is in contact with the roller brush will act on the connecting piece in the opposite direction to prevent the movement of the connecting piece, thereby increasing the load of the motor and affecting the drive current. Here, when the second end of the scraping strip is in contact with the roller brush, the second contact pressure is positively correlated with the drive current. Therefore, the second contact pressure can be determined based on the drive current of the drive assembly for driving the connecting piece to move linearly.

[0238] The rotary brush can be driven by a motor or the like. When the inner surface of the scraping strip abuts against the rotary brush, the second abutting pressure generated will act on the motor in the opposite direction, thereby increasing the load of the motor and affecting the drive current. Here, when the inner surface of the scraping strip abuts against the rotary brush, the second abutting pressure is positively correlated with the drive current. Therefore, the second abutting pressure can be determined based on the drive current for driving the rotary brush.

[0239] Using the drive current of the rotary brush and / or the drive current for driving the scraping strip to rotate by the drive assembly to characterize the second abutting pressure eliminates the need to add a pressure sensor to sense the second abutting pressure, simplifies the design of the cleaning device, and reduces the cost of the cleaning device.

[0240] In some embodiments, as Figure 4 shown, the method further includes:

[0241] Step 401: Control the scraping strip to perform the linear movement and the swinging to clean the surface to be cleaned.

[0242] In a possible implementation, the scraping strip performing the linear movement and the swinging to clean the surface to be cleaned may include:

[0243] The scraping strip performs a linear movement and a swing to achieve the cleaning of the surface to be cleaned.

[0244] The scraping strip performs a linear movement and a swing, and combines with the movement of the cleaning device to achieve the cleaning of the surface to be cleaned.

[0245] Exemplarily, the scraping strip can perform a linear movement so that the second end of the scraping strip abuts against the surface to be cleaned, and through the swing of the scraping strip, the second end of the scraping strip can scrape off the stains on the surface to be cleaned.

[0246] Exemplarily, the scraping strip can perform a linear movement and a swing so that the scraping strip abuts against the surface to be cleaned at a specific angle, and through the movement of the cleaning device (such as the movement in the first traveling direction and / or the second traveling direction), the second end of the scraping strip can scrape off the stains on the surface to be cleaned.

[0247] Generally, during the movement of the cleaning device, the connecting member can keep the scraping strip in a non-contact state with the surface to be cleaned, and clean the surface to be cleaned through the cleaning member. When it is necessary to use the scraping strip to clean the surface to be cleaned, the connecting member can move towards the surface to be cleaned, so that the scraping strip abuts against the surface to be cleaned, and at least through the swing of the scraping strip, the cleaning of the cleaning surface is achieved.

[0248] In this way, by performing a linear movement and a swing of the scraping strip, the cleaning method of the scraping strip for the surface to be cleaned can be flexibly adjusted, the flexibility of the cleaning device for cleaning the surface to be cleaned is improved, different cleaning scenarios are adapted, and the user experience is enhanced.

[0249] In some embodiments, controlling the scraper bar to move linearly and swing to clean the surface to be cleaned includes:

[0250] Controlling the driving assembly to drive the scraper bar to swing at least once, so as to use the second end of the scraper bar to clean the stains on the surface to be cleaned;

[0251] The driving assembly is controlled to drive the connecting member to perform the linear movement, so as to adjust the interference amount between the second end of the scraper strip and the surface to be cleaned.

[0252] In some cleaning scenarios, the cleaning member includes a roller brush with a velvet surface, which has a small friction force on the ground stains, so the cleaning effect is not good for some stains stuck on the surface to be cleaned. Therefore, the stains on the surface to be cleaned can be cleaned by reciprocating the scraper bar. Since the second end of the scraper bar abuts against the surface to be cleaned, the second end of the scraper bar and the surface to be cleaned generate a large friction force, which can remove the stains on the surface to be cleaned that are difficult to clean.

[0253] In a possible implementation, the user may instruct the controller to control the drive assembly to drive the scraper bar to swing at least once through a control instruction. For example, the user may push and pull the cleaning device so that the stain is within the cleaning range of the scraper bar, and then the user may instruct the scraper bar to swing through a control instruction to clean the stain.

[0254] In a possible implementation, the number of swings of the scraper bar can be preset, or the user can instruct the controller through a control instruction. For stains that are difficult to remove, a larger number of swings of the scraper bar can be used.

[0255] The angle at which the scraper bar swings is positively correlated with the cleaning range of the scraper bar on the surface to be cleaned. Figure 5 As shown, since the second end of the scraper bar rotates around the first end of the scraper bar to realize the swing of the scraper bar, the interference between the second end and the surface to be cleaned will change during the swing of the scraper bar, and / or the second end will be out of contact with the surface to be cleaned when the swing angle of the scraper bar (the angle between the scraper bar and the vertical line of the surface to be cleaned) exceeds a certain range. Too small interference or the second end being out of contact with the surface to be cleaned will weaken the cleaning effect of the stains, and too large interference will increase the resistance to the swing of the scraper bar and hinder the swing of the scraper bar.

[0256] Therefore, during the swinging process of the scraper strip, and / or when adjusting the swinging range, the drive assembly can be controlled to drive the connecting member to drive the scraper strip to move in a straight line (towards the surface to be cleaned or away from the cleaning surface) to adjust the interference amount between the second end of the scraper strip and the surface to be cleaned.

[0257] For example, Figure 5As shown, the connecting piece is in the first position, and the cleaning range of the scraping strip on the surface to be cleaned is W1. In this scenario, during the swinging process of the scraping strip, the interference amount between the second end of the scraping strip and the surface to be cleaned is within the predetermined interference amount range. As Figure 6 shown, if it is necessary to expand the cleaning range to W2, it is necessary to increase the swinging angle of the scraping strip. Then, the interference amount between the second end of the scraping strip and the surface to be cleaned will decrease, and even the second end of the scraping strip will be disengaged from the surface to be cleaned. Therefore, the connecting piece can drive the scraping strip to move towards the surface to be cleaned (as shown by arrow A) until the connecting piece is in Figure 6 the second position shown to enable the scraping strip to clean the cleaning range W2. On the contrary, if the cleaning range of the scraping strip on the surface to be cleaned needs to be switched from Figure 6 W2 shown to Figure 5 W1 shown, there may be a situation where the interference amount between the second end of the scraping strip and the surface to be cleaned is too large. The connecting piece can move from Figure 6 the second position shown to Figure 5 the first position shown to reduce the interference amount between the second end of the scraping strip and the surface to be cleaned.

[0258] In a possible implementation, different positions of the connecting piece correspond to different cleaning ranges of the scraping strip on the surface to be cleaned.

[0259] Here, by adjusting the interference amount between the second end of the scraping strip and the surface to be cleaned, the frictional force between the scraping strip and the surface to be cleaned can be adjusted. The greater the frictional force, the better the cleaning effect on the stains attached to the surface to be cleaned. Therefore, the cleaning device can adopt a larger interference amount for stubborn stains.

[0260] In a possible implementation, the cleaning device can identify the stains or the areas that have been cleaned to identify the stubborn stains on the surface to be cleaned, and clean the stubborn stains by increasing the interference amount between the second end of the scraping strip and the surface to be cleaned, thereby improving the cleaning effect. By adjusting the interference amount between the second end of the scraping strip and the surface to be cleaned, the cleaning requirements for different types of stains can be met, and the stain cleaning effect can be improved.

[0261] In this way, the dirt on the surface to be cleaned can be cleaned by swinging the scraping strip, and the interference amount between the second end of the scraping strip and the surface to be cleaned can meet the cleaning requirements of the dirt by driving the scraping strip to move linearly by the connecting piece, thereby improving the cleaning effect of the scraping strip on the surface to be cleaned, and different cleaning ranges can be adopted to adapt to different cleaning scenarios, enhancing the user experience.

[0262] In some embodiments, when the scraping strip abuts against the surface to be cleaned, the swinging angle between the scraping strip and the perpendicular line of the surface to be cleaned during the swinging of the scraping strip is positively correlated with the moving distance of the connecting piece towards the surface to be cleaned during the linear movement.

[0263] Here, the connecting member can drive the squeegee to move towards or away from the surface to be cleaned by linear movement (for example, in a linear direction perpendicular to the surface to be cleaned or in a linear direction at a predetermined angle to the surface to be cleaned).

[0264] When the squeegee is in contact with the surface to be cleaned and swings to clean the surface to be cleaned, the controller can control the connecting member to drive the squeegee to move towards the surface to be cleaned in real time based on the swing angle of the squeegee, so as to adjust the interference amount between the second end of the squeegee and the surface to be cleaned.

[0265] Exemplarily, as Figure 7 and Figure 8 shown, the swing angle α1 is greater than the swing angle α2. When the squeegee swings, the swing angle between the squeegee and the perpendicular line of the surface to be cleaned changes from α1 to α2. Since the swing angle of the squeegee becomes larger, the interference amount between the second end of the squeegee and the surface to be cleaned will decrease, and even the second end of the squeegee will be separated from the surface to be cleaned. Therefore, the connecting member can drive the squeegee to move towards the surface to be cleaned (in the direction shown by arrow A) to keep the interference amount between the second end of the squeegee and the surface to be cleaned in an interference state (for example, keep the interference amount between the second end of the squeegee and the surface to be cleaned within a predetermined interference range). When the squeegee swings, the swing angle between the squeegee and the perpendicular line of the surface to be cleaned changes from α2 to α1. Since the swing angle of the squeegee becomes smaller, the interference amount between the second end of the squeegee and the surface to be cleaned will increase and exceed the predetermined interference range. At this time, the connecting member can drive the squeegee to move away from the surface to be cleaned (in the opposite direction of the arrow A shown) to keep the interference amount between the second end of the squeegee and the surface to be cleaned within the predetermined interference range.

[0266] In this way, the distance that the connecting member moves towards the surface to be cleaned is adjusted based on the swing angle, so as to reduce the change in the interference amount between the second end of the squeegee and the surface to be cleaned caused by the swing of the squeegee, thereby improving the cleaning effect of the squeegee on the surface to be cleaned, and being able to adopt different cleaning ranges to adapt to different cleaning scenarios and enhance the user experience.

[0267] In some embodiments, controlling the squeegee to perform the linear movement and the swing to clean the surface to be cleaned includes:

[0268] Determining to clean the angular area between the obstacle and the surface to be cleaned. When the second end is not in contact with the surface to be cleaned, controlling the driving assembly to drive the second end of the squeegee to swing in the first traveling direction, so that the second end extends out of the front side surface until the distance between the second end and the obstacle is a first spaced distance, where the front side surface includes the foremost end of the floor brush assembly in the first traveling direction;

[0269] When the second end of the squeegee is at a first interval distance from the obstacle, control the driving assembly to drive the connecting member to perform the linear movement, so that the second end of the squeegee abuts against the surface to be cleaned, so that when the floor brush assembly moves in the second advancing direction, the stains between the squeegee and the cleaning member are cleaned, wherein the first advancing direction is opposite to the second advancing direction.

[0270] Here, the included angle area may include: the included angle area between the surface to be cleaned (such as the ground) and the wall, the included angle area between furniture (such as the legs of a table or chair) and the surface to be cleaned (such as the ground), etc. When cleaning the included angle area between an obstacle (such as a wall, furniture, etc.) and the surface to be cleaned, as Figure 9 shown, limited by the shape of the floor brush assembly and / or the cleaning member, the cleaning member cannot extend into the included angle area, thus creating a cleaning blind spot. Here, a squeegee can be used to clean the included angle area.

[0271] In a possible implementation, the first interval distance is greater than or equal to 0. When the first interval distance is 0, the second end of the squeegee can abut against the obstacle.

[0272] As Figure 9 and Figure 10 shown, when the cleaning device moves to the included angle area (the squeegee is in a state of not contacting the surface to be cleaned), the controller can control the driving assembly to drive the squeegee to swing in the first advancing direction (that is, the direction towards the obstacle), and the squeegee extends out of the front end of the floor brush assembly, so that the squeegee is closer to the obstacle. After the squeegee extends out of the front end of the floor brush assembly, the controller can control the driving assembly to drive the connecting member to move towards the surface to be cleaned (as Figure 10 shown by arrow A), so that the second end of the squeegee can abut against the surface to be cleaned. In this way, the second end of the squeegee can extend into the included angle area.

[0273] After the second end of the squeegee can extend into the included angle area, the cleaning device can move in the second advancing direction (the direction away from the obstacle), so that the squeegee can scrape the stains in the included angle area away from the included angle area, and then the cleaning member cleans the stains.

[0274] In this way, through the linear movement and swinging of the squeegee, the squeegee can extend into the included angle area to clean the included angle area, reduce the cleaning blind spot, and improve the user experience.

[0275] In some embodiments, the method further includes:

[0276] Determine that the second end of the squeegee abuts against the surface to be cleaned, and control the driving assembly to drive the second end of the squeegee to swing in the second advancing direction to scrape the stains between the squeegee and the cleaning member towards the cleaning member.

[0277] Here, the second end of the squeegee can swing in the second advancing direction (towards the cleaning member) to scrape the stains between the squeegee and the cleaning member towards the cleaning member.

[0278] In a possible implementation, during the swinging of the second end of the squeegee in the second advancing direction, the second end of the squeegee remains in contact with the surface to be cleaned.

[0279] In a possible implementation, during the cleaning of the included angle area, after the squeegee extends into the included angle area, it can swing in the second advancing direction to scrape the stains in the included angle area towards the cleaning member.

[0280] In a possible implementation, when the cleaning device is cleaning in the first advancing direction and stops moving in the first advancing direction, the squeegee can be brought into contact with the surface to be cleaned by the connecting member and swing in the second advancing direction to scrape the stains between the squeegee and the cleaning member towards the cleaning member.

[0281] In a possible implementation, as in any of the above embodiments, during the swinging of the squeegee, the connecting member can drive the squeegee to move along with the swinging angle of the squeegee, so that the squeegee maintains an interference fit with the surface to be cleaned and maintains the scraping effect on the stains.

[0282] In a possible implementation, the squeegee can directly scrape the stains to the bottom of the cleaning member for cleaning by the cleaning member.

[0283] In this way, through the swinging of the squeegee, the stains between the squeegee and the cleaning member can be scraped towards the cleaning member, thereby reducing the situation where the cleaning member cannot clean the stains between the squeegee and the cleaning member, reducing the cleaning blind area, improving the cleaning effect, and enhancing the customer experience.

[0284] In some embodiments, the method further includes: based on a first characterization parameter of a first contact pressure generated when the second end of the squeegee contacts the surface to be cleaned, adjusting the distance that the connecting member moves linearly towards the surface to be cleaned so that the first contact pressure is within a first contact pressure range.

[0285] Since the second end of the squeegee frequently rubs against the surface to be cleaned, the second end of the squeegee will wear. Therefore, if the moving distance of the connecting member is a fixed value, when the second end of the squeegee wears significantly, the second end of the squeegee may not be able to contact the cleaning surface, or the interference fit may be small when contacting. Therefore, the controller can adjust the connecting member based on the characterization parameter of the contact pressure so that the second end of the squeegee can contact the surface to be cleaned.

[0286] In a possible implementation, the first characterization parameter includes the first contact pressure.

[0287] As Figure 11As shown, when the second end of the squeegee contacts the surface to be cleaned, the squeegee and the connecting member will bear a first contact pressure (as shown by arrow F). The controller can sense the first contact pressure through a sensor or the like to obtain a first characterization parameter. Then, based on the first characterization parameter, the moving direction and / or moving distance of the connecting member can be adjusted so that the first contact pressure is within the first contact pressure range.

[0288] In a possible implementation, the first characterization parameter can be the pressure value sensed by the pressure sensor. The pressure sensor can be disposed on the connecting member to sense the first contact pressure.

[0289] In this way, through the first characterization parameter, the first contact pressure generated when the second end of the squeegee contacts the surface to be cleaned can be determined. Then, the moving distance of the connecting member can be adjusted so that the first contact pressure when the second end of the squeegee contacts the surface to be cleaned is within the first contact pressure range, improving the cleaning effect of the squeegee.

[0290] In some embodiments, the first characterization parameter includes the drive current of the drive assembly for driving the connecting member to perform the linear movement.

[0291] Here, the drive assembly can include a motor or the like. The motor drives the connecting member to drive the squeegee to move. The first contact pressure generated when the second end of the squeegee contacts the surface to be cleaned will act on the connecting member in the opposite direction to prevent the movement of the connecting member, thereby increasing the load of the motor and affecting the drive current. Here, when the second end of the squeegee contacts the surface to be cleaned, the first contact pressure is positively correlated with the drive current. Therefore, the first contact pressure can be determined based on the drive current of the drive assembly for driving the connecting member to perform the linear movement.

[0292] Characterizing the first contact pressure based on the drive current of the drive assembly eliminates the need to add a pressure sensor for sensing, simplifies the design of the cleaning device, and reduces the cost of the cleaning device.

[0293] An embodiment of the present disclosure also provides a cleaning device, which includes a controller and the components included in the cleaning device in any of the above embodiments. The controller is configured to execute the method in any of the above embodiments.

[0294] The specific implementation manner of the controller for executing the cleaning device control method is as described in any of the above embodiments, and will not be elaborated here.

[0295] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning device in the above embodiments. The implementation principle and technical effects are similar, and will not be elaborated here in this embodiment.

[0296] The above computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disk. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0297] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a master control device.

[0298] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes various media that can store program codes, such as ROM, RAM, magnetic disks, or optical disks.

[0299] The embodiments or implementation manners in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0300] In the description of this specification, the descriptions with reference to "one implementation manner", "some implementation manners", "illustrative implementation manners", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the implementation manner or example are included in at least one implementation manner or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same implementation manner or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more implementation manners or examples.

[0301] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning equipment control method, characterized in that: The cleaning device comprises: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided on the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraping bar assembly, the scraping bar assembly comprises a driving assembly, a connecting member and a scraping bar, the scraping bar is arranged at the front side of the cleaning member in a first direction of travel, the first end of the scraping bar is rotatably connected to the connecting member, the driving assembly is used to drive the connecting member to drive the scraping bar to move linearly in the direction of the surface to be cleaned, and the driving assembly is also used to drive the scraping bar to swing; the second ends of the cleaning member and the scraping bar are used to clean the surface to be cleaned; The method comprises: The scraper bar is controlled to perform the linear movement and the swing to clean the surface to be cleaned.

2. The method according to claim 1, characterized in that The step of controlling the scraper bar to move linearly and swing to clean the surface to be cleaned comprises: Controlling the driving assembly to drive the scraper bar to swing at least once, so as to use the second end of the scraper bar to clean the stains on the surface to be cleaned; The driving assembly is controlled to drive the connecting member to perform the linear movement, so as to adjust the interference amount between the second end of the scraper strip and the surface to be cleaned.

3. The method according to claim 1, characterized in that The step of controlling the scraper bar to move linearly and swing to clean the surface to be cleaned comprises: Determine to clean the angle area between the obstacle and the surface to be cleaned, and when the second end is not in contact with the surface to be cleaned, control the driving assembly to drive the second end of the scraper to swing in the first direction of travel, so that the second end extends out of the front side until the second end is at a first spacing distance from the obstacle, wherein the front side includes the front end of the floor brush assembly in the first direction of travel; When the second end is at a first spacing distance from the obstacle, the driving assembly is controlled to drive the connecting member to move in a straight line so that the second end of the scraping strip abuts against the surface to be cleaned, so that the floor brush assembly cleans the stains between the scraping strip and the cleaning member when moving in a second moving direction, wherein the first moving direction is opposite to the second moving direction.

4. The method according to claim 3, characterized in that The method further comprises: Determine that the second end of the scraper bar abuts against the surface to be cleaned, and control the driving assembly to drive the second end of the scraper bar to swing in a second moving direction to scrape the stains between the scraper bar and the cleaning member toward the cleaning member.

5. The method according to any one of claims 2 to 4, characterized in that: When the scraper bar contacts the surface to be cleaned, the swing angle between the scraper bar and the perpendicular line of the surface to be cleaned when the scraper bar swings is positively correlated with the distance the connecting member moves toward the surface to be cleaned when the connecting member moves in a straight line.

6. The method according to any one of claims 1 to 4, characterized in that: The method further includes: based on a first characterizing parameter of a first abutting pressure generated when the second end of the scraper strip abuts against the surface to be cleaned, adjusting the distance that the connecting member moves toward the surface to be cleaned during the linear movement so that the first abutting pressure is within a first abutting pressure range.

7. The method according to claim 6, characterized in that The first characterization parameter includes a driving current used by the driving component to drive the connecting member to perform the linear movement.

8. The method according to any one of claims 1 to 4, characterized in that: The cleaning member comprises a roller brush arranged parallel to the scraper strip, and the method further comprises: The scraper strip is controlled to perform the linear movement and the swing toward the second travel direction, so that the scraper strip abuts against the inner surface of the roller brush toward the inner surface of the roller brush to clean the inner surface of the scraper strip through the roller brush, wherein the first travel direction is opposite to the second travel direction.

9. The method according to claim 8, characterized in that The controlling the scraper strip to perform the linear movement and the swinging so that the scraper strip abuts against the inner surface of the roller brush includes at least one of the following: Controlling the driving assembly to drive the connecting member to move linearly to the first position, and then controlling the driving assembly to drive the scraper strip to swing toward the second travel direction to the second position, so that the inner surface of the scraper strip abuts against the roller brush; The driving assembly is controlled to drive the scraper strip to swing toward the second travel direction to the second position, and then the driving assembly is controlled to drive the connecting member to move linearly to the first position, so that the inner surface of the scraper strip abuts against the roller brush.

10. The method according to claim 8, characterized in that The method further includes: adjusting the swing angle of the scraper strip based on a second characterizing parameter of a second abutting pressure generated when the inner surface of the scraper strip abuts against the roller brush, so that the second abutting pressure is within a second abutting pressure range.

11. The method according to claim 10, characterized in that The second characterization parameter includes at least one of the following: a driving current of the roller brush, and a driving current of the driving component driving the scraper strip to rotate.

12. A cleaning equipment control method, characterized in that: The cleaning device comprises: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided on the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraping bar assembly, the scraping bar assembly comprises a driving assembly, a connecting member and a scraping bar, the scraping bar is arranged at the front side of the cleaning member in a first direction of travel, the first end of the scraping bar is rotatably connected to the connecting member, the driving assembly is used to drive the connecting member to drive the scraping bar to move linearly in the direction of the surface to be cleaned, and the driving assembly is also used to drive the scraping bar to swing; the second ends of the cleaning member and the scraping bar are used to clean the surface to be cleaned; the cleaning member comprises a roller brush arranged parallel to the scraping bar, and the method comprises: The scraper strip is controlled to perform the linear movement and the swing toward the second travel direction, so that the scraper strip abuts against the inner surface of the roller brush toward the inner surface of the roller brush to clean the inner surface of the scraper strip through the roller brush, wherein the first travel direction is opposite to the second travel direction.

13. The method according to claim 12, characterized in that The controlling the scraper strip to perform the linear movement and the swinging so that the scraper strip abuts against the inner surface of the roller brush includes at least one of the following: Controlling the driving assembly to drive the connecting member to move linearly to the first position, and then controlling the driving assembly to drive the scraper strip to swing toward the second travel direction to the second position, so that the inner surface of the scraper strip abuts against the roller brush; The driving assembly is controlled to drive the scraper strip to swing toward the second travel direction to the second position, and then the driving assembly is controlled to drive the connecting member to move linearly to the first position, so that the inner surface of the scraper strip abuts against the roller brush.

14. The method according to claim 12, characterized in that The method further includes: adjusting the swing angle of the scraper strip based on a second characterizing parameter of a second abutting pressure generated when the inner surface of the scraper strip abuts against the roller brush, so that the second abutting pressure is within a second abutting pressure range.

15. The method according to any one of claims 12 to 14, characterized in that The method further comprises: The scraper bar is controlled to perform the linear movement and the swing to clean the surface to be cleaned.

16. The method according to claim 15, characterized in that The step of controlling the scraper bar to move linearly and swing to clean the surface to be cleaned comprises: Controlling the driving assembly to drive the scraper bar to swing at least once, so as to use the second end of the scraper bar to clean the stains on the surface to be cleaned; The driving assembly is controlled to drive the connecting member to perform the linear movement, so as to adjust the interference amount between the second end of the scraper strip and the surface to be cleaned.

17. The method according to claim 15, characterized in that The step of controlling the scraper bar to move linearly and swing to clean the surface to be cleaned comprises: Determine to clean the angle area between the obstacle and the surface to be cleaned, and when the second end is not in contact with the surface to be cleaned, control the driving assembly to drive the second end of the scraper to swing in the first direction of travel, so that the second end extends out of the front side until the second end is at a first spacing distance from the obstacle, wherein the front side includes the front end of the floor brush assembly in the first direction of travel; When the second end is at a first spacing distance from the obstacle, the driving assembly is controlled to drive the connecting member to move in a straight line so that the second end of the scraping strip abuts against the surface to be cleaned, so that the floor brush assembly cleans the stains between the scraping strip and the cleaning member when moving in a second moving direction, wherein the first moving direction is opposite to the second moving direction.

18. The method according to claim 17, characterized in that The method further comprises: Determine that the second end of the scraper bar abuts against the surface to be cleaned, and control the driving assembly to drive the second end of the scraper bar to swing in a second moving direction to scrape the stains between the scraper bar and the cleaning member toward the cleaning member.

19. The method according to claim 16, characterized in that When the scraper bar contacts the surface to be cleaned, the swing angle between the scraper bar and the perpendicular line of the surface to be cleaned when the scraper bar swings is positively correlated with the distance the connecting member moves toward the surface to be cleaned when the connecting member moves in a straight line.

20. The method according to claim 16, characterized in that The method also includes: based on a first characterizing parameter of a first abutting pressure generated when the second end of the scraper strip abuts against the surface to be cleaned, adjusting the distance that the connecting member moves toward the surface to be cleaned during the linear movement so that the first abutting pressure is within a first abutting pressure range; the first characterizing parameter includes a driving current used by the driving component to drive the connecting member to perform the linear movement.

21. A cleaning device, characterized in that: The cleaning device comprises: a controller, a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided on the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraping bar assembly, the scraping bar assembly comprises a driving assembly, a connecting member and a scraping bar, the scraping bar is arranged at the front side of the cleaning member in a first direction of travel, the first end of the scraping bar is rotatably connected to the connecting member, the driving assembly is used to drive the connecting member to drive the scraping bar to move linearly in the direction of the surface to be cleaned, and the driving assembly is also used to drive the scraping bar to swing; the second ends of the cleaning member and the scraping bar are used to clean the surface to be cleaned; The controller is used to execute the method according to any one of claims 1 to 11.

22. A cleaning device, characterized in that: The cleaning device comprises: a controller, a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, a handle is provided on the top of the body assembly, the floor brush assembly can move on the surface to be cleaned, the floor brush assembly comprises a cleaning member and a scraping bar assembly, the scraping bar assembly comprises a driving assembly, a connecting member and a scraping bar, the scraping bar is arranged at the front side of the cleaning member in a first direction of travel, the first end of the scraping bar is rotatably connected to the connecting member, the driving assembly is used to drive the connecting member to drive the scraping bar to move linearly in the direction of the surface to be cleaned, and the driving assembly is also used to drive the scraping bar to swing; the second ends of the cleaning member and the scraping bar are used to clean the surface to be cleaned; the cleaning member comprises a roller brush arranged parallel to the scraping bar; The controller is used to execute the method according to any one of claims 12 to 20.

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