Cleaning equipment control method, controller and cleaning equipment

Abstract

The embodiment of the invention provides a control method of cleaning equipment, a controller and the cleaning equipment. The method comprises the steps that the controller can obtain and record the current value of the hair cutting assembly in real time through a built-in current monitoring module. The controller can analyze the change trend of the current value according to the collected current value. And if the current value tends to rise, the controller needs to adjust the suction force of the cleaning equipment and the moving speed of the hair cutting assembly, so that the wound hair can be better cut. The method is used for achieving the effect of improving the use efficiency of the cleaning equipment.

Description

Technical Field

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

[0002] The cleaning device may include a main unit and a floor brush, wherein the floor brush is provided with a roller brush, which rotates and uses the negative pressure suction provided by the main unit to suck away dirt on the floor. Since the floor usually has dirt such as hair, especially when the hair is long, the hair is easy to entangle on the roller brush, which will increase the load of the roller brush motor, and then increase the current of the roller brush motor, thereby causing the temperature of the roller brush motor to rise, affecting the service life of the roller brush motor.

[0003] In the related art, in order to protect the roller brush motor, the roller brush motor is provided with an overcurrent shutdown function, that is, when the current of the roller brush motor is too high due to hair entanglement, the roller brush motor automatically shuts down. Although this protects the roller brush motor, it will interrupt the user's vacuuming operation, thereby reducing the cleaning efficiency of the cleaning device, and the hair on the roller brush needs to be manually cleaned by the user, thereby increasing the user's usage burden. Summary of the invention

[0004] The present application provides a control method, a controller and a cleaning device for a cleaning device, so as to solve the problem of low cleaning efficiency caused by hair entanglement of a floor brush.

[0005] In a first aspect, the present application provides a control method for a cleaning device, which is applied to the cleaning device, wherein the cleaning device includes a roller brush and a hair cutting component, and the hair cutting component reciprocates along the axial direction of the roller brush, comprising:

[0006] Acquiring and recording the current value of the hair cutting component during the movement;

[0007] If it is determined that the current value of the hair cutting component increases during the movement, the suction force of the cleaning device and the moving speed of the hair cutting component are adjusted according to the current value.

[0008] The present application adjusts the suction force of the cleaning device and the moving speed of the hair cutting component by obtaining the current value of the hair cutting component during the movement, so that the hair cutting component can efficiently cut the hair entangled on the roller brush, thereby improving the use efficiency of the cleaning device.

[0009] Optionally, determining that the current value of the hair cutting assembly increases during the movement comprises:

[0010] Determining a reference value according to the moving speed of the hair cutting component at the current moment;

[0011] If within the first preset time period, the duration during which the current value is greater than the reference value is greater than the second preset time period, it is determined that the current value increases during the movement process.

[0012] The present application determines whether the current value has increased based on the moving speed of the hair cutting component at the current moment, thereby improving the accuracy of determining whether the hair cutting component encounters the hair entangled on the roller brush.

[0013] Optionally, adjusting the suction force of the cleaning device and the moving speed of the hair cutting assembly according to the current value comprises:

[0014] According to the current value, determining the current value after the increase;

[0015] Determining the winding density of the hair on the roller brush according to the increased current value;

[0016] Determining an adjusted target suction force and a target moving speed according to the winding density and a first mapping table; the first mapping table indicates a mapping relationship between the winding density and the target suction force and the target moving speed;

[0017] The suction force of the cleaning device is adjusted to the target suction force, and the moving speed of the hair cutting assembly is adjusted to the target moving speed.

[0018] The present application realizes the determination of the target suction force and the target moving speed based on the increased current value, thereby improving the accuracy and adjustment efficiency of the corresponding changes of the suction force and the moving speed when the current value changes.

[0019] Optionally, determining the increased current value according to the current value includes:

[0020] The increased current value is determined according to an average of the current values ​​greater than the reference value within the first preset time period.

[0021] The present application realizes the calculation of the current value after the increase by calculating the mean value, improves the calculation accuracy of the current value, and avoids the influence of the current fluctuation itself.

[0022] Optionally, determining the winding density of the hair on the roller brush according to the increased current value includes:

[0023] The winding density of the hair on the roller brush is determined according to the increased current value and the second mapping table; the second mapping table includes a plurality of current intervals, each of which corresponds to a winding density.

[0024] The present application realizes the determination of the winding density through a mapping table and the current interval in the mapping table, thereby improving the determination efficiency and further improving the adjustment efficiency in the present application.

[0025] Optionally, the method further includes:

[0026] After adjusting the moving speed, if it is determined that the current value of the hair cutting assembly is stable during the moving process, the hair cutting assembly is controlled to move in the reverse direction.

[0027] The present application realizes verification of the hair cutting effect in the hair entanglement area by controlling the hair cutting component to move in the reverse direction, thereby improving the hair cutting efficiency.

[0028] Optionally, the method further includes:

[0029] After controlling the hair cutting assembly to move in the reverse direction, if it is determined that the current value of the hair cutting assembly is stable during the movement, the suction force of the cleaning device is adjusted to the initial suction force, and the moving speed of the hair cutting assembly is adjusted to the initial moving speed.

[0030] This application reduces the energy consumption of the cleaning equipment and increases the use time of the cleaning equipment by lowering the suction force and the moving speed after the cutting is completed.

[0031] Optionally, determining that the current value of the hair cutting assembly is stable during the movement comprises:

[0032] Determining a reference range according to the moving speed of the hair cutting assembly at the current moment;

[0033] If the current value is within the reference range within the first preset time period, it is determined that the current value is stable during the movement;

[0034] The upper limit value of the reference range is a reference value.

[0035] The present application realizes the judgment of the stability of the current value by setting the reference range, avoids the influence of the current value fluctuation, and improves the cleaning efficiency of the cleaning equipment.

[0036] Optionally, the method further includes:

[0037] If the current value after the increase is greater than or equal to the preset threshold, the cleaning device is controlled to stop cleaning and an alarm message is sent; the alarm message is used to indicate that too much hair is entangled on the roller brush of the cleaning device.

[0038] This application, by setting preset thresholds and alarms, enables users to be reminded to perform manual processing when problems that cannot be solved by the cleaning equipment itself occur.

[0039] Optionally, the method further includes:

[0040] If the moving speed of the hair cutting component in the cleaning device is the initial moving speed and the current value of the hair cutting component is stable during the movement, then when the hair cutting component moves to the end of the roller brush, the hair cutting component is controlled to move in the reverse direction.

[0041] The present application detects whether hair is entangled on the roller brush by reciprocating along the roller brush at the initial moving speed, thereby achieving timely processing of the entangled hair and improving the cleaning effect.

[0042] In a second aspect, the present application provides a control device for a cleaning device, which is applied to the cleaning device, wherein the cleaning device includes a roller brush and a hair cutting assembly, and the hair cutting assembly reciprocates along the axial direction of the roller brush, including:

[0043] An acquisition module, used for acquiring and recording the current value of the hair cutting component during the movement;

[0044] The control module is used to adjust the suction force of the cleaning device and the moving speed of the hair cutting component according to the current value when determining that the current value of the hair cutting component increases during the movement.

[0045] Optionally, the control module is used to:

[0046] Determining a reference value according to the moving speed of the hair cutting component at the current moment;

[0047] If within the first preset time period, the duration for which the current value is greater than the reference value is greater than the second preset time period, it is determined that the current value increases during the movement process.

[0048] Optionally, the control module is used to:

[0049] According to the current value, determine the current value after the increase;

[0050] According to the current value after the increase, the winding density of the hair on the roller brush is determined;

[0051] Determine the adjusted target suction force and target moving speed according to the winding density and the first mapping table; the first mapping table indicates the mapping relationship between the winding density and the target suction force and the target moving speed;

[0052] The suction force of the cleaning device is adjusted to a target suction force, and the moving speed of the hair cutting component is adjusted to a target moving speed.

[0053] Optionally, the control module is used to:

[0054] The increased current value is determined according to an average of current values ​​greater than the reference value within the first preset time period.

[0055] Optionally, the control module is used to:

[0056] The winding density of the hair on the roller brush is determined according to the increased current value and the second mapping table; the second mapping table includes a plurality of current intervals, each current interval corresponding to a winding density.

[0057] Optionally, the control module is used to:

[0058] After adjusting the moving speed, if it is determined that the current value of the hair cutting assembly is stable during the moving process, the hair cutting assembly is controlled to move in the reverse direction.

[0059] Optionally, the control module is used to:

[0060] After the hair cutting assembly is controlled to move in the reverse direction, if it is determined that the current value of the hair cutting assembly is stable during the movement, the suction force of the cleaning device is adjusted to the initial suction force, and the moving speed of the hair cutting assembly is adjusted to the initial moving speed.

[0061] Optionally, the control module is used to:

[0062] Determining a reference range according to the moving speed of the hair cutting component at the current moment;

[0063] If the current value is within the reference range within the first preset time period, it is determined that the current value is stable during the movement;

[0064] Among them, the upper limit value of the reference range is the reference value.

[0065] Optionally, the control module is used to:

[0066] If the increased current value is greater than or equal to a preset threshold, the cleaning device is controlled to stop cleaning and an alarm message is sent; the alarm message is used to indicate that too much hair is entangled on the roller brush of the cleaning device.

[0067] Optionally, the control module is used to:

[0068] If the moving speed of the hair cutting component in the cleaning device is the initial moving speed and the current value of the hair cutting component is stable during the moving process, when the hair cutting component moves to the end of the roller brush, the hair cutting component is controlled to move in the reverse direction.

[0069] In a third aspect, the present application provides an electronic device, including: a memory and a processor;

[0070] The memory is used to store a computer program; the processor is used to execute the computer program stored in the memory to implement the method in the first aspect and any one of the embodiments of the first aspect.

[0071] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method in the first aspect and any one of the embodiments of the first aspect is implemented.

[0072] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method in the first aspect and any one of the embodiments of the first aspect.

[0073] The control method, controller and cleaning device of the cleaning device provided in the present application acquire and record the current value of the hair cutting component in real time through a built-in current monitoring module; analyze the change trend of the current value based on the acquired current value, and when the current value shows an upward trend, adjust the suction force of the cleaning device and the moving speed of the hair cutting component to achieve a better cutting method for the entangled hair, thereby improving the cleaning efficiency of the cleaning device and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0075] Figure 1 A schematic diagram of a floor brush structure provided in one embodiment of the present application;

[0076] Figure 2 A schematic diagram of the structure of a hair cutting assembly provided in one embodiment of the present application;

[0077] Figure 3 A schematic diagram of a control method for a cleaning device provided in an embodiment of the present application Figure 1 ;

[0078] Figure 4 A schematic diagram of a control method for a cleaning device provided in an embodiment of the present application Figure 2 ;

[0079] Figure 5 A schematic diagram of a control example of a cleaning device provided in one embodiment of the present application;

[0080] Figure 6 A schematic diagram of the structure of a control device for a cleaning device provided in one embodiment of the present application;

[0081] Figure 7 A schematic diagram of the structure of a controller provided in one embodiment of the present application.

[0082] Reference numerals

[0083] 100 - housing; 200 - roller brush; 300 - hair cutting assembly; 310 - driving motor; 320 - transmission unit; 330 - cutting element. DETAILED DESCRIPTION

[0084] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0085] Since the ground usually has dirt such as hair, especially when the hair is long, the hair is easy to entangle on the roller brush, which will increase the load of the roller brush motor, and then increase the current of the roller brush motor, which will cause the temperature of the roller brush motor to rise, affecting the service life of the roller brush motor. In the related art, in order to protect the roller brush motor, the roller brush motor is provided with an overcurrent shutdown function, that is, when the current of the roller brush motor is too high due to the entanglement of hair on the roller brush, the roller brush motor automatically shuts down. Although this protects the roller brush motor, it will interrupt the user's vacuuming operation, thereby reducing the cleaning efficiency of the cleaning device, and the hair on the roller brush needs to be manually cleaned by the user, which increases the user's usage burden.

[0086] In view of this, in the cleaning device provided in the embodiment of the present application, the floor brush automatically cuts the hair wrapped around the roller brush by setting a hair cutting component, thereby avoiding the shutdown of the cleaning device, thereby improving the cleaning efficiency of the cleaning device and reducing the operating burden of the user. Figure 1 As shown, it includes a housing 100, a roller brush 200 and a hair cutting assembly 300. The housing 100 is used to install the roller brush 200 and the hair cutting assembly 300 and the like.

[0087] The roller brush 200 is rotatably connected to the housing 100, so that when the floor brush moves on the surface to be cleaned, the roller brush 200 can roll and contact with the surface to be cleaned, thereby lifting dirt on the surface to be cleaned or scrubbing the surface to be cleaned. Since the roller brush 200 rotates continuously when the floor brush is working, when there is hair on the surface to be cleaned, the hair will inevitably be entangled on the roller brush 200. During the continuous rotation of the roller brush 200, the hair cutting assembly 300 can reciprocate along the axial direction of the roller brush 200. During the reciprocating motion of the hair cutting assembly 300, the hair entangled on the roller brush 200 can be automatically cut. At the same time, the suction force provided by the host of the cleaning device sucks the cut hair into the dust cup, thereby avoiding the influence of the hair on the roller brush and completing the cleaning of the hair.

[0088] Specifically, Figure 2 As shown, the hair cutting assembly 300 may include a driving motor 310, a transmission unit 320 and a cutting piece 330. The driving motor 310 is arranged inside the housing 100, and can provide a driving force, thereby driving the cutting piece 330 to move back and forth along the axial direction of the roller brush 200, so that the cutting piece 330 cuts off the hair wrapped around the roller brush 200. The transmission unit 320 is used to connect the driving motor 310 and the cutting piece 330, and stably transmit the driving force of the driving motor 310 to the cutting piece 330. The driving motor 310 can rotate forward or reverse. When the driving motor 310 rotates forward, the cutting piece 330 can be driven to move along the roller brush 200 to the first direction. When the driving motor 310 rotates forward, the cutting piece 330 can be driven to move along the roller brush 200 to the second direction. The first direction and the second direction are opposite directions. The forward and reverse rotation of the driving motor 310 realizes the reciprocating movement of the cutting piece.

[0089] Furthermore, the cleaning device may also include a controller. The controller can obtain the current value of the drive motor 310 during the movement of the cutting piece 330 in real time. The controller can judge the combing density of the hair wrapped around the roller brush 200 according to the size of the current value, so as to adjust the cutting speed of the cutting piece 330 so that the cutting piece 330 can better achieve hair cutting. And, the controller can also control the cutting piece 330 to cut back and forth to further judge whether the hair wrapped around the roller brush 200 has been cleaned. And, in this process, the controller can also adjust the suction force of the cleaning device according to the combing density of the wrapped hair, so that the cut hair can be quickly sucked into the dust cup. In addition, the controller can also judge whether there are other foreign objects wrapped around the roller brush according to the current value. If so, the controller can control the drive motor 310 to stop running and remind the user to manually clean the roller brush 200 by voice.

[0090] In the present application, the controller in the cleaning device can solve the problem of reduced cleaning efficiency caused by hair entangled on the roller brush 200 by controlling the moving speed of the cutting piece 330 in the hair cutting assembly 300 and the suction force of the cleaning device, thereby improving the cleaning efficiency of the cleaning device and improving the user experience.

[0091] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0092] Figure 3 Schematic diagram of the control method of the cleaning equipment provided in this application Figure 1 ,like Figure 3 As shown, the method includes:

[0093] S101, obtaining and recording the current value of the hair cutting component during the movement.

[0094] In this embodiment, the controller can obtain and record the current value of the hair cutting component in real time through the built-in current monitoring module.

[0095] Optionally, the hair cutting assembly may include a driving motor. The current value may be the current value of the driving motor during operation. The driving motor may drive the cutting member in the hair cutting assembly to move axially along the roller brush. During the movement of the cutting member, when there is no hair on the roller brush, the faster the moving speed of the cutting member is, the greater the current value of the driving motor is. When there is no hair on the roller brush, when the moving speed of the cutting member remains unchanged, the current value of the driving motor also remains unchanged. When there is hair on the roller brush, when the moving speed of the cutting member remains unchanged, the magnitude of the current value may be determined according to the degree of density of the hair entanglement on the roller brush. That is, the greater the hair entanglement density of the roller brush is, the greater the current the driving motor needs to use to drive the cutting member to maintain the moving speed.

[0096] Optionally, the current value may be stored in a memory of the controller.

[0097] S102: If it is determined that the current value of the hair cutting component increases during the movement, the suction force of the cleaning device and the moving speed of the hair cutting component are adjusted according to the increased current value.

[0098] In this embodiment, the controller can analyze the changing trend of the current value based on the collected current value. If the current value shows an upward trend, it means that entangled hair has appeared on the roller brush, or hair with a higher entanglement density has appeared on the roller brush. At this time, the controller needs to adjust the suction force of the cleaning device and the moving speed of the hair cutting component to achieve better cutting of the entangled hair. Specifically, when the entanglement density of the hair on the roller brush is greater, the controller can use a greater moving speed and a greater suction force to clean the hair.

[0099] In one example, the specific process of the controller determining that the current value of the hair cutting assembly increases during the movement may include:

[0100] Step 11: Determine a reference value according to the moving speed of the hair cutting component at the current moment.

[0101] In this step, the controller can obtain the moving speed of the hair cutting component at the current moment. Since the greater the moving speed of the hair cutting component is when there is no hair, the greater the current value is. Therefore, the controller can determine the current value corresponding to the moving speed when there is no hair based on the moving speed at the current moment. The current value is the reference value.

[0102] That is, when the hair cutting component is moving, if there is no hair entangled on the roller brush, the current value is the reference value when the hair cutting component maintains the moving speed. When the hair cutting component is moving, if there is hair entangled on the roller brush, the current value of the hair cutting component will increase in order to maintain the moving speed. The greater the density of the hair entangled on the roller brush, the greater the current value.

[0103] Step 12: If within the first preset time period, the duration during which the current value is greater than the reference value is greater than the second preset time period, it is determined that the current value increases during the movement process.

[0104] In this step, the controller can obtain a record of the current value within a first preset time length before the current moment. Optionally, the first preset time length can be a shorter time length. For example, the first preset time length can be a time length of 1s, 100ms, etc. Optionally, the first preset time length includes at least one sampling point of the current value. For example, when the sampling frequency of the current value is once every 100ms, the first preset time length can be 100ms, and at this time, the first preset time length includes 1 current value. For another example, when the sampling frequency of the current value is once every 100ms, the first preset time length can be 1s, and at this time, the first preset time length includes 10 current values.

[0105] The controller can compare the current value and the reference value within the first preset time. If there is a current value greater than the reference value within the first preset time, the controller can determine the duration of the current value greater than the reference value based on the current value greater than the reference value. For example, when the sampling frequency of the current value is once every 100ms, and there is 1 current value greater than the reference value, the duration is 100ms. For another example, when the sampling frequency of the current value is once every 100ms, and there are 5 current values ​​greater than the reference value, the duration is 500ms.

[0106] A second preset duration may be preset in the controller. The second preset duration is a duration threshold. The second preset duration may be determined based on the first preset duration. Optionally, the second preset duration may be determined based on the product of the first preset duration and the first proportional coefficient. For example, the first proportional coefficient may be 0.6, 0.8, 0.9, etc., which are greater than 0.5 and are relatively close to 1. For example, when the first preset duration is 1 s, the second preset duration may be 800 ms.

[0107] The controller can compare the duration with the second preset duration. If the duration is greater than the second preset duration, the controller determines that the current value increases during the movement. At this time, there are usually more hairs entangled on the roller. If the duration is less than or equal to the second preset duration, the controller determines that the current value does not increase during the movement. At this time, there may be a very small amount of hair entangled on the roller. This amount of hair is not worth the controller adjusting the moving speed and suction. Therefore, in this case, the controller can continue to cut the small amount of hair at the current moving speed and clean the cut hair with the current suction. Or, there may be no hair entangled on the roller at this time.

[0108] In another example, the specific process of the controller determining that the current value of the hair cutting component increases during the movement process may also include:

[0109] The controller obtains the current value obtained by two consecutive samplings. The first sampling may correspond to the first moment, and the second sampling may correspond to the second moment. If the current value at the first moment is less than the current value at the second moment, it means that the current value of the hair cutting component increases during the movement. At this time, there are usually a lot of hairs entangled on the roller. Otherwise, if the current value at the first moment is greater than or equal to the current value at the second moment, it means that the current value of the hair cutting component does not increase during the movement. At this time, there may be no hair entangled on the roller. Or, there may be a very small amount of hair entangled on the roller. This amount of hair is not worth the controller to adjust the moving speed and suction force.

[0110] In one example, when it is determined that the current value increases, the controller may adjust the suction force of the cleaning device and the moving speed of the hair cutting component according to the current value, and the specific process may include:

[0111] Step 21: Determine the current value after the increase according to the current value.

[0112] In this step, the controller can determine the current value after the increase based on the current value collected. Optionally, when the controller determines whether the current value increases based on the current value within the first preset time length, the controller can determine the current value after the increase based on the current value within the first preset time length. Optionally, when the controller determines whether the current value increases based on the current values ​​obtained by two adjacent samplings, the controller can use the current value at the second moment as the current value after the increase.

[0113] Specifically, when the controller determines the current value after the increase according to the current value within the first preset time period, the implementation method may include:

[0114] The controller may calculate the average of the current values ​​greater than the reference value within the first preset time length, and use the average as the current value after the increase. Alternatively, the controller may use the maximum current value of the first preset time length as the current value after the increase. Alternatively, the controller may use the median of the current values ​​greater than the reference value within the first preset time length as the current value after the increase. The controller may use the current value with the highest frequency of occurrence among the current values ​​greater than the reference value within the first preset time length as the current value after the increase.

[0115] Step 22: Determine the winding density of the hair on the roller brush according to the increased current value.

[0116] In this step, since the greater the winding density of the hair on the roller brush is when the moving speed of the hair cutting assembly remains unchanged, the greater the current value is, the controller can determine the winding density of the hair on the roller brush according to the increased current value.

[0117] In one implementation, a second mapping table may be preset in the controller. The second mapping table may include multiple current intervals. Each current interval may correspond to a winding density. The winding density may be divided into multiple levels such as primary, secondary, and tertiary. The number of levels of the winding density may correspond to the number of current intervals. The smaller the level, the lower the winding density. Otherwise, the higher the level, the greater the winding density. For example, the winding density corresponding to the first level is smaller than that of the second level, and the winding density corresponding to the second level is smaller than that of the third level. At this time, the controller may determine the level of the winding density of the hair on the roller brush according to the increased current value and the second mapping table.

[0118] In another implementation, a third mapping table may be preset in the controller. The third mapping table may include multiple current values. Each current value may correspond to a density value of a winding density. If the current value obtained by the controller is between two current values ​​in the third mapping table, the controller may calculate the density value of the winding density corresponding to the obtained current value by interpolation. The smaller the density value, the less hair is wound around the roller brush. Otherwise, the larger the density value, the more hair is wound around the roller brush.

[0119] In another implementation, a calculation formula may be preset in the controller, and the controller may directly calculate the density value according to the calculation formula and the current value.

[0120] In another implementation, after the controller calculates the density value, the controller can determine the level of winding density corresponding to the density value through a fourth mapping table. The fourth mapping table can include multiple intervals of density values. Each interval of density values ​​can correspond to a level. The controller can determine the level of winding density according to the interval corresponding to the density value.

[0121] Step 23: Determine the adjusted target suction force and target moving speed according to the winding density and the first mapping table. The first mapping table indicates the mapping relationship between the winding density and the target suction force and the target moving speed.

[0122] In this step, the controller may also store a first mapping table. The first mapping table may include a mapping relationship between winding density and target suction and target moving speed. After determining the winding density according to the current value after the increase, the controller may determine the target suction and target moving speed by searching the first mapping table. The target suction and target moving speed are the suction of the cleaning device and the moving speed of the hair cutting assembly adjusted by the controller.

[0123] In one implementation, when the winding density is a level, in the first mapping table, each winding density level may correspond to a target suction force and a target moving speed. The controller may determine the target suction force and the target moving speed corresponding to the level according to the obtained winding density level.

[0124] In another implementation, when the winding density is a density value, the first mapping table may include multiple density value intervals. The controller may query the first mapping table based on the winding density being a density value to determine the interval corresponding to the density value. Each interval may correspond to a target suction and a target moving speed. The controller may determine the target suction and target moving speed corresponding to the interval based on the interval corresponding to the density value.

[0125] In another implementation, when the winding density is a density value, the first mapping table may include a plurality of density values ​​corresponding to the target suction and the target moving speed. The controller may query the first mapping table according to the density value of the winding density. If the density value directly corresponds to the density value in the first mapping table, the controller may directly determine the target suction and the target moving speed corresponding to the density value according to the first mapping table. Otherwise, if the density value is between the two density values ​​included in the first mapping table, the controller may calculate the target suction and the target moving speed corresponding to the density value by interpolation.

[0126] Step 24: adjusting the suction force of the cleaning device to the target suction force, and adjusting the moving speed of the hair cutting component to the target moving speed.

[0127] In this step, after determining the target suction force, the controller can control the host of the cleaning device to adjust the suction force to the target suction force. And after determining the target moving speed, the controller can control the driving motor of the hair cutting component to adjust the current value so that the driving motor drives the hair cutting component to move at the target moving speed.

[0128] Optionally, in this embodiment, the controller adjusts the suction force and the moving speed to the target suction force and the target moving speed when determining that the current is rising. Therefore, the adjustment process is usually upward adjustment. That is, the target suction force and the target moving speed are usually greater than the current suction force and the moving speed.

[0129] In the control method of the cleaning device provided in the embodiment of the present application, the controller can obtain and record the current value of the hair cutting component in real time through the built-in current monitoring module. The controller can analyze the changing trend of the current value based on the collected current value. If the current value shows an upward trend, the controller needs to adjust the suction force of the cleaning device and the moving speed of the hair cutting component to achieve better cutting of the entangled hair. The present application reduces the risk of the roller brush of the cleaning device being entangled with hair by adjusting the suction force of the cleaning device and the moving speed of the hair cutting component when the current value rises, thereby improving the cleaning efficiency of the cleaning device, improving the cleaning effect, and achieving the effect of improving user experience.

[0130] On the basis of the above embodiment, the controller can also compare the current value with a preset threshold value after obtaining the current value. The preset threshold value can be an upper limit value of the current pre-stored in the controller. When the current value is greater than the preset threshold value, it usually means that the dirt wrapped around the roller brush cannot be cut by the hair cutting component. Otherwise, if the current value is less than the preset threshold value, it means that the hair cutting component can maintain the current moving speed on the floor brush and continue to move along the axial direction of the roller brush to complete the cutting of the dirt. Based on this, the controller can include the following control strategies:

[0131] If the current value after the increase is greater than or equal to the preset threshold, the controller controls the cleaning device to stop cleaning and sends an alarm message. The alarm message is used to indicate that too much hair is entangled on the roller brush of the cleaning device. Optionally, the alarm message may include voice information, light information, etc.

[0132] Optionally, when the controller determines that the current value after the increase is greater than or equal to a preset threshold, the controller may also report a dirt abnormality. Optionally, when the cleaning device records the dirt abnormality, when the cleaning device is restarted, the controller needs to control the hair cutting component to complete a round trip movement to confirm that the dirt has been cleaned. After confirming that the dirt has been cleaned, the controller may eliminate the dirt abnormality and allow the controller to restart.

[0133] Figure 4 Schematic diagram of the control method of the cleaning equipment provided in this application Figure 2 ,like Figure 3 As shown, in this embodiment Figure 2 Based on the embodiment, the controller can also control the hair cutting assembly to change direction after completing the cutting of the hair in the first direction, and perform another cutting in the second direction to verify whether the hair has been cut. The method includes:

[0134] S201, obtaining and recording the current value of the hair cutting component during the movement.

[0135] S202: If it is determined that the current value of the hair cutting component increases during the movement, the suction force of the cleaning device and the moving speed of the hair cutting component are adjusted according to the increased current value.

[0136] Among them, steps S201 and S202 are Figure 2 The implementation of steps S101 and S102 in the embodiment is similar, and will not be repeated here in this embodiment.

[0137] S203: After adjusting the moving speed, if it is determined that the current value of the hair cutting component is stable during the moving process, control the hair cutting component to move in the reverse direction.

[0138] In this embodiment, after completing the adjustment of the suction force of the cleaning device and the moving speed of the hair cutting component, the controller can continue to obtain and record the current value of the hair cutting component during the movement process, and determine whether the current value of the hair cutting component is stable during the movement process. If the current value of the hair cutting component is stable during the movement process, it means that the hair entangled on the roller brush encountered by the hair cutting component in step S202 has been cut, or the hair cutting component has left the area of ​​the entangled hair on the roller brush in step S202. At this time, the controller can control the hair cutting component to move in the opposite direction and continue to cut the area of ​​the entangled hair on the roller brush in step S202 again.

[0139] Optionally, since the driving motor in the hair cutting assembly in the present application is a forward and reverse motor, the controller can control the moving direction of the hair cutting assembly by changing the rotation direction of the driving motor. Optionally, the moving direction in S202 is determined as the first direction, and the moving direction of the reverse movement in this step can be the second direction. The first direction and the second direction are opposite directions. The first direction and the second direction correspond to different rotation directions of the driving motor.

[0140] Optionally, after determining that the current value of the hair cutting component is stable during the movement, the controller can control the hair cutting component to stop moving and wait for a first time period. After the first time period, the controller can continue to control the hair cutting component to move in the reverse direction. Optionally, the first time period can be 1 second, 2 seconds, etc.

[0141] In one example, the specific judgment process of the controller determining that the current value of the hair cutting assembly is stable during the movement may include:

[0142] Step 31: The controller may determine a reference range according to the moving speed of the hair cutting component at the current moment.

[0143] In this step, the controller can obtain the moving speed of the hair cutting component at the current moment. Since the greater the moving speed of the hair cutting component is when there is no hair, the greater the current value is. Therefore, the controller can determine the current value corresponding to the moving speed when there is no hair based on the moving speed at the current moment. The controller can further determine the reference range based on the current value. Among them, the upper limit value of the reference range is the reference value in step 11. The first preset time length is set to ensure that when there is no hair on the roller brush, if there is a slight fluctuation in the current value, the fluctuation value can be included in the reference range.

[0144] Step 32: If the current value is within the reference range within the first preset time period, it is determined that the current value is stable during the movement process.

[0145] In this step, the controller can obtain the same first preset time length as step 12. The controller can determine whether the current values ​​within the first preset time length are all within the reference range. If the current values ​​are all within the reference range, it means that the hair cutting component has not cut any hair. At this time, the controller can determine that the current value of the hair cutting component is stable during the movement.

[0146] S204: After controlling the hair cutting assembly to move in the reverse direction, if it is determined that the current value of the hair cutting assembly is stable during the movement, the suction force of the cleaning device is adjusted to the initial suction force, and the moving speed of the hair cutting assembly is adjusted to the initial moving speed.

[0147] In this embodiment, after completing the control of the reverse movement of the hair cutting component, the controller can obtain and record the current value of the hair cutting component during the movement again, and determine whether the current value of the hair cutting component is stable during the movement. The judgment method of the stability of the current value can be the same as step S203. When the controller determines that the current value is stable, it means that the hair has been cleaned after cutting. At this time, there is no hair entangled on the roller brush. Therefore, when it is determined again that the current value is stable, the controller can adjust the suction of the cleaning device to the initial suction, and adjust the moving speed of the hair cutting component to the initial moving speed. The initial suction and initial moving speed are values ​​lower than the adjusted suction and moving speed. The adjustment of the initial suction and initial moving speed can reduce the energy consumption of the cleaning device, thereby increasing the use time of the cleaning device.

[0148] Optionally, after completing the control of the hair cutting assembly to move in the reverse direction, the controller may control the hair cutting assembly to maintain the moving speed for a second time period. Optionally, the second time period may be determined according to the cutting time period of the controller in the first direction. That is, the second time period is equal to the cutting time period. The cutting time period may include the time period from when the current value of the hair cutting assembly is determined to rise during the movement in step S202 to when the current value of the hair cutting assembly is determined to be stable during the movement in step S203.

[0149] During the second time period, if the current value of the hair cutting component during the movement is continuously stable, the controller can determine that the area of ​​the entangled hair on the roller brush in S202 has been cut. At this time, the controller can adjust the suction of the cleaning device to the initial suction, and adjust the moving speed of the hair cutting component to the initial moving speed. The setting of the second time period can further ensure that the reverse movement can fully verify the area of ​​the entangled hair on the roller brush in step S202. For example, for the area of ​​the entangled hair on the roller brush in step S202, if there is an uncut area at the front end in the first direction, and the cutting has been completed at the rear end in the first direction, the setting of the second time period can avoid the controller from giving a judgment that the current value is stable during the movement only at the rear end in the first direction when cutting along the second direction, resulting in no verification of the uncut area at the front end in the first direction.

[0150] Otherwise, if the current value of the hair cutting component increases during the movement within the second time period, it means that the hair in the area of ​​​​the entangled hair on the roller brush in step S202 has not been completely cut. At this time, the controller can return to step S202 and adjust the movement speed and suction again.

[0151] In the control method of the cleaning device provided in the embodiment of the present application, the controller can obtain and record the current value of the hair cutting component in real time through the built-in current monitoring module. If the current value shows an upward trend, the controller needs to adjust the suction force of the cleaning device and the moving speed of the hair cutting component. After completing the adjustment of the suction force of the cleaning device and the moving speed of the hair cutting component, the controller can continue to obtain and record the current value of the hair cutting component during the movement process, and determine whether the current value of the hair cutting component is stable during the movement process. If the current value of the hair cutting component is stable during the movement process, the controller can control the hair cutting component to move in the opposite direction. After completing the control of the reverse movement of the hair cutting component, the controller can obtain and record the current value of the hair cutting component during the movement process again, and determine whether the current value of the hair cutting component is stable during the movement process. When it is determined again that the current value is stable, the controller can adjust the suction force of the cleaning device to the initial suction force, and adjust the moving speed of the hair cutting component to the initial moving speed. The present application controls the reverse movement of the hair cutting component to verify whether the hair has been cut, thereby improving the hair cutting efficiency and cutting effect, thereby improving the use efficiency of the cleaning device. In addition, the present application can also modify the suction force and the moving speed to the initial suction force and the initial moving speed when reversely verifying that the hair has been cut, thereby reducing the energy consumption of the cleaning device, increasing the use time of the cleaning device, and improving the cleaning effect of the cleaning device.

[0152] On the basis of the above embodiment, if the moving speed of the hair cutting component in the cleaning device is the initial moving speed, and the current value of the hair cutting component is stable during the movement, then when the hair cutting component moves to the end of the roller brush, the hair cutting component is controlled to move in the reverse direction. Among them, the moving speed of the hair cutting component is the initial moving speed, and the current value of the hair cutting component is stable during the movement, indicating that the roller brush is not entangled by hair. At this time, the hair cutting component moves along the axial direction of the roller brush mainly to detect whether the roller brush is entangled by hair. Therefore, the controller can control the hair cutting component to move along the entire roller brush. That is, it moves in the reverse direction when it moves to the end of the roller brush.

[0153] In one implementation, a magnet is disposed in the cutting member of the hair cutting assembly. Correspondingly, magnets are also disposed at both ends of the roller brush. The hair cutting assembly can determine whether it reaches one end of the roller brush through Hall sensing, thereby controlling the reverse movement of the roller brush.

[0154] In another implementation, two micro switches may be provided at the two ends of the roller brush. The controller may determine whether the cutting piece of the hair cutting assembly has moved to the end of the roller brush according to the states of the two micro switches. Thus, the controller may control the cutting piece of the hair cutting assembly to move in the opposite direction when the cutting piece reaches the end of the roller brush.

[0155] In another implementation, when the cutting piece of the hair cutting assembly reaches the end of the roller brush, the cutting piece of the hair cutting assembly will not be able to move forward any further. At this time, the current value acquired by the controller will instantly become very large. Therefore, the controller can determine that the cutting piece of the hair cutting assembly has reached the end of the roller brush based on the instantaneous change of the current value. Furthermore, the controller can control the cutting piece to move in the opposite direction based on the change of the current value.

[0156] Based on the above embodiments, Figure 5 The flowchart of the control example of the cleaning device provided by an embodiment of the present application is shown. The controller is used as the execution body, and includes the following steps:

[0157] S301, the cleaning device is in a standby state. At this time, the floor brush of the cleaning device is also in a standby state.

[0158] S302, when the cleaning device is turned on, the drive motor in the hair cutting component rotates forward by default. At this time, the drive motor can be kept at a relatively low speed. For example, the relatively low speed can be 200. The drive motor can drive the cutting member in the hair cutting component to move to one side. Optionally, when the drive motor rotates forward, the moving direction of the cutting member can be a first direction. Meanwhile, during the movement of the cutting member, the controller can monitor the current value of the drive motor and record the current value.

[0159] S303. The controller may determine the winding density of the hair on the roller brush of the floor brush according to the current value of the driving motor monitored and recorded during the movement of the cutting member. The winding density may indicate the density of the hair winding. Optionally, the hair may be long hair. The winding density and the current may be divided into the following four cases:

[0160] First, the current value corresponding to less hair is between 1A and 2A.

[0161] Second, the corresponding current value in the hair is between 2A and 3A.

[0162] Third, the current value corresponding to more hair is between 3A and 4A.

[0163] Fourth, when the current value exceeds 4A, the drive motor stops running. At the same time, the cleaning device can issue an alarm message. The alarm message can be issued in the form of a voice prompt. The alarm message is used to remind the user that the roller brush is blocked by foreign matter and needs to be cleaned manually.

[0164] S304: The controller may determine whether the current value of the drive motor changes during the movement of the cutting member. If it changes, the controller may execute step S305. Otherwise, if it does not change, the controller may execute step S306.

[0165] S305, the controller can determine the moving speed of the adjusted cutting member and the suction force of the cleaning device by the interval corresponding to the current value of the driving motor. At the same time, the controller can determine whether the hair is cut by controlling the cutting member to move back and forth. Specifically, it can be divided into the following situations:

[0166] First, when the current value is within the interval corresponding to 1A-2A, the controller can increase the suction force by 20W. That is, the target suction force can be the suction force after adding 20W to the current suction force. And, the controller can adjust the forward rotation speed of the drive motor to 300, so that the cutting piece accelerates forward cutting. The process of accelerating forward cutting can last for N seconds. The duration of N seconds can be determined according to the length of the hair area wrapped around the roller brush. After the hair on the roller brush is cut, the current value of the drive motor will decrease and remain stable. Optionally, after the decrease, the current value of the drive motor can be stabilized at a reference value. The controller can control the drive motor to stop for 1 second, and then control the drive motor to reverse at a speed of 300, so that the cutting piece can cut backward for N seconds. Optionally, when the drive motor reverses, the moving direction of the cutting piece can be a second direction. The second direction is opposite to the first direction. The N seconds of reverse cutting is used to help the controller determine whether the hair in the area is cut in place. If the current value is stable within the N seconds, it means that the hair in the area has been cut. Optionally, when the current within the N seconds is within the reference range, it can be determined that the current value is stable. At this time, the controller can restore the speed of the drive motor to 200 and control the cutting member to continue moving forward. In addition, the controller can also restore the suction force of the cleaning device to the initial suction force. Otherwise, if the current value continues to increase within the N seconds, the controller can execute S305 again.

[0167] Second, when the current value is within the range corresponding to 2A-3A, the controller can increase the suction force by 40W. That is, the target suction force can be the suction force after adding 40W to the current suction force. And, the controller can adjust the forward rotation speed of the drive motor to 400, so that the cutting piece accelerates forward cutting. The process of accelerating forward cutting can last for N seconds. The duration of N seconds can be determined according to the length of the hair area wrapped around the roller brush. After the hair on the roller brush is cut, the current value of the drive motor will decrease and remain stable. Optionally, after the decrease, the current value of the drive motor can be stabilized at a reference value. The controller can control the drive motor to stop for 1 second, and then control the drive motor to reverse at a speed of 400, so that the cutting piece can cut backward for N seconds. Optionally, when the drive motor reverses, the moving direction of the cutting piece can be a second direction. The second direction is opposite to the first direction. The N seconds of reverse cutting is used to help the controller determine whether the hair in the area is cut in place. If the current value is stable within the N seconds, it means that the hair in the area has been cut. Optionally, when the current within the N seconds is within the reference range, it can be determined that the current value is stable. At this time, the controller can restore the speed of the drive motor to 200 and control the cutting member to continue moving forward. In addition, the controller can also restore the suction force of the cleaning device to the initial suction force. Otherwise, if the current value continues to increase within the N seconds, the controller can execute S305 again.

[0168] Third, when the current value is within the interval corresponding to 3A-4A, the controller can increase the suction force by 60W. That is, the target suction force can be the suction force after adding 60W to the current suction force. . And, the controller can adjust the forward rotation speed of the drive motor to 500, so that the cutting piece accelerates forward cutting. The process of accelerating forward cutting can last for N seconds. The duration of N seconds can be determined according to the length of the hair area wrapped around the roller brush. After the hair on the roller brush is cut, the current value of the drive motor will decrease and remain stable. Optionally, after the decrease, the current value of the drive motor can be stabilized at a reference value. The controller can control the drive motor to stop for 1 second, and then control the drive motor to reverse at a speed of 500, so that the cutting piece can cut backward for N seconds. Optionally, when the drive motor reverses, the moving direction of the cutting piece can be a second direction. The second direction is opposite to the first direction. The N seconds of reverse cutting is used to help the controller determine whether the hair in the area is cut in place. If the current value is stable within the N seconds, it means that the hair in the area has been cut. Optionally, when the current within the N seconds is within the reference range, it can be determined that the current value is stable. At this time, the controller can restore the speed of the drive motor to 200 and control the cutting member to continue moving forward. In addition, the controller can also restore the suction force of the cleaning device to the initial suction force. Otherwise, if the current value continues to increase within the N seconds, the controller can execute S305 again.

[0169] Fourth, when the current value exceeds 4A, the controller can control the drive motor to stop running. The controller can also control the cleaning device to send a voice message to remind the user that there is foreign matter in the roller brush and it needs to be cleaned manually.

[0170] In the above process, the controller may execute S305 multiple times until the current value is stable within N seconds. At this time, the controller may control the cutting piece to continue moving forward after restoring the speed of the drive motor to 200. The controller may determine whether to enter step S306 or step S309 according to the rotation direction of the drive motor at this time.

[0171] Optionally, when the loop execution of step S305 ends, the rotation direction of the drive motor can be determined according to the number of executions of step S305. Each time step S305 is executed, the rotation direction of the drive motor changes. Optionally, when the drive motor rotates in the forward direction, the controller can continue to execute step S306. When the drive motor rotates in the reverse direction, the controller can continue to execute step S309.

[0172] S306. The controller can control the drive motor to rotate in the forward direction at a speed of 200. At this time, the drive motor can drive the cutting member to move in the first direction. A magnet can be arranged inside the cutting member. Based on the magnet, the controller can judge whether the cutting member reaches the end of the roller brush through Hall induction. If the cutting member reaches the end of the roller brush, the controller can control the drive motor to stop for 1 second and then rotate in the reverse direction. At this time, the speed of the reverse rotating drive motor can be 200.

[0173] S307: During the process of the cutting member moving in the reverse direction, the controller may continue to determine whether the current value of the driving motor changes. If it changes, the controller may execute step S308. Otherwise, if it does not change, the controller may execute step S309.

[0174] S308, the controller can determine the moving speed of the adjusted cutting member and the suction force of the cleaning device by the interval corresponding to the current value of the driving motor. At the same time, the controller can determine whether the hair is cut by controlling the cutting member to move back and forth. Specifically, it can be divided into the following situations:

[0175] First, when the current value is within the interval corresponding to 1A-2A, the controller can increase the suction force by 20W. That is, the target suction force can be the suction force after adding 20W to the current suction force. And, the controller can adjust the reverse speed of the drive motor to 300, so that the cutting piece accelerates forward cutting. The process of accelerating forward cutting can last for N seconds. The duration of N seconds can be determined according to the length of the hair area wrapped around the roller brush. After the hair on the roller brush is cut, the current value of the drive motor will decrease and remain stable. Optionally, after the decrease, the current value of the drive motor can be stabilized at a reference value. The controller can control the drive motor to stop for 1 second, and then control the drive motor to rotate forward at a speed of 300, so that the cutting piece can cut backward for N seconds. Optionally, when the drive motor reverses, the moving direction of the cutting piece can be a second direction. The second direction is opposite to the first direction. The N seconds of reverse cutting is used to help the controller determine whether the hair in the area is cut in place. If the current value is stable within the N seconds, it means that the hair in the area has been cut. Optionally, when the current within the N seconds is within the reference range, it can be determined that the current value is stable. At this time, the controller can restore the speed of the drive motor to 200 and control the cutting member to continue moving forward. In addition, the controller can also restore the suction force of the cleaning device to the initial suction force. Otherwise, if the current value continues to increase within the N seconds, the controller can execute S308 again.

[0176] Second, when the current value is within the interval corresponding to 2A-3A, the controller can increase the suction force by 40W. That is, the target suction force can be the suction force after adding 40W to the current suction force. And, the controller can adjust the reverse speed of the drive motor to 400, so that the cutting piece accelerates forward cutting. The process of accelerating forward cutting can last for N seconds. The duration of N seconds can be determined according to the length of the hair area wrapped around the roller brush. After the hair on the roller brush is cut, the current value of the drive motor will decrease and remain stable. Optionally, after the decrease, the current value of the drive motor can be stabilized at a reference value. The controller can control the drive motor to stop for 1 second, and then control the drive motor to rotate forward at a speed of 400, so that the cutting piece can cut backward for N seconds. Optionally, when the drive motor reverses, the moving direction of the cutting piece can be a second direction. The second direction is opposite to the first direction. The N seconds of reverse cutting is used to help the controller determine whether the hair in the area is cut in place. If the current value is stable within the N seconds, it means that the hair in the area has been cut. Optionally, when the current within the N seconds is within the reference range, it can be determined that the current value is stable. At this time, the controller can restore the speed of the drive motor to 200 and control the cutting member to continue moving forward. In addition, the controller can also restore the suction force of the cleaning device to the initial suction force. Otherwise, if the current value continues to increase within the N seconds, the controller can execute S308 again.

[0177] Third, when the current value is within the range corresponding to 3A-4A, the controller can increase the suction force by 60W. That is, the target suction force can be the suction force after adding 60W to the current suction force. . And, the controller can adjust the reverse speed of the drive motor to 500, so that the cutting piece accelerates forward cutting. The process of accelerating forward cutting can last for N seconds. The duration of N seconds can be determined according to the length of the hair area wrapped around the roller brush. After the hair on the roller brush is cut, the current value of the drive motor will decrease and remain stable. Optionally, after the decrease, the current value of the drive motor can be stabilized at a reference value. The controller can control the drive motor to stop for 1 second, and then control the drive motor to rotate forward at a speed of 500, so that the cutting piece can cut backward for N seconds. Optionally, when the drive motor reverses, the moving direction of the cutting piece can be a second direction. The second direction is opposite to the first direction. The N seconds of reverse cutting is used to help the controller determine whether the hair in the area is cut in place. If the current value is stable within the N seconds, it means that the hair in the area has been cut. Optionally, when the current within the N seconds is within the reference range, it can be determined that the current value is stable. At this time, the controller can restore the speed of the drive motor to 200 and control the cutting member to continue moving forward. In addition, the controller can also restore the suction force of the cleaning device to the initial suction force. Otherwise, if the current value continues to increase within the N seconds, the controller can execute S308 again.

[0178] Fourth, when the current value exceeds 4A, the controller can control the drive motor to stop running. The controller can also control the cleaning device to send a voice message to remind the user that there is foreign matter in the roller brush and it needs to be cleaned manually.

[0179] In the above process, the controller may execute S308 multiple times until the current value is stable within N seconds. At this time, the controller may control the cutting piece to continue moving forward after restoring the speed of the drive motor to 200. The controller may determine whether to enter step S306 or step S309 according to the rotation direction of the drive motor at this time.

[0180] Optionally, when the loop execution of step S305 ends, the rotation direction of the drive motor can be determined according to the number of executions of step S308. Each time step S308 is executed, the rotation direction of the drive motor changes. Optionally, when the drive motor rotates in the forward direction, the controller can continue to execute step S306. When the drive motor rotates in the reverse direction, the controller can continue to execute step S309.

[0181] S309, the controller can control the drive motor to rotate in the reverse direction at a speed of 200. At this time, the drive motor can drive the cutting piece to move in the second direction. A magnet can be set inside the cutting piece. Based on the magnet, the controller can determine whether the cutting piece reaches the end of the roller brush through Hall sensing. If the cutting piece reaches the end of the roller brush, the controller can control the drive motor to stop for 1 second and then rotate forward. At this time, the speed of the forward rotating drive motor can be 200. The controller can return to S302 after completing the execution of step S309. The cyclic execution of the above steps can end when the cleaning device is turned off or re-enters the sleep state.

[0182] Figure 6 A schematic diagram of the structure of the control device of the cleaning equipment provided in this application, such as Figure 6 As shown, the control device 400 of the cleaning device provided in this embodiment is applied to the cleaning device, which includes a roller brush and a hair cutting component, and the hair cutting component reciprocates along the axial direction of the roller brush, including:

[0183] An acquisition module 401 is used to acquire and record the current value of the hair cutting component during the movement;

[0184] The control module 402 is used to adjust the suction force of the cleaning device and the moving speed of the hair cutting component according to the current value when it is determined that the current value of the hair cutting component increases during the movement.

[0185] Optionally, the control module 402 is configured to:

[0186] Determining a reference value according to the moving speed of the hair cutting component at the current moment;

[0187] If within the first preset time period, the duration for which the current value is greater than the reference value is greater than the second preset time period, it is determined that the current value increases during the movement process.

[0188] Optionally, the control module 402 is configured to:

[0189] According to the current value, determine the current value after the increase;

[0190] According to the current value after the increase, the winding density of the hair on the roller brush is determined;

[0191] Determine the adjusted target suction force and target moving speed according to the winding density and the first mapping table; the first mapping table indicates the mapping relationship between the winding density and the target suction force and the target moving speed;

[0192] The suction force of the cleaning device is adjusted to a target suction force, and the moving speed of the hair cutting component is adjusted to a target moving speed.

[0193] Optionally, the control module 402 is configured to:

[0194] The increased current value is determined according to an average of current values ​​greater than the reference value within the first preset time period.

[0195] Optionally, the control module 402 is configured to:

[0196] The winding density of the hair on the roller brush is determined according to the increased current value and the second mapping table; the second mapping table includes a plurality of current intervals, each current interval corresponding to a winding density.

[0197] Optionally, the control module 402 is configured to:

[0198] After adjusting the moving speed, if it is determined that the current value of the hair cutting assembly is stable during the moving process, the hair cutting assembly is controlled to move in the reverse direction.

[0199] Optionally, the control module 402 is configured to:

[0200] After the hair cutting assembly is controlled to move in the reverse direction, if it is determined that the current value of the hair cutting assembly is stable during the movement, the suction force of the cleaning device is adjusted to the initial suction force, and the moving speed of the hair cutting assembly is adjusted to the initial moving speed.

[0201] Optionally, the control module 402 is configured to:

[0202] Determining a reference range according to the moving speed of the hair cutting component at the current moment;

[0203] If the current value is within the reference range within the first preset time period, it is determined that the current value is stable during the movement;

[0204] Among them, the upper limit value of the reference range is the reference value.

[0205] Optionally, the control module 402 is configured to:

[0206] If the increased current value is greater than or equal to a preset threshold, the cleaning device is controlled to stop cleaning and an alarm message is sent; the alarm message is used to indicate that too much hair is entangled on the roller brush of the cleaning device.

[0207] Optionally, the control module 402 is configured to:

[0208] If the moving speed of the hair cutting component in the cleaning device is the initial moving speed and the current value of the hair cutting component is stable during the moving process, when the hair cutting component moves to the end of the roller brush, the hair cutting component is controlled to move in the reverse direction.

[0209] The control device 400 of the cleaning equipment provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, which will not be described in detail in this embodiment.

[0210] Figure 7 This is a schematic diagram of the structure of the controller provided in this application. Figure 7 As shown, the controller 500 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0211] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0212] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0213] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the invention may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0214] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0215] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0216] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0217] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0218] The above-mentioned 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, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0219] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0220] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0221] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0222] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0223] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0224] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0225] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for controlling a cleaning device, characterized in that: Applied to a cleaning device, the cleaning device includes a roller brush and a hair cutting component, the hair cutting component reciprocates along the axial direction of the roller brush, and the method includes: Acquiring and recording the current value of the hair cutting component during the movement; If it is determined that the current value of the hair cutting component increases during the movement, the suction force of the cleaning device and the moving speed of the hair cutting component are adjusted according to the current value.

2. The method according to claim 1, characterized in that Determining that the current value of the hair cutting component increases during the movement comprises: Determining a reference value according to the moving speed of the hair cutting component at the current moment; If within the first preset time period, the duration during which the current value is greater than the reference value is greater than the second preset time period, it is determined that the current value increases during the movement process.

3. The method according to claim 1, characterized in that According to the current value, adjusting the suction force of the cleaning device and the moving speed of the hair cutting assembly comprises: According to the current value, determining the current value after the increase; Determining the winding density of the hair on the roller brush according to the increased current value; Determining an adjusted target suction force and a target moving speed according to the winding density and a first mapping table; the first mapping table indicates a mapping relationship between the winding density and the target suction force and the target moving speed; The suction force of the cleaning device is adjusted to the target suction force, and the moving speed of the hair cutting assembly is adjusted to the target moving speed.

4. The method according to claim 3, characterized in that Determining the increased current value according to the current value includes: The increased current value is determined according to an average of the current values ​​greater than the reference value within the first preset time period.

5. The method according to claim 3, characterized in that: Determining the winding density of the hair on the roller brush according to the increased current value includes: The winding density of the hair on the roller brush is determined according to the increased current value and the second mapping table; the second mapping table includes a plurality of current intervals, each of which corresponds to a winding density.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: After adjusting the moving speed, if it is determined that the current value of the hair cutting assembly is stable during the moving process, the hair cutting assembly is controlled to move in the reverse direction.

7. The method according to claim 6, characterized in that The method further comprises: After controlling the hair cutting assembly to move in the reverse direction, if it is determined that the current value of the hair cutting assembly is stable during the movement, the suction force of the cleaning device is adjusted to the initial suction force, and the moving speed of the hair cutting assembly is adjusted to the initial moving speed.

8. The method according to claim 7, characterized in that Determining that the current value of the hair cutting component is stable during the movement includes: Determining a reference range according to the moving speed of the hair cutting assembly at the current moment; If the current value is within the reference range within the first preset time period, it is determined that the current value is stable during the movement; The upper limit value of the reference range is a reference value.

9. The method according to any one of claims 1 to 5, characterized in that The method further comprises: If the current value after the increase is greater than or equal to the preset threshold, the cleaning device is controlled to stop cleaning and an alarm message is sent; the alarm message is used to indicate that too much hair is entangled on the roller brush of the cleaning device.

10. The method according to any one of claims 1 to 5, characterized in that The method further comprises: If the moving speed of the hair cutting component in the cleaning device is the initial moving speed and the current value of the hair cutting component is stable during the movement, then when the hair cutting component moves to the end of the roller brush, the hair cutting component is controlled to move in the reverse direction.

11. A control device for a cleaning device, characterized in that: Applicable to a cleaning device, the cleaning device includes a roller brush and a hair cutting component, the hair cutting component reciprocates along the axial direction of the roller brush, and the device includes: An acquisition module, used for acquiring and recording the current value of the hair cutting assembly during movement; The control module is used to adjust the suction force of the cleaning device and the moving speed of the hair cutting assembly according to the current value if it is determined that the current value of the hair cutting assembly increases during the movement.

12. A controller, characterized in that: The controller includes: a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory to implement the method according to any one of claims 1 to 10.

13. A cleaning device, characterized in that: The cleaning device comprises: a hair cutting component, a roller brush and a controller as shown in claim 12.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to implement the method according to any one of claims 1 to 10.

15. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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