Control method of cleaning machine

Abstract

The invention discloses a control method of a cleaning machine, the control method is used for cleaning a to-be-cleaned surface, the cleaning machine at least comprises a first area and a second area facing the to-be-cleaned surface, and the method comprises the following steps: controlling the cleaning machine to operate along a first preset direction, and spraying a cleaning solution to form a first wetting area on the to-be-cleaned surface, the extension area of the first area of the cleaning machine in the first preset direction is at least partially overlapped with the first wetting area; and changing the running direction of the cleaning machine, so that the second area of the cleaning machine runs to at least cover the first wetting area, and the first area is at least partially staggered in the first wetting area. By changing the running direction of the cleaning machine, the second area far away from the spraying range can also run to the wetting area to be wetted, and the area, facing the to-be-cleaned face, of the cleaning machine can be wetted more evenly.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and particularly relates to a control method for a cleaning machine. Background Art

[0002] With the development of technology and the improvement of living standards, people have higher and higher requirements for the quality of life, and intelligent and efficient cleaning machines (such as window cleaning machines) are also more and more favored by users. The cleaning machine is mainly used to clean the surfaces of windows and doors made of glass. The working principle of the cleaning machine is that the adsorption component adsorbs on the glass surface, and during the walking process of the cleaning machine, the cleaning cloth of the cleaning machine cleans the glass surface.

[0003] Currently, when the cleaning machine wipes the glass surface, the water spraying module mostly sprays water in a fixed direction, resulting in uneven humidity of the cleaning cloth and scratches remaining on the glass surface. Summary of the Invention

[0004] The main object of the present invention is to propose a control method for a cleaning machine, aiming to solve to a certain extent the problems of uneven humidity of the cleaning cloth and scratches remaining on the glass surface when the existing cleaning machine wipes the glass surface.

[0005] To achieve the above object, the present invention proposes a control method for a cleaning machine for cleaning a surface to be cleaned. The cleaning machine at least includes a first area and a second area facing the surface to be cleaned. The control method includes:

[0006] Controlling the cleaning machine to run along a first preset direction and spraying a cleaning liquid to form a first wetting area on the surface to be cleaned, wherein the extension area of the first area of the cleaning machine along the first preset direction at least partially overlaps with the first wetting area;

[0007] Changing the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area, and the first area is at least partially misaligned with the first wetting area.

[0008] In some embodiments, the cleaning machine further includes a third area facing the surface to be cleaned. The third area and the second area are respectively located on both sides of the first area. After the cleaning machine runs to the second area at least covering the first wetting area, the cleaning machine is in a second preset direction. The control method further includes:

[0009] Controlling the cleaning machine to spray the cleaning liquid again in the second preset direction to form a second wetting area on the surface to be cleaned, wherein the extension area of the first area of the cleaning machine along the second preset direction at least covers the second wetting area;

[0010] Change the running direction of the cleaning machine again so that the cleaning machine runs to the third area to at least cover the second wet area, and the first area is at least partially misaligned with the second wet area.

[0011] In some embodiments, after changing the running direction of the cleaning machine again, the control method further includes:

[0012] Controlling the cleaning machine to spray a cleaning liquid along the first preset direction so as to form a third wet area on the surface to be cleaned, wherein the extension area of the first area of the cleaning machine along the first preset direction at least covers the third wet area, and the third wet area is located between the first wet area and the second wet area;

[0013] Controlling the cleaning machine to move forward along the first preset direction so that the first area at least covers the third wet area, and at least a part of the first area, at least a part of the second area, and at least a part of the third area of the cleaning machine all travel in a wet state;

[0014] Wherein, at least a part of the second area of the cleaning machine corresponds to the first wet area.

[0015] In some embodiments, when the cleaning machine changes its running direction to the second preset direction, the control method further includes:

[0016] Controlling the cleaning machine to run a preset distance;

[0017] Controlling the cleaning machine to spray the cleaning liquid again in the second preset direction so as to form a second wet area on the surface to be cleaned, so that when the second area at least covers the first wet area, the extension area of the third area in the first preset direction at least overlaps with the second wet area.

[0018] In some embodiments, before controlling the cleaning machine to run along the first preset direction and spray the cleaning liquid to form a first wet area on the surface to be cleaned, it further includes:

[0019] Detecting whether the cleaning machine runs to the edge of the surface to be cleaned;

[0020] Wherein, the first preset direction is opposite to the running direction of the cleaning machine before it runs to the edge of the surface to be cleaned.

[0021] In some embodiments, after detecting whether the cleaning machine runs to the edge of the surface to be cleaned, it further includes:

[0022] After the cleaning machine runs to the edge of the surface to be cleaned, controlling the cleaning machine to change rows;

[0023] Controlling the cleaning machine to change lines includes the control method described in any of the above.

[0024] In some embodiments, before controlling the cleaning machine to spray the cleaning liquid, it further includes:

[0025] Obtaining the current humidity of the first area of the cleaning machine or the second area of the cleaning machine;

[0026] If it is determined that the current humidity is less than the preset humidity, then execute the step of spraying the cleaning liquid;

[0027] If it is determined that the current humidity is greater than the preset humidity, then stop executing the step of spraying the cleaning liquid.

[0028] In some embodiments, changing the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area includes:

[0029] Controlling the cleaning machine to rotate a preset angle so that the extension area of the second area of the cleaning machine along the first preset direction at least partially overlaps with the first wetting area, and the second area of the cleaning machine at least covers the first wetting area.

[0030] In some embodiments, the control method further includes:

[0031] Controlling the cleaning machine to run along the first preset direction and spraying the cleaning liquid to form a first wetting area on the surface to be cleaned, and making the first area of the cleaning machine at least cover the first wetting area.

[0032] In some embodiments, at least one of the two ends of the first area in the first preset direction overlaps with two adjacent first wetting areas.

[0033] When the cleaning machine of the present invention cleans the surface to be cleaned, it first sprays the cleaning liquid to form a first wetting area on the surface to be cleaned, and then changes the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area. By changing the running track of the cleaning machine, the area of the cleaning machine far from the spraying range can also run to the wetting area for wetting, which can make the area of the cleaning machine facing the surface to be cleaned wet more evenly, and avoid the problem of residual scratches on the surface to be cleaned caused by uneven humidity of the cleaning cloth. Description of the Drawings

[0034] Figure 1 It is a schematic flowchart of the control method of the cleaning machine in the embodiment of the present invention;

[0035] Figure 2 It is another schematic flowchart of the control method of the cleaning machine in the embodiment of the present invention;

[0036] Figure 3 Another schematic flowchart of the control method of the cleaning machine in the embodiment of the present invention;

[0037] Figure 4 Another schematic flowchart of the control method of the cleaning machine in the embodiment of the present invention;

[0038] Figure 5 Another schematic flowchart of the control method of the cleaning machine in the embodiment of the present invention;

[0039] Figure 6 Schematic diagram of the scenario of the control method of the cleaning machine in the embodiment of the present invention;

[0040] Figure 7 Another schematic diagram of the scenario of the control method of the cleaning machine in the embodiment of the present invention;

[0041] Figure 8 Another schematic diagram of the scenario of the control method of the cleaning machine in the embodiment of the present invention;

[0042] Figure 9 Another schematic diagram of the scenario of the control method of the cleaning machine in the embodiment of the present invention;

[0043] Figure 10 Another schematic diagram of the scenario of the control method of the cleaning machine in the embodiment of the present invention.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further described in conjunction with the embodiments with reference to the accompanying drawings. Detailed implementation manners

[0045] Next, the solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0046] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0047] It should also be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be a middle element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be a middle element at the same time.

[0048] In addition, the descriptions involving "first", "second", etc. in the present invention are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or inability to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0049] An embodiment of the present invention provides a control method for a cleaning machine for cleaning a surface to be cleaned. The cleaning machine at least includes a first area and a second area facing the surface to be cleaned. The control method includes:

[0050] Step S110: Control the cleaning machine to run along a first preset direction and spray a cleaning liquid to form a first wetting area on the surface to be cleaned. Wherein, the extension area of the first area of the cleaning machine along the first preset direction at least partially overlaps with the first wetting area;

[0051] Step S120: Change the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area, and the first area is at least partially misaligned with the first wetting area.

[0052] In this embodiment, referring to Figure 1 , the control method of the cleaning machine is applied to the cleaning machine for cleaning the surface to be cleaned. Wherein, the surface to be cleaned may be a glass surface. The control method of the cleaning machine can uniformly humidify the area of the cleaning machine facing the surface to be cleaned when the cleaning machine cleans the surface to be cleaned, so that the area of the cleaning machine facing the surface to be cleaned is always in a wet state during the cleaning process. The area of the cleaning machine facing the surface to be cleaned can be understood as the area where the cleaning machine contacts the surface to be cleaned; the area of the cleaning machine facing the surface to be cleaned may be the area where a cleaning module is installed on the cleaning machine, where the cleaning module may be any object for cleaning the surface to be cleaned. In this embodiment, the execution subject of the method steps is the control module for controlling the cleaning machine; the control module may be built into the cleaning machine or may be provided outside the cleaning machine.

[0053] It can be understood that the cleaning machine may be provided with a spraying module and a cleaning module. The spraying module is used for spraying cleaning liquid, and the cleaning module is used for cleaning the surface to be cleaned. The cleaning module is fixed to the bottom end of the body of the cleaning machine to contact the surface to be cleaned when the cleaning machine is operating. The spraying port of the spraying module is generally fixedly arranged on the body of the cleaning machine, that is, when the direction of the cleaning machine does not change, the spraying module can only spray the cleaning liquid in a fixed direction. However, when the spraying module sprays the cleaning liquid, it often can only spray the cleaning liquid on the outer area near the spraying port, and the outer area far from the spraying port is not easily sprayed with the cleaning liquid. In this way, when the cleaning machine walks in the direction of spraying the cleaning liquid, only the part of the cleaning module close to the spraying port can be wetted by the cleaning liquid, and the part of the cleaning module far from the spraying port is difficult to contact the cleaning liquid and cannot be wetted. The cleaning liquid can be water or a mixture of water and commercially available cleaning agents.

[0054] Referring to Figure 6 , Figure 6 FIG. is a schematic diagram of the scenario for implementing step S110 - step S120; state a is for executing step S110, and state b is for executing step S120, where the first wetting area in state a and the first wetting area in state b are the same wetting area. In particular, Figure 6 is only an example of step S110 - step S120, and does not limit the specific implementation process of step S110 - step S120. The following will be described in conjunction with Figure 1 and Figure 6 as follows:

[0055] The cleaning machine at least includes a first area and a second area facing the surface to be cleaned, that is, the cleaning module at least includes a first area and a second area. Control the cleaning machine to run along a first preset direction and control the cleaning machine to spray the cleaning liquid so as to form a first wetting area on the surface to be cleaned: it can be to first control the cleaning machine to run a certain distance along the first preset direction and then control the cleaning machine to spray the cleaning liquid; it can also be to control the cleaning machine to run along the first preset direction while controlling the cleaning machine to spray the cleaning liquid; however, at this time, during the process of the cleaning machine running along the first preset direction, the second area cannot be wetted, or the wetting degrees of the first area and the second area are different.

[0056] Among them, the extended area of the first area of the cleaning machine along the first preset direction at least partially overlaps with the first wetting area, where the extended area refers to the area formed by extending from the edge of the first area in the first preset direction; that is, the outer area of the first area in the first preset direction at least partially overlaps with the first wetting area, and it can also be understood that the outer area of the first area in the first preset direction at least faces part of the first wetting area. That is, if the cleaning machine continues to run along the first preset direction to the first wetting area, at this time, the first area will at least partially overlap with the first wetting area. Among them, as Figure 6The area shown in A is the extended area of the first area in the first preset direction.

[0057] After the first wetting area is formed on the surface to be cleaned, the cleaning machine can be controlled to change its running direction, so that the second area of the cleaning machine runs to at least cover the first wetting area, so that the second area absorbs the cleaning liquid in the first wetting area and makes the second area wet. At the same time, at least part of the first area is misaligned with the first wetting area, that is, when controlling the second area to approach the first wetting area, at least part of the first area will move away from the first wetting area.

[0058] When the cleaning machine in this embodiment cleans the surface to be cleaned, it first sprays the cleaning liquid to form a first wetting area on the surface to be cleaned, and then changes the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area; by changing the running direction of the cleaning machine, the area of the cleaning machine far from the spraying range can also run to the wetting area to be wetted, which can make the area of the cleaning machine facing the surface to be cleaned wet more evenly.

[0059] In some embodiments, the cleaning machine further includes a third area facing the surface to be cleaned. The third area and the second area are respectively located on both sides of the first area. After the cleaning machine runs to the second area at least covering the first wetting area, the cleaning machine is in the second preset direction, and the control method further includes:

[0060] Step S130, controlling the cleaning machine to spray the cleaning liquid again in the second preset direction so that a second wetting area is formed on the surface to be cleaned, wherein the extended area of the first area of the cleaning machine in the second preset direction at least covers the second wetting area;

[0061] Step S131, changing the running direction of the cleaning machine again so that the cleaning machine runs to the third area at least covering the second wetting area, and at least part of the first area is misaligned with the second wetting area.

[0062] In this embodiment, referring to Figure 2 , after the control module executes step S120, it will also control the cleaning machine to spray the cleaning liquid and control the cleaning machine to change its running direction. After the cleaning machine runs to the second area at least covering the first wetting area, the current running direction of the cleaning machine is determined as the second preset direction. The cleaning machine further includes a third area facing the surface to be cleaned, that is, the cleaning module further includes a third area, wherein the third area and the second area are respectively located on both sides of the first area.

[0063] Referring to Figure 7 , Figure 7Schematic diagram for realizing the scenarios of step S110 - step S131; state a is for executing step S110, state b is for executing step S120, state c is for executing step S130, and state d is for executing step S131; among them, the first wetting area in states a, b, c, and d is the same wetting area; similarly, the second wetting area in states c and d is the same wetting area. In particular, Figure 7 This is only an example of step S110 - step S131 and does not limit the specific implementation process of step S110 - step S131. Among them, the implementation process of step S110 - step S120 is the same as above and will not be elaborated here. The following combines Figure 2 and Figure 7 to illustrate step S130 - step S131:

[0064] After the cleaning machine is in the second preset direction, control the cleaning machine to spray the cleaning liquid again in the second preset direction so that a second wetting area is formed on the surface to be cleaned. Among them, the extension area of the first area of the cleaning machine along the second preset direction at least covers the second wetting area, that is, the outer area of the first area in the second preset direction at least partially overlaps with the second wetting area, or it can be understood that the outer area of the first area in the second preset direction at least faces part of the second wetting area. That is, if the cleaning machine continues to run along the second preset direction to the second wetting area, at this time, the first area will at least partially overlap with the second wetting area.

[0065] After the cleaning machine sprays the cleaning liquid again in the second preset direction to form the second wetting area, the running direction of the cleaning machine can be controlled to change, so that the third area of the cleaning machine runs to at least cover the second wetting area, so that the third area absorbs the cleaning liquid in the second wetting area and makes the third area wet. At the same time, the first area is at least partially misaligned with the second wetting area; that is, when controlling the third area to approach the second wetting area, at least part of the first area will move away from the second wetting area.

[0066] In some embodiments, after changing the running direction of the cleaning machine again, the control method further includes:

[0067] Step S140, control the cleaning machine to spray the cleaning liquid along the first preset direction to form a third wetting area on the surface to be cleaned, where the extension area of the first area of the cleaning machine along the first preset direction at least covers the third wetting area, and the third wetting area is located between the first wetting area and the second wetting area;

[0068] Step S141, control the cleaning machine to move forward along the first preset direction so that the first area at least covers the third wetting area, and at least part of the first area, at least part of the second area, and at least part of the third area of the cleaning machine all move forward in a wet state;

[0069] Among them, at least part of the second area of the cleaning machine corresponds to the first wetting area.

[0070] In this embodiment, referring to Figure 3 and Figure 7 , after the control module executes step S131, the running direction of the cleaning machine will return to the first preset direction. Among them, according to Figure 7 , it can be known that the first change in the running direction of the cleaning machine is to change the cleaning machine from the first preset direction to the second preset direction; the second change in the running direction of the cleaning machine is to change the cleaning machine from the second preset direction to the first preset direction.

[0071] Referring to Figure 8 , Figure 8 is a schematic diagram of the scenario for implementing steps S140 - S141; among them, the solid-line cleaning machine is executing step S140; the dashed-line cleaning machine is executing step S141. The three blank areas in the cleaning machine are the first area, the second area, and the third area respectively; among them, the second area and the third area are on both sides of the first area respectively. The following combines Figure 3 and Figure 8 to describe steps S140 - S141:

[0072] After the running direction of the cleaning machine returns to the first preset direction, control the cleaning machine to spray the cleaning liquid along the first preset direction so as to form a third wetting area on the surface to be cleaned; among them, the extension area of the first area of the cleaning machine along the first preset direction at least covers the third wetting area, that is, the outer area of the first area in the first preset direction at least covers the third wetting area. And combined with Figure 7 , it can be known from the d state in

[0073] that the third wetting area is located between the first wetting area and the second wetting area. Figure 7 After the cleaning machine sprays the cleaning liquid to form the third wetting area, it will control the cleaning machine to move forward along the first preset direction so that the first area at least covers the third wetting area, so that the first area absorbs the cleaning liquid in the third wetting area and makes the first area wet. At this time, the first area, the second area, and the third area are all wet. Therefore, during the process of the cleaning machine moving forward along the first preset direction, at least part of the first area, at least part of the second area, and at least part of the third area of the cleaning machine all travel in a wet state. Among them, combined with

[0074] Since both the first wetting area and the third wetting area are wetting areas formed by the cleaning machine spraying the cleaning liquid in the first preset direction, after implementing the above steps, the cleaning machine is displaced in the direction perpendicular to the first preset direction. That is, while wetting the first area, the second area, and the third area, the cleaning machine is also performing a line feed. That is, the line feed action adopts the above-described operating action of the cleaning machine, and the wetting degrees of the first area, the second area, and the third area can be made uniform while completing the line feed action.

[0075] In some embodiments, when the cleaning machine changes its running direction to the second preset direction, the control method further includes:

[0076] Step S150, controlling the cleaning machine to run a preset distance;

[0077] Step S151, controlling the cleaning machine to spray the cleaning liquid again in the second preset direction so that a second wetting area is formed on the surface to be cleaned, and when the second area at least covers the first wetting area, the extended area of the third area in the first preset direction at least overlaps with the second wetting area.

[0078] In this embodiment, referring to Figure 4 、 Figure 7 and Figure 9 , after the control module executes step S120, it will also control the cleaning machine to move forward a certain distance. After changing the running direction of the cleaning machine so that the cleaning machine is in the second preset direction, it is also possible to control the cleaning machine to first run a preset distance along the second preset direction, and then control the cleaning machine to spray the cleaning liquid again in the second preset direction so that a second wetting area is formed on the surface to be cleaned.

[0079] Among them, in Figure 9 , A is the extended area of the third area in the first preset direction; when the second area at least covers the first wetting area, the extended area of the third area in the first preset direction at least overlaps with the second wetting area.

[0080] As can be seen from Figure 7 , although the cleaning machine performs a line feed, the line feed distance is short, and controlling the cleaning machine to run a preset distance along the second preset direction can increase the line feed distance of the cleaning machine. Therefore, the preset distance can be set according to the line feed distance, and the preset distance is positively correlated with the line feed distance; that is, the larger the line feed distance, the larger the preset distance.

[0081] In some embodiments, before controlling the cleaning machine to run along the first preset direction and spray the cleaning liquid to form a first wetting area on the surface to be cleaned, it further includes:

[0082] Detecting whether the cleaning machine runs to the edge of the surface to be cleaned;

[0083] Wherein, the first preset direction is opposite to the running direction of the cleaning machine before it runs to the edge of the surface to be cleaned.

[0084] In this embodiment, before the control module executes step S110, it is also necessary to detect whether the cleaning machine has run to the edge of the surface to be cleaned, so as to determine whether to control the cleaning machine to change rows. After controlling the cleaning machine to run in the first preset direction and spraying the cleaning liquid, it is also necessary to detect the distance between the cleaning machine and the edge of the surface to be cleaned to determine whether the cleaning machine has run to the edge of the surface to be cleaned. Wherein, the first preset direction is opposite to the running direction of the cleaning machine before it runs to the edge of the surface to be cleaned. For example: taking the right edge of the surface to be cleaned as an example, the running direction of the cleaning machine before it runs to the right edge of the surface to be cleaned is to run to the right, that is, the first preset direction is to run to the left; similarly, taking the left edge of the surface to be cleaned as an example, the running direction of the cleaning machine before it runs to the left edge of the surface to be cleaned is to run to the left, that is, the first preset direction is to run to the right.

[0085] In some embodiments, after detecting whether the cleaning machine has run to the edge of the surface to be cleaned, it further includes:

[0086] After the cleaning machine runs to the edge of the surface to be cleaned, control the cleaning machine to change rows;

[0087] Controlling the cleaning machine to change rows includes any of the above control methods.

[0088] In this embodiment, referring to Figures 7 to 9 , if the control module determines that the cleaning machine has run to the edge of the surface to be cleaned, it will also control the cleaning machine to change rows. Controlling the cleaning machine to change rows can be achieved by the above control methods. Among them, it is possible to humidify the second area and the third area while changing rows through steps 110, step 120, step 130 and step 131, and then clean the row after changing rows through steps 140 and step 141.

[0089] Wherein, step 150 can also be added between step 120 and step 130 to increase the row-changing distance of the cleaning machine. And the preset distance in step 150 can be set according to the row-changing distance, and the preset distance is positively correlated with the row-changing distance; that is, the larger the row-changing distance, the larger the preset distance.

[0090] In some embodiments, before controlling the cleaning machine to spray the cleaning liquid, it further includes:

[0091] Step S160, obtaining the current humidity of the first area of the cleaning machine or the second area of the cleaning machine;

[0092] Step S161, if it is determined that the current humidity is less than the preset humidity, then execute the step of spraying the cleaning liquid;

[0093] Step S162, if it is determined that the current humidity is greater than the preset humidity, then stop executing the step of spraying the cleaning liquid.

[0094] In this embodiment, referring to Figure 5 , before the control module controls the cleaning machine to spray the cleaning liquid in step S110, it is also necessary to obtain the humidity of the first area or the second area. Among them, humidity sensors can be arranged in both the first area and the second area, and the control module can obtain the current humidity of the first area or the second area through the humidity sensors. Then, it is determined whether the current humidity is greater than the preset humidity, where the preset humidity is set according to the humidity requirements when cleaning the surface to be cleaned in the first area or the second area.

[0095] If it is determined that the current humidity is less than the preset humidity, that is, the current humidity does not meet the humidity requirements for cleaning the surface to be cleaned. At this time, it is necessary to control the cleaning machine to execute the step of spraying the cleaning liquid to humidify the first area and the second area so that the current humidity meets the humidity requirements for cleaning the surface to be cleaned.

[0096] If it is determined that the current humidity is greater than the preset humidity, that is, the current humidity meets the humidity requirements for cleaning the surface to be cleaned. At this time, the cleaning machine can be controlled to stop executing the step of spraying the cleaning liquid, directly perform a line break, and then clean the new line.

[0097] In some embodiments, changing the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area includes:

[0098] Controlling the cleaning machine to rotate a preset angle so that the extended area of the second area of the cleaning machine along the first preset direction at least partially overlaps with the first wetting area, and the second area of the cleaning machine at least covers the first wetting area.

[0099] In this embodiment, referring to Figure 6 , when the control module executes step S120, it controls the cleaning machine to rotate. The preset angle can be set according to the spraying direction of the cleaning agent and the coverage range of the cleaning agent. By controlling the cleaning machine to rotate the preset angle, during the rotation of the cleaning machine, the extended area of the second area along the first preset direction will gradually move towards the first wetting area. When the extended area of the second area along the first preset direction at least partially overlaps with the first wetting area, the second area will cover the first wetting area.

[0100] In some embodiments, the control method further includes:

[0101] Controlling the cleaning machine to run along the first preset direction and spray the cleaning liquid to form a first wetting area on the surface to be cleaned, and making the first area of the cleaning machine at least cover the first wetting area.

[0102] In this embodiment, referring to Figure 6, the control module can also control the cleaning machine not to change lines and directly clean the current line. For example: after the cleaning machine executes the Figure 6 a state, it no longer executes the b state; instead, it controls the cleaning machine to continue running in the first preset direction, so that the first wetting area is covered by the first area, so that the first area runs in the first preset direction in a wet state to clean the current line. If the cleaning machine was previously running in the opposite direction of the first preset direction for cleaning, it is now performing a secondary cleaning of the current line.

[0103] In some embodiments, at least one of the two ends of the first area in the first preset direction overlaps two adjacent first wetting areas.

[0104] In this embodiment, referring to Figure 10 , where, in this embodiment, when the cleaning machine runs along the first preset direction, each time it sprays the cleaning liquid, the formed wetting area is called the first wetting area. At least one of the two ends of the first area in the first preset direction can overlap two adjacent first wetting areas, which can be understood as that when the cleaning machine runs along the first preset direction, the distance between every two times of spraying the cleaning agent does not exceed the length of the first area in the first preset direction. For example: Figure 10 In the formula, x is the distance between two adjacent first wetting areas, and y is the length of the first area in the first preset direction. Among them, x should be less than y, so that the first area can overlap two adjacent first wetting areas like a bridge, so that when the cleaning machine cleans the surface to be cleaned, it is always in a wet state.

[0105] When the cleaning machine of the present invention cleans the surface to be cleaned, it first sprays the cleaning liquid to form a first wetting area on the surface to be cleaned, and then changes the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area. By changing the running track of the cleaning machine, the area of the cleaning machine far from the spraying range can also run to the wetting area for wetting, which can make the area of the cleaning machine facing the surface to be cleaned wetter more evenly, and avoid the problem of residual scratches on the surface to be cleaned caused by uneven humidity of the cleaning cloth.

[0106] The above are only partial or preferred embodiments of the present invention. Whether in terms of words or drawings, they cannot limit the protection scope of the present invention. All equivalent structural transformations made by using the content of the specification and drawings of the present invention under the overall concept of the present invention, or direct / indirect applications in other related technical fields are included in the protection scope of the present invention.

Claims

1. A control method for a cleaning machine, used to clean a surface to be cleaned, the cleaning machine at least includes a first area and a second area facing the surface to be cleaned, characterized in that, The control method includes: Controlling the cleaning machine to run in a first preset direction and spraying a cleaning liquid to form a first wetting area on the surface to be cleaned, wherein the extension area of the first area of the cleaning machine along the first preset direction at least partially overlaps with the first wetting area; Changing the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area, and the first area is at least partially misaligned with the first wetting area.

2. The control method of the cleaning machine according to claim 1, characterized in that The cleaning machine further includes a third area facing the surface to be cleaned. The third area and the second area are respectively located on both sides of the first area. After the cleaning machine runs to the second area at least covering the first wetting area, the cleaning machine is in a second preset direction. The control method further includes: Controlling the cleaning machine to spray the cleaning liquid again in the second preset direction so that a second wetting area is formed on the surface to be cleaned, wherein the extension area of the first area of the cleaning machine along the second preset direction at least covers the second wetting area; Changing the running direction of the cleaning machine again so that the cleaning machine runs to the third area at least covering the second wetting area, and the first area is at least partially misaligned with the second wetting area.

3. The control method of the cleaning machine according to claim 2, wherein, After changing the running direction of the cleaning machine again, the control method further includes: Controlling the cleaning machine to spray the cleaning liquid along the first preset direction to form a third wetting area on the surface to be cleaned, wherein the extension area of the first area of the cleaning machine along the first preset direction at least covers the third wetting area, and the third wetting area is located between the first wetting area and the second wetting area; Controlling the cleaning machine to advance along the first preset direction so that the first area at least covers the third wetting area, and at least a part of the first area, at least a part of the second area, and at least a part of the third area of the cleaning machine all travel in a wet state; Wherein at least a part of the second area of the cleaning machine corresponds to the first wetting area.

4. The control method of the cleaning machine according to claim 3, characterized in that, When the cleaning machine changes its running direction to be in the second preset direction, the control method further includes: Controlling the cleaning machine to run a preset distance; Controlling the cleaning machine to spray the cleaning liquid again in the second preset direction so that a second wetting area is formed on the surface to be cleaned, so that when the second area at least covers the first wetting area, the extension area of the third area in the first preset direction at least overlaps with the second wetting area.

5. The control method of the cleaning machine according to claim 1, characterized in that, Before controlling the cleaning machine to run in the first preset direction and spraying the cleaning liquid to form a first wetting area on the surface to be cleaned, it further includes: Detecting whether the cleaning machine runs to the edge of the surface to be cleaned; Wherein the first preset direction is opposite to the running direction of the cleaning machine before it runs to the edge of the surface to be cleaned.

6. The control method of the cleaning machine according to claim 5, wherein, After detecting whether the cleaning machine runs to the edge of the surface to be cleaned, it further includes: After the cleaning machine runs to the edge of the surface to be cleaned, controlling the cleaning machine to change rows; Controlling the cleaning machine to change rows includes the control method according to any one of claims 1-4.

7. The control method of the cleaning machine according to claim 1, characterized in that Before the cleaning machine sprays the cleaning liquid, the following steps are also included: Obtain the current humidity of the first area or the second area of the cleaning machine; If it is determined that the current humidity is less than the preset humidity, then execute the step of spraying the cleaning liquid; If it is determined that the current humidity is greater than the preset humidity, then stop executing the step of spraying the cleaning liquid.

8. The control method of the cleaning machine according to claim 1, characterized in that, The step of changing the running direction of the cleaning machine so that the second area of the cleaning machine runs to at least cover the first wetting area includes: Control the cleaning machine to rotate a preset angle so that the extended area of the second area of the cleaning machine along the first preset direction overlaps at least partially with the first wetting area, and the second area of the cleaning machine at least covers the first wetting area.

9. The control method of the cleaning machine according to claim 1, wherein The control method further includes: Control the cleaning machine to run along the first preset direction and spray the cleaning liquid to form a first wetting area on the surface to be cleaned, and make the first area of the cleaning machine at least cover the first wetting area.

10. The control method of the cleaning machine according to claim 9, wherein, At least one of the two ends of the first area in the first preset direction overlaps with two adjacent first wetting areas.

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