Cleaning control method and device and cleaning equipment

Abstract

The invention relates to the field of cleaning equipment, and provides a cleaning control method and device and cleaning equipment which are applied to the cleaning equipment, the cleaning equipment comprises a machine body, a side brush assembly movably connected to the machine body and a mop assembly, and the side brush assembly is provided with a cleaning position making contact with a cleaning face and a lifting position separated from the cleaning face; the method comprises the steps that when it is confirmed that the wet area exists on the cleaning path of the cleaning equipment and the side brush assembly is located at the lifting position, the cleaning equipment cleans the wet area, in this way, by controlling the side brush assembly to be located at the lifting position, the side brush assembly is prevented from making contact with the wet area and carrying stains, pollution to the cleaning face is reduced, and the cleaning efficiency is improved. Due to the fact that when the cleaning equipment encounters the wet area, the side brush assembly can be directly controlled to be located at the lifting position, the cleaning equipment can clean the wet area, action coherence is achieved, complex control logic does not need to be designed, and the cleaning efficiency is greatly improved.

Description

Technical Field

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

[0002] The side brush is an important component of the cleaning equipment. When the cleaning equipment is working, the cleaning surface can be cleaned by the rotation of the side brush. Due to the complexity of the cleaning scenes of the cleaning equipment and the certain degree of descent of the side brush, if the cleaning scene encounters stains such as water stains and coffee stains, the stains will contaminate the side brush.

[0003] In related technologies, in order to solve the above situation, complex walking logic is usually introduced into the cleaning equipment, or targeted scene design is carried out with the help of sensors. For example, for cleaning scenes with stains, the walking logic can be set in the cleaning equipment to first control the cleaning equipment to turn around, so as to use the mop component to clean the stains. After the stains are cleaned, the cleaning equipment is controlled to turn around to the original driving direction and continue cleaning based on the original driving path.

[0004] However, the control logic of the cleaning equipment in the above manner is relatively complex and the cleaning efficiency is relatively poor. Summary of the Invention

[0005] The present application provides a cleaning control method, device and cleaning equipment, which are used to solve the problem that the control logic of the existing cleaning equipment is relatively complex and the cleaning efficiency is poor when cleaning scenes with stains.

[0006] In a first aspect, the present application provides a cleaning control method, which is applied to a cleaning device, the cleaning device comprising a body, a side brush assembly movably connected to the body, and a mop assembly, wherein the side brush assembly is at least used to perform dry cleaning on a cleaning surface, and the mop assembly is at least used to perform wet cleaning on the cleaning surface, the side brush assembly having a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface; the method comprising:

[0007] When it is confirmed that there is a wet area on the cleaning path of the cleaning device, the cleaning device cleans the wet area when the side brush assembly is in the raised position.

[0008] In this way, for the wet area on the cleaning surface, the cleaning device can control the side brush assembly to be in a raised position to directly clean the wet area. There is no need for complex control logic, and the cleaning efficiency is high. Since the side brush assembly may be contaminated with a lot of dirt during the cleaning process, if it touches the wet area and then cleans the cleaning surface, it may cause contamination to the cleaning surface. The present application controls the side brush assembly to be in a raised position to clean the wet area. The side brush assembly will not directly contact the wet area, which can avoid contamination of the cleaning surface and improve the cleaning effect.

[0009] Optionally, the method further includes: before the side brush assembly contacts the wet area, controlling the side brush assembly to switch from the cleaning position to the raised position.

[0010] In this way, the cleaning device can lift the side brush assembly before cleaning the wet area, avoiding lifting it after contact with the wet area, contaminating the side brush assembly, and causing the side brush assembly to contaminate the cleaning surface during the next cleaning, further improving the cleaning flexibility of the cleaning device. Since the side brush assembly may be contaminated with a lot of dirt during the cleaning process, if it touches a wet area, it may also contaminate the wet area, causing cleaning difficulties. The present application can avoid the occurrence of the above situation.

[0011] Optionally, verify that there are wet areas along the cleaning path of the cleaning equipment, including:

[0012] It is confirmed that there is a first area on the cleaning path that has been wet cleaned, and the wet area includes the first area.

[0013] In this way, when the cleaning device encounters a first area that has been wet-cleaned based on the mop assembly, the side brush assembly can be controlled to be in a raised position to prevent possible dirt on the side brush from contaminating the first area, thereby ensuring the cleaning effect of the cleaning surface and improving the user experience.

[0014] Optionally, verify that there are wet areas along the cleaning path of the cleaning equipment, including:

[0015] Confirm the presence of a first area on the cleaning path based on the sensor signal; and / or confirm the area where the cleaning device has performed wet cleaning based on the cleaning map of the cleaning device, and determine the presence of the first area on the cleaning path of the cleaning device based on the wet cleaning area.

[0016] In this way, it is possible to predict in advance whether the first area exists based on the sensor signal or the cleaning map, and then control the side brush component to switch to the raised position in advance, thereby improving the intelligence and timeliness of component switching.

[0017] Optionally, the mop assembly is disposed on the rear side of the machine body, and the side brush assembly is disposed on the front side of the machine body. The mop assembly is at least used to wet clean the cleaning surface when the cleaning device performs a bow-shaped path cleaning. The bow-shaped path includes a first path, a second path, and a third path transitioning from the first path to the second path. When the cleaning device cleans along the first path and the second path, the wet cleaning coverage at least partially overlaps. The method further includes:

[0018] When cleaning the second path or the third path, if the side brush assembly is in the area covered by the mop assembly when cleaning the first path, the side brush assembly is controlled to be in a raised position for cleaning.

[0019] In this way, when it is detected that the side brush assembly is in the cleaning bow path, the area covered by the mop assembly can be controlled to be in the raised position for cleaning, avoiding repeated cleaning of the wet mopped area by the side brush assembly and contamination of the cleaning surface.

[0020] Optionally, there is one side brush assembly, and the side brush assembly is disposed on the right front side of the machine body. The method further includes:

[0021] When the cleaning device performs bow path cleaning, it first cleans along the first path and then cleans along the second path. When the cleaning device cleans along the first path, the side brush assembly is in the cleaning position; when the cleaning device cleans along the second path, the side brush assembly is in the raised position.

[0022] In this way, the cleaning device has a side brush assembly that can clean the cleaning surface. When it is determined that the side brush assembly is in the area covered by the mop assembly when cleaning the second path, the side brush assembly can be controlled to be in a raised position for cleaning, thereby avoiding repeated cleaning of the area that has been wet-mopped and causing contamination to the cleaning surface that has been cleaned.

[0023] Optionally, the method further includes: when the cleaning device cleans along the first path, the side brush assembly is in the cleaning position; when the cleaning device enters the third path from the first path, the side brush assembly is switched from the cleaning position to the raised position.

[0024] If the side brush assembly is controlled to be lifted in the first path, it is lifted early and the first path is easily missed; if the side brush assembly is controlled to be lifted in the second path, it is lifted late and the side brush assembly is easily contaminated by the wet ground, thereby affecting the cleaning power of the next cleaning, and causing the side brush assembly to contaminate other areas, affecting the cleaning effect. Therefore, the side brush assembly is controlled to be lifted in the third path to avoid the above situation and thereby improve the cleaning effect.

[0025] Optionally, confirming that a wet area exists on a cleaning path of the cleaning device includes: confirming that a second area contaminated by wet stains exists on the cleaning path, and the wet area includes the second area.

[0026] In this way, when cleaning the second area, the side brush assembly will not directly contact the second area, avoiding the dirt in the second area from contaminating the side brush assembly. Since the side brush assembly may be stained with a lot of dirt during the cleaning process, if it touches the second area and then cleans the cleaning surface, it may cause contamination to the cleaning surface. The present application intelligently controls the side brush assembly in a raised position to clean the second area, ensuring a good cleaning experience and avoiding expanding the scope of wet stains through the side brush assembly and contaminating the cleaning surface.

[0027] Optionally, the second area is determined based on stain information identified by the stain sensor, or based on a stain area pre-demarcated on the operation map.

[0028] In this way, the second area can be determined in advance based on the stain sensor or the operation map, and then the side brush assembly of the cleaning equipment can be controlled in advance to be in the raised position to clean the second area, thereby solving the problem of the side brush assembly contacting the second area due to the side brush assembly not being in the raised position in time, and ensuring the cleaning effect.

[0029] Optionally, the method further includes: after the stain sensor recognizes the stain information and before the side brush assembly contacts the second area, controlling the side brush assembly to switch from the cleaning position to the raised position.

[0030] In this way, after the stain sensor recognizes the stain information, if the side brush assembly is controlled to be lifted at a certain distance from the second area, the lifting timing is too early, and it is easy to miss the part of the area before the second area; if the side brush assembly is controlled to be lifted after contacting the second area, the lifting timing is too late, and the side brush assembly is easily contaminated by stains, thereby affecting the cleaning power of the next cleaning, causing the side brush assembly to contaminate other areas during the next cleaning, expanding the scope of contamination. Therefore, controlling the side brush assembly to be lifted at the corresponding critical point before contacting the second area can avoid the above situation and improve the cleaning effect of the cleaning equipment.

[0031] Optionally, the cleaning device further includes a roller brush assembly, where suction is provided to perform cleaning work, and the method further includes:

[0032] The side brush assembly and the roller brush assembly are in a raised position separated from the cleaning surface, and the mop assembly is in a mopping position in contact with the cleaning surface to clean the wet area.

[0033] In this way, the mop assembly can directly clean the stains in the wet area, thereby preventing the stains from adhering to the side brush assembly and the roller brush assembly, or even spreading the stains, and keeping the cleaning surface dry and pollution-free.

[0034] Optionally, the method further includes: controlling the side brush assembly to not rotate in the raised position; and / or controlling the suction force at the roller brush assembly to be turned off.

[0035] In this way, electrical energy can be saved, thereby extending the working time of the cleaning equipment.

[0036] Optionally, the method further includes: controlling the side brush assembly to rotate in a raised position; and / or controlling the roller brush assembly to have suction in the raised position to air-dry at least a portion of the wet area.

[0037] In this way, the scope of the wet area can be reduced, the drying of the cleaning area can be accelerated, and the cleaning effect of the cleaning equipment can be improved.

[0038] Optionally, the method further includes: confirming that there is a carpet area within the cleaning surface of the cleaning device, and when the cleaning device is located in the carpet area, controlling the side brush assembly to be in a raised position.

[0039] Since the side brush assembly may be contaminated with a lot of dirt during the cleaning process, if the carpet area is cleaned, the carpet area may be contaminated. The present application controls the side brush assembly to be in a raised position to clean the carpet area. The side brush assembly will not come into direct contact with the carpet area, which can avoid contamination of the carpet area and the occurrence of the side brush entangled in the carpet, thereby improving cleaning efficiency.

[0040] Optionally, the method also includes: when identifying that the cleaning device is in the carpet area, controlling the cleaning device to move to the ground area, then controlling the side brush assembly to switch from the cleaning position to the raised position, and then controlling the cleaning device to enter the carpet area to perform cleaning work.

[0041] In this way, when the cleaning device is cleaning the carpet area, the side brush assembly can be controlled to switch from the cleaning position to the raised position, and then the cleaning device can be controlled to enter the carpet area to perform cleaning work, thereby avoiding the side brush from getting entangled when the side brush assembly is lifted on the carpet area, and also avoiding the side brush from contaminating the carpet.

[0042] Optionally, the method also includes: when there is a carpet area on the cleaning surface and the cleaning device is in the ground area, when the cleaning device is in the ground area, first controlling the side brush assembly to switch from the cleaning position to the raised position, and then controlling the cleaning device to move from the ground area to the carpet area.

[0043] In this way, when the cleaning device is located in the ground area, the side brush assembly can be controlled to switch from the cleaning position to the raised position in advance, and then the cleaning device can be controlled to move from the ground area to the carpet area for cleaning, thereby solving the problem of contamination of the carpet area caused by untimely state switching. The carpet area can then be determined in advance according to the environment in which the cleaning device is located, and the position of the side brush assembly can be intelligently switched, thereby improving the convenience of using the cleaning device.

[0044] Optionally, the method further includes: when the cleaning device is located in a carpet area, controlling the side brush assembly and the mop assembly to be in a raised position separated from the cleaning surface.

[0045] In this way, the side brush assembly and the mop assembly can be prevented from contacting the carpet and causing contamination to the carpet.

[0046] Optionally, the method also includes: when the cleaning device is in a non-cleaning task scenario, controlling the side brush assembly to be in a raised position, the non-cleaning task scenario including at least one of the following: the cleaning device returns to the base station, the cleaning device is in the base station, the cleaning device is in a navigation process, and the cleaning device is in a positioning process.

[0047] In this way, the side brush assembly can be controlled to be in a raised position during the above process to reduce friction of the side brush assembly, avoid problems such as hair frying caused by the side brush assembly, and increase the service life of the side brush assembly.

[0048] Optionally, the method also includes: when the cleaning device is in a difficult cleaning scenario, controlling the side brush assembly to be in a raised position, the difficult cleaning scenario including at least one of the following: the cleaning device overcoming an obstacle, the cleaning device being trapped, the presence of an obstacle with entanglement characteristics on the cleaning path, and the presence of a granular obstacle on the cleaning path.

[0049] Therefore, for the above-mentioned difficult cleaning scenarios, the side brush assembly can be controlled to be in a raised position to prevent the side brush assembly from being worn or knocked off by known obstacles in the above-mentioned scenarios, and to facilitate the cleaning device to escape from the predicament.

[0050] Optionally, the side brush assembly is swingably connected to the body via a swing arm, so that the side brush assembly has a retracted position and an outward swing position, and when the side brush assembly is in the outward swing position, it is further away from the edge of the body than in the retracted position. The method further includes:

[0051] When the side brush assembly is in the outward swing position, the side brush assembly is first controlled to switch from the outward swing position to the inward retracted position, and then the side brush assembly is controlled to move to the raised position.

[0052] In this way, by avoiding lifting the side brush assembly at the outward swing position, resistance caused by the excessive diameter of the side brush or the side brush being stuck in the cleaning device when the side brush assembly is lifted can be avoided, thereby ensuring the normal operation of the cleaning device.

[0053] Optionally, the side brush assembly includes a side brush housing and a cleaning member at least partially housed in the side brush housing. When the side brush housing and the cleaning member move synchronously, the side brush assembly is in a cleaning position to clean the cleaning surface through the cleaning member; when the side brush housing and the cleaning member generate relative movement, the side brush assembly switches between the cleaning position and the raised position.

[0054] In this way, through the relative movement between the side brush housing and the cleaning member, at least part of the structure of the cleaning member moves toward the inside of the side brush housing, thereby separating from the cleaning surface. The operating principle is relatively simple and easy to implement.

[0055] Optionally, the side brush assembly includes a first drive assembly, and when the side brush assembly is in the cleaning position, the first drive assembly drives the side brush housing and the cleaning member to move synchronously, and the first drive assembly drives the side brush assembly to clean the cleaning surface; when the side brush assembly is in the cleaning position, the first drive assembly drives the side brush housing and the cleaning member to produce relative movement, and the side brush assembly switches between the cleaning position and the raised position, and / or, when the side brush assembly is in the raised position, the first drive assembly drives the side brush housing and the cleaning member to rotate differentially, so that the side brush assembly moves to the cleaning position.

[0056] In this way, by setting up the first drive assembly, it is convenient to control the side brush assembly to switch between the cleaning position and the lifting position to avoid the side brush assembly from causing pollution to the cleaning surface, and the motion control method of the first drive assembly is relatively simple and easy to implement.

[0057] Optionally, the first drive assembly includes a first motor. When the side brush assembly is in the cleaning position and the first motor rotates in a first direction, the side brush housing and the cleaning member move synchronously, and the cleaning member cleans the cleaning surface; when the side brush assembly is in the cleaning position and the first motor rotates in a second direction, the side brush housing and the cleaning member move relative to each other, and the cleaning member is lifted.

[0058] Optionally, the first drive assembly includes a stopper and an output shaft, one of the stopper and the output shaft is connected to the cleaning member, and the other is connected to the side brush housing, and the stopper is configured to rotate in the first direction.

[0059] Optionally, the stop member includes a one-way bearing, the inner ring of the one-way bearing is connected to the cleaning member, the inner ring of the bearing is configured to rotate along a first direction, and the output shaft is connected to the side brush housing so that the side brush housing rotates with the rotation direction of the first motor.

[0060] In this way, the cleaning element and the side brush housing can rotate synchronously in the first direction under the drive of the first motor, and the side brush housing can also rotate in the second direction under the drive of the first motor, thereby generating relative movement with the cleaning element, and the implementation method is relatively simple and low cost.

[0061] Optionally, the side brush housing has a mounting cavity and an extension opening communicated with the mounting cavity, the cleaning member is partially disposed in the mounting cavity, and the extension opening is suitable for allowing the cleaning member to extend.

[0062] In this way, the matching mode of the side brush housing and the cleaning element is simpler and easier to implement.

[0063] Optionally, when the side brush housing and the cleaning member generate relative motion, at least one of the protruding length of the cleaning member relative to the side brush housing or the height relative to the cleaning surface may vary, so that the cleaning member is lifted or lowered relative to the cleaning surface.

[0064] In this way, the cleaning member can be implemented in various ways, which can better meet the use requirements, and the specific structure of the cleaning member can be flexibly selected according to actual needs.

[0065] Optionally, the edge side wall of the extension port forms a guide surface, and when the first motor rotates along the second direction, the guide surface abuts against the cleaning member to change the position of the cleaning member relative to the side brush housing.

[0066] In this way, by setting the guide surface, when the side brush housing rotates with the connecting shaft, the side brush housing can press the cleaning element inward, making it easier for the cleaning element to retract into the interior of the side brush housing, and the retraction process is smoother, reducing the jamming phenomenon.

[0067] Optionally, the side walls on opposite sides of the extension port extend obliquely relative to the axial direction of the connecting shaft to form at least a portion of the guide surface, and / or at least a portion of the guide surface is at a preset angle to the horizontal direction so that the guide surface extends obliquely upward, and when the cleaning member retracts into the installation cavity, the cleaning member moves along the guide surface to change the height relative to the cleaning surface.

[0068] In this way, when the side brush housing rotates relative to the cleaning element in the second direction, the cleaning element can be retracted along the guide surface into the side brush housing, and the retraction process is relatively smooth, which can minimize the squeezing force of the side brush housing on the cleaning element, thereby reducing the degree of bending deformation of the cleaning element and ensuring the reliability of the cleaning element.

[0069] Optionally, the method further includes: confirming, based on the configuration information, the scenario in which the side brush assembly is allowed to be lifted; when the cleaning device confirms that there is a scenario that requires lifting and confirms, based on the configuration information, that the current scenario allows lifting, controlling the side brush assembly to switch to the lifted position.

[0070] In this way, as long as the cleaning device needs to be lifted, the side brush assembly can be switched to the lifted position after determining according to the configuration information that the conditions for allowing the side brush assembly to be lifted are met, thereby improving the flexibility of application.

[0071] Optionally, the cleaning device further includes a mop assembly, and the cleaning device is configured to have a mop mode. When the cleaning device is in the mop mode, the side brush assembly is in a raised position, and the mop assembly contacts the cleaning surface to perform cleaning work.

[0072] In this way, cleaning based on the mopping mode can reduce the frequency of contact between the side brush assembly and pollutants, reduce the wear and tear of the side brush assembly, and prevent the dirty side brush assembly from contaminating other areas.

[0073] In a second aspect, the present application provides a cleaning control device for use with a cleaning device, the cleaning device comprising a body, a side brush assembly movably connected to the body, and a mop assembly, the side brush assembly being at least used to perform dry cleaning on a cleaning surface, the mop assembly being at least used to perform wet cleaning on the cleaning surface, the side brush assembly having a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface; the device comprising a control module, the control module being used to:

[0074] When it is confirmed that there is a wet area on the cleaning path of the cleaning device, the cleaning device cleans the wet area when the side brush assembly is in the raised position.

[0075] In a third aspect, the present application provides a cleaning device comprising a body, a side brush assembly and a mop assembly movably connected to the body, and a controller, wherein the controller is configured to execute the cleaning control method as described in any one of the first aspects.

[0076] In summary, the present application provides a cleaning control method, device and cleaning equipment, which includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is at least used to perform dry cleaning on the cleaning surface, and the mop assembly is at least used to perform wet cleaning on the cleaning surface. The side brush assembly has a cleaning position in contact with the cleaning surface and a lifting position separated from the cleaning surface. In this way, when the cleaning device determines that there is a wet area on the cleaning path to be cleaned, the side brush assembly can be controlled to be in the lifting position, and then other cleaning components of the cleaning device, such as the mop assembly, clean the wet area to avoid contact between the side brush assembly and the wet area and carry stains, thereby reducing pollution to the cleaning surface and pollution to the side brush assembly. Since the cleaning device in the present application can directly control the side brush assembly to be in the lifting position when encountering a wet area, so that the cleaning device can clean the wet area, it has action continuity and does not require the design of complex control logic, which greatly improves the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0078] Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application;

[0079] Figure 2 A schematic diagram of a scenario in which all side brush assemblies provided in an embodiment of the present application are in a raised position;

[0080] Figure 3 A schematic flow chart of an optional cleaning control method provided in an embodiment of the present application;

[0081] Figure 4 A schematic diagram of switching a side brush assembly from a cleaning position to a raised position provided in an embodiment of the present application;

[0082] Figure 5 A schematic diagram of a cleaning device provided in an embodiment of the present application performing cleaning on a bow-shaped path;

[0083] Figure 6 A schematic diagram of a scene in which a cleaning device is cleaning a carpet area according to an embodiment of the present application;

[0084] Figure 7 A schematic diagram of another cleaning device provided in an embodiment of the present application cleaning a carpet area;

[0085] Figure 8 A schematic diagram of a scenario in which all side brush assemblies provided in an embodiment of the present application are in an outward swing position;

[0086] Figure 9 A schematic diagram of a side brush assembly provided in an embodiment of the present application switching from an outward swing position to an inward retracted position;

[0087] Figure 10 This is an assembly diagram of the side brush assembly and the first drive assembly according to an embodiment of the present application;

[0088] Figure 11 An exploded view of the side brush assembly and the first drive assembly according to an embodiment of the present application;

[0089] Figure 12 This is a structural schematic diagram of a side brush assembly from one angle according to an embodiment of the present application;

[0090] Figure 13 This is a structural schematic diagram of the side brush assembly of an embodiment of the present application from another angle;

[0091] Figure 14 This is a structural schematic diagram of the side brush assembly of an embodiment of the present application from another angle;

[0092] Figure 15 This is a schematic structural diagram of a cleaning member according to an embodiment of the present application;

[0093] Figure 16 This is a schematic diagram of the side brush assembly of an embodiment of the present application in a retracted position;

[0094] Figure 17 This is a schematic diagram of the side brush assembly of an embodiment of the present application in an outward swing position;

[0095] Figure 18 A schematic structural diagram of a cleaning control device provided in an embodiment of the present application;

[0096] Figure 19 A schematic structural diagram of a cleaning device provided in an embodiment of the present application.

[0097] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.

[0098] Description of reference numerals:

[0099] 100-cleaning device; 102-cleaning device base station; 10-side brush assembly; 11-cleaning part;

[0100] 111-clutch sleeve; 112-cleaning strip; 113-avoidance gap; 114-connecting body; 115-brush bristles;

[0101] 12-side brush housing; 121-installation cavity; 122-extension port; 123-guide surface; 124-side brush base;

[0102] 125-side brush top cover; 13-connecting shaft; 14-stopper; 15-threaded fastener; 20-first drive assembly;

[0103] 21-box; 211-assembly cavity; 22-transmission mechanism; 23-output shaft; 24-connecting sleeve;

[0104] 30-swing arm; 40-machine body; 50-controller; 70-mop assembly; 601-carpet area; 501-first path;

[0105] 502 - second path; 503 - third path; 1800 - cleaning control device; 1801 - control module;

[0106] 1802-Switch module. DETAILED DESCRIPTION

[0107] To facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first device and the second device are merely used to distinguish between different devices and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily mean that they are different.

[0108] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0109] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0110] When the cleaning device is working, the cleaning surface can be cleaned by the rotation of the side brush. The side brush is usually fixed to the body of the cleaning device and rotates, such as being set on the front side of the body, and is used to move dry garbage or dust on the ground to the vicinity of the roller brush assembly, and the suction port of the roller brush assembly sucks the dry garbage or dust into the integrated box of the body. However, due to the complex cleaning scenarios of the cleaning equipment, the side brush may fall off and wear, be caught in the carpet, have hair frizzing, or be contaminated by stains.

[0111] Furthermore, after the side brush is contaminated by stains, if the cleaning scene does not require the side brush to clean, the side brush will still contact the cleaning surface, thereby causing contamination to the cleaning surface.

[0112] In one possible implementation, complex walking logic can be introduced into the cleaning equipment, or targeted scenario design can be carried out with the help of sensors. For example, for cleaning scenarios with stains, the walking logic can be set in the cleaning equipment to first control the cleaning equipment to turn around and use the mop component to clean the stains. After the stains are cleaned, the cleaning equipment is controlled to turn around to the original driving direction and continue cleaning based on the original driving path.

[0113] However, the control logic of the cleaning device in the above manner is relatively complex, and the cleaning efficiency is relatively poor. In addition, it is difficult to accurately control the cleaning device to prevent the side brush assembly from contacting the stains when cleaning the stains.

[0114] Optionally, the side brush can also be set as a liftable structure to solve some of the above problems, but how to design the lifting structure of the side brush to make the structure compact to save body space, reduce the manufacturing cost of the cleaning equipment, ensure the working reliability of the cleaning equipment, and how to design the specific lifting / lowering scenarios of the side brush to ensure the cleaning effect are problems that need to be solved.

[0115] In response to the above problems, the present application provides a cleaning control method, which is implemented based on a cleaning device, which includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is at least used to perform dry cleaning on the cleaning surface, and the mop assembly is at least used to perform wet cleaning on the cleaning surface. The side brush assembly has a cleaning position in contact with the cleaning surface and a lifting position separated from the cleaning surface. In this way, when the cleaning device determines that there is a wet area on the cleaning path to be cleaned, the side brush assembly can be controlled to be in the lifting position, and then other cleaning components of the cleaning device, such as the mop assembly, clean the wet area to avoid contact between the side brush assembly and the wet area and carry stains, thereby reducing pollution to the cleaning surface and pollution to the side brush assembly. Since the cleaning device in the present application can directly control the side brush assembly to be in the lifting position when encountering a wet area, so that the cleaning device can clean the wet area, it has action continuity and does not require the design of complex control logic, which greatly improves the cleaning efficiency.

[0116] For example, Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, taking a cleaning device in a household scenario as an example, the application scenario includes a cleaning device 100 and a cleaning device base station 102 .

[0117] In the living room, the cleaning device 100 can clean the living room based on the side brush assembly. At this time, the side brush assembly of the cleaning device 100 is in a cleaning position in contact with the cleaning surface. When the cleaning device 100 determines that there is a wet area on the cleaning surface corresponding to the living room, such as water stains, coffee stains, soup stains and other stains, the cleaning device 100 can control the side brush assembly to be in a raised position separated from the cleaning surface, and then the cleaning device 100 cleans the wet area. By avoiding contact between the side brush assembly and the wet area, the occurrence of contamination of the cleaning surface when the side brush assembly continues to clean the cleaning surface after being contaminated is reduced.

[0118] It should be noted that when the cleaning device 100 cleans the living room, it can clean the cleaning surface based on a predetermined cleaning path such as a bow-shaped path. The embodiment of the present application does not specifically limit the planned path corresponding to the cleaning path, which can be set based on the application scenario and / or user needs.

[0119] Optionally, after the cleaning device 100 finishes cleaning the wet area, the side brush assembly of the cleaning device 100 may be controlled to be in the cleaning position to clean the cleaning surface corresponding to the living room.

[0120] Optionally, the cleaning device base station 102 can charge the cleaning device 100 .

[0121] It should be noted that the cleaning control method can also be applied to shopping malls, schools, and offices. This application does not limit the specific application scenarios of the cleaning control method. The above is only an example.

[0122] For example, a cleaning device includes a body, a side brush assembly movably connected to the body, and a mop assembly, wherein the side brush assembly is at least used to perform dry cleaning on a cleaning surface, and the mop assembly is at least used to perform wet cleaning on the cleaning surface, and the side brush assembly has a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface. The cleaning control method includes:

[0123] When it is confirmed that there is a wet area on the cleaning path of the cleaning device, the cleaning device cleans the wet area when the side brush assembly is in the raised position.

[0124] In the embodiment of the present application, the wet area may refer to an area with moisture, such as an area with moisture stains and an area that has been wet-cleaned. The moisture stains may include milk stains, egg stains, juice stains, sweat stains, coffee stains, tea stains, soup stains, etc. that can stick to the bristles of the side brush assembly. The embodiment of the present application does not limit the specific type of stains.

[0125] Among them, the side brush assembly includes a side brush shell and a cleaning member at least partially accommodated in the side brush shell, the cleaning member includes a clutch sleeve and a cleaning strip, and the cleaning strip includes a connecting body and bristles. The embodiment of the present application does not specifically limit the structure of the side brush assembly, and it can refer to the description of the side brush assembly structure in the following embodiment.

[0126] It should be noted that the side brush has basically no cleaning ability for stains in the wet area. Therefore, when it is determined that there is a wet area on the cleaning path of the cleaning equipment, the side brush assembly can be controlled to be in a raised position so that the cleaning equipment can clean the wet area.

[0127] It should be noted that the embodiment of the present application does not limit the number and specific location of the side brush assemblies included in the cleaning device. For example, one side brush assembly can be set and located on the front side of the body.

[0128] It can be understood that the cleaning path of the cleaning equipment is a pre-defined form of path for cleaning the cleaning surface, such as a bow-shaped cleaning path or a Z-shaped cleaning path. The embodiment of the present application does not specifically limit the cleaning path.

[0129] In some embodiments, when the cleaning device performs a cleaning task, it can clean the cleaning surface according to a predefined cleaning path. During the driving process of the cleaning device based on the cleaning path, based on artificial intelligence (AI) recognition, when AI recognizes the existence of a wet area, the cleaning device can control the side brush assembly to be in a raised position, thereby allowing the cleaning device to clean the wet area.

[0130] For example, Figure 2 A schematic diagram of a scene in which all side brush assemblies are in a raised position is provided in an embodiment of the present application, such as Figure 2 As shown, the side brush assembly 10 is in a raised position.

[0131] Optionally, after the cleaning device finishes cleaning the wet area, the side brush assembly can be controlled to be in the cleaning position to continue cleaning the cleaning surface along the cleaning path.

[0132] In other embodiments, while the cleaning device is traveling along a predefined cleaning path to clean a cleaning surface, the presence of a wet area on the cleaning path can be predetermined based on a work map. When the cleaning device advances along the cleaning path to a preset distance or critical point relative to the wet area, the cleaning device can be controlled to clean the wet area with the side brush assembly in a raised position.

[0133] The location of the wet area is marked in the operation map. It should be noted that the embodiment of the present application does not limit the specific implementation method of confirming the presence of the wet area on the cleaning path of the cleaning device, and the above is only an example.

[0134] It is understandable that the preset distance or critical point can be pre-set by the user or determined by cleaning data collected by the cleaning device.

[0135] Therefore, for the wet area on the cleaning surface, the cleaning device can control the side brush assembly to be in a raised position to directly clean the wet area. No complex control logic is required, and the cleaning efficiency is high. Since the side brush assembly may be contaminated with a lot of dirt during the cleaning process, if it touches the wet area and then cleans the cleaning surface, it may cause contamination to the cleaning surface. The present application controls the side brush assembly to be in a raised position to clean the wet area. The side brush assembly will not directly contact the wet area, which can avoid contamination of the cleaning surface and improve the cleaning effect.

[0136] Optional, Figure 3 A flow chart of an optional cleaning control method provided in an embodiment of the present application is shown as follows: Figure 3 As shown, the cleaning control method includes the following steps:

[0137] S301. Before the side brush assembly contacts the wet area, control the side brush assembly to switch from the cleaning position to the raised position.

[0138] S302: Clean the wet area with the side brush assembly in the raised position.

[0139] In an embodiment of the present application, before the cleaning device travels to the wet area based on the cleaning path, including when the projection of the body does not contact the wet area, or before the side brush assembly is about to contact the wet area, that is, when the cleaning device advances along the cleaning path to a preset distance or critical point relative to the wet area, the side brush assembly of the cleaning device can be controlled to switch from the cleaning position to the raised position.

[0140] For example, Figure 4 A schematic diagram of a side brush assembly switching from a cleaning position to a raised position is provided in an embodiment of the present application. Figure 1 In the scenario shown, the cleaning device can first use the following method when performing cleaning along the cleaning path: Figure 4 As shown in Figure A, the side brush assembly 10 of the cleaning device is in the inner cleaning position to perform cleaning. When it is determined that there is a wet area on the cleaning path, before the cleaning device is controlled to travel to the wet area, if it travels to a preset distance or critical point relative to the wet area, the side brush assembly 10 of the cleaning device is controlled to switch from the cleaning position to the raised position, that is, Figure 4 The position shown in B in FIG. 1 is shown in FIG. 2 , at which time, the side brush assembly 10 is in a raised position, and the cleaning device cleans the wet area.

[0141] Optionally, when the cleaning device is performing cleaning along the cleaning path, if it is confirmed that there is a wet area on the cleaning path, before the side brush assembly contacts the wet area, such as before it moves to the edge of the relatively wet area, the side brush assembly can be controlled to switch from the cleaning position to the raised position, and the cleaning device can then perform cleaning on the wet area.

[0142] Therefore, in an embodiment of the present application, when the side brush assembly is in the cleaning position and the cleaning device is performing cleaning along the cleaning path, before the cleaning device travels to the wet area, or before the side brush assembly contacts the wet area, the side brush assembly of the cleaning device can be controlled to switch from the cleaning position to the lifting position. In this way, the cleaning device can lift the side brush assembly before cleaning the wet area, avoiding lifting it after contacting the wet area, contaminating the side brush assembly, and causing the side brush assembly to contaminate the cleaning surface during the next cleaning, further improving the cleaning flexibility of the cleaning device, and since the side brush assembly may be stained with a lot of dirt during the cleaning process, if it touches the wet area, it may also contaminate the wet area, causing cleaning difficulties, and the present application can avoid the occurrence of the above situation.

[0143] Optionally, verify that there are wet areas along the cleaning path of the cleaning equipment, including:

[0144] It is confirmed that there is a first area on the cleaning path that has been wet cleaned, and the wet area includes the first area.

[0145] Exemplarily, a water replenishing mechanism (not shown) is provided in the body of the cleaning device, which can replenish water for the mop assembly when the cleaning device is working, thereby enabling the mop assembly to perform wet cleaning.

[0146] In the embodiment of the present application, the first area may refer to the area range where wet cleaning has been performed by the cleaning equipment. The embodiment of the present application does not specifically limit the size of the first area.

[0147] Since the first area that has been wet-cleaned by the cleaning device is also considered a wet area, it does not correspond to stains. However, there may be residual moisture in the first area that has been wet-cleaned. When the cleaning device passes over, the dirt on the surface of the side brush assembly may dissolve the dirt when it comes into contact with the moisture, thereby contaminating the cleaning surface. In addition, when the side brush assembly comes into contact with moisture, it may contaminate the cleaning surface of other areas, and the cleaning power of the side brush assembly carrying moisture will be reduced. Therefore, when the cleaning device is in the first area, it is necessary to control the side brush assembly to be in the raised position.

[0148] In some embodiments, when the cleaning device performs a cleaning task, it can clean the cleaning surface based on the cleaning path. When the cleaning device is moving based on the cleaning path, if the AI recognizes that there is a first area in the cleaning path, it can control the side brush assembly to be in a raised position to clean the cleaning surface.

[0149] Therefore, in an embodiment of the present application, when the cleaning device encounters a first area that has been wet-cleaned based on the mop assembly, the side brush assembly can be controlled to be in a raised position to prevent possible dirt on the side brush from contaminating the first area, thereby ensuring the cleaning effect of the cleaning surface and improving the user experience.

[0150] Optionally, verify that there are wet areas along the cleaning path of the cleaning equipment, including:

[0151] Confirm the presence of a first area on the cleaning path based on the sensor signal; and / or confirm the area where the cleaning device has performed wet cleaning based on the cleaning map of the cleaning device, and determine the presence of the first area on the cleaning path of the cleaning device based on the wet cleaning area.

[0152] In the embodiment of the present application, the sensor signal may refer to the sensor information collected by the sensor, such as the camera built into the body or the camera of other equipment, the image information corresponding to the cleaning equipment captured, or the point cloud data scanned by the laser radar. The embodiment of the present application does not make specific limitations on this.

[0153] Exemplarily, the cleaning device includes an AI sensor that can identify environmental information in which the cleaning device operates, and then confirm the existence of a first area on the cleaning path based on image recognition.

[0154] A cleaning map may refer to a cleaned area or a cleaned path uploaded to the cleaning device after the cleaning device has cleaned the cleaning surface. The embodiment of the present application does not specifically limit the process of forming the cleaning map. The cleaning map may also be a virtual area, which may be set to an area that has been wet cleaned. The virtual area is an area preset by the user in the cleaning area of the cleaning device, such as an area that the user sets in advance that he does not want the cleaning device to clean, or an area that the cleaning device identifies as inaccessible during the cleaning process. The embodiment of the present application does not limit the setting of the virtual area.

[0155] Optionally, the cleaning map may also be determined based on the cleaning travel logic of the cleaning device.

[0156] Optionally, since the cleaning device can correspond to multiple cleaning paths during the cleaning process of the cleaning surface, during the cleaning process of the cleaning device, the area where the cleaning device has performed wet cleaning can be first determined, and then the first area in the cleaning path currently corresponding to the cleaning device can be determined in the area where wet cleaning has been performed.

[0157] Optionally, the wet area includes a first area that has been wet cleaned by the cleaning device. Specifically, the first area includes the area where the cleaning device has performed wet cleaning, or, as the cleaning time increases, the area where the cleaning device has performed wet cleaning may be air-dried, that is, the area where the wet cleaning has been performed becomes dry. The first area may include the area that has been air-dried, or the area that has been air-dried is excluded, and then the cleaning device controls the side brush assembly to be in a raised position before driving to the first area.

[0158] Among them, the area where wet cleaning has been performed becomes a dry area, and whether the side brush assembly is lifted has little effect on the cleaning device.

[0159] In some embodiments, the cleaning device can capture image information corresponding to the cleaning device based on a built-in camera of the body or a camera of other equipment, and then perform AI recognition on the image information to determine whether the first area exists.

[0160] In other embodiments, the cleaning device may further determine whether the first area exists based on the point cloud data scanned by the laser radar. After identifying the first area, the outline and location of the first area may be marked on the cleaning map.

[0161] Furthermore, based on the position of the first area, the preset distance or critical point of the cleaning device relative to the first area can be determined, so that at the preset distance or critical point, the cleaning device can be controlled to clean the cleaning surface with the side brush assembly in a raised position.

[0162] Therefore, the embodiment of the present application can predict in advance whether the first area exists based on the sensor signal or the cleaning map, and then control the side brush component to switch to the raised position in advance, thereby improving the intelligence and timeliness of component switching.

[0163] Optionally, the mop assembly is disposed on the rear side of the machine body, and the side brush assembly is disposed on the front side of the machine body. The mop assembly is at least used to wet clean the cleaning surface when the cleaning device performs a bow-shaped path cleaning. The bow-shaped path includes a first path, a second path, and a third path transitioning from the first path to the second path. When the cleaning device cleans along the first path and the second path, the wet cleaning coverage at least partially overlaps. The method further includes:

[0164] When cleaning the second path or the third path, if the side brush assembly is in the area covered by the mop assembly when cleaning the first path, the side brush assembly is controlled to be in a raised position for cleaning.

[0165] In an embodiment of the present application, when the cleaning device cleans the cleaning surface based on a bow-shaped path, the width between the first path and the second path is smaller than the width of the coverage range of the mop assembly for wet cleaning. Therefore, there is an area of partial repeated cleaning. When cleaning this area of partial repeated cleaning, the cleaning device needs to lift the side brush assembly to reduce pollution to the area; wherein the first path and the second path are parallel to each other.

[0166] For example, Figure 5 A schematic diagram of a cleaning device performing cleaning on a bow path provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the bow path includes a first path 501, a second path 502, and a third path 503 that transitions from the first path to the second path. Figure 5 The area within the middle dashed box is the partially overlapping area corresponding to the coverage of wet cleaning.

[0167] Optionally, the cleaning device 100 is at position 1, and the side brush assembly is in the cleaning position to perform cleaning. If the cleaning device 100 is cleaning the second path 502 or the third path 503, and it is determined that the side brush assembly is in the area covered by the mop assembly when cleaning the first path 501, the side brush assembly is controlled to be in the raised position to perform cleaning, such as Figure 5 In position 2, the side brush assembly of the cleaning device 100 is in a raised position, so that the area covered by the side brush assembly and the mop assembly, that is, the area that has been wet cleaned, can be avoided from being cleaned again.

[0168] It should be noted that the embodiment of the present application does not specifically limit the position of the side brush assembly corresponding to the cleaning device 100 at position 1 and position 2. It can also be that at position 1, the side brush assembly is in a raised position, and at position 2, the side brush assembly is in a cleaning position.

[0169] In some embodiments, the regular cleaning order of the cleaning device is that the side brush assembly performs cleaning surface cleaning on the front side of the body, and the mop assembly performs wet cleaning on the rear side of the body. Exemplarily, the mop assembly of the cleaning device is a disc-type mop assembly, and the cleaning device includes two mop assemblies. The two mop assemblies are arranged side by side on the body of the cleaning device. When performing bow cleaning, there is no gap between the two mop assemblies, thereby avoiding missed cleaning areas during bow cleaning; the width between the first path and the second path is determined according to the interval width of the bow path cleaning.

[0170] For example, the interval width may be a preset value, set by a user or by factory settings; or, the interval width may be adaptively adjusted according to the cleaning requirements of the cleaning device.

[0171] Exemplarily, the interval width between the first path and the second path is less than or equal to the sum of the cleaning widths of the two mop assemblies, so that when the cleaning device cleans along the first path and the second path, the wet cleaning coverage of the mop assembly at least partially overlaps. Furthermore, after detecting the overlapping area, the cleaning device can control the side brush assembly to be in a raised position to clean the cleaning surface, thereby avoiding wetting the side brush assembly or causing the side brush assembly to contaminate the cleaning surface.

[0172] It should be noted that, in addition to the bow path, the cleaning path may also include other types of walking paths. The embodiment of the present application does not specifically limit the type of cleaning path. However, when the cleaning device determines that the side brush assembly is in the area covered by the mop assembly, the side brush assembly must be controlled to be in a raised position to clean the cleaning surface.

[0173] It is understandable that the embodiment of the present application does not specifically limit the number of side brush assemblies and mop assemblies.

[0174] Therefore, the embodiment of the present application can control the side brush assembly to be in a raised position for cleaning the area covered by the mop assembly when it detects that the side brush assembly is in a cleaning bow path, thereby avoiding repeated cleaning of the area that has been wet mopped by the side brush assembly and contaminating the cleaning surface.

[0175] Optionally, there is one side brush assembly, and the side brush assembly is disposed on the right front side of the machine body. The method further includes:

[0176] When the cleaning device performs bow path cleaning, it first cleans along the first path and then cleans along the second path. When the cleaning device cleans along the first path, the side brush assembly is in the cleaning position; when the cleaning device cleans along the second path, the side brush assembly is in the raised position.

[0177] In an embodiment of the present application, when the cleaning device cleans the cleaning path based on the side brush assembly and the mop assembly, the corresponding cleaning path is the first path, and at this time, the side brush assembly is in the cleaning position; the second path is adjacent to the first path, and when the cleaning device cleans along the second path, the cleaning device cleans the cleaning path based on the mop assembly, and at this time, the side brush assembly is in the raised position.

[0178] For example, Figure 5 As shown, the cleaning device includes a side brush assembly, and the side brush assembly is arranged on the right front side of the body. In this way, when the cleaning device performs bow path cleaning, it first cleans along the first path 501, at which time the side brush assembly is in the cleaning position, and then cleans along the second path 502, at which time the side brush assembly is in the raised position.

[0179] In this way, the cleaning device has a side brush assembly that can clean the cleaning surface. When it is determined that the side brush assembly is in the area covered by the mop assembly when cleaning the second path, the side brush assembly can be controlled to be in a raised position for cleaning, thereby avoiding repeated cleaning of the area that has been wet-mopped and causing contamination to the cleaning surface that has been cleaned.

[0180] Optionally, the method further includes: when the cleaning device cleans along the first path, the side brush assembly is in the cleaning position; when the cleaning device enters the third path from the first path, the side brush assembly is switched from the cleaning position to the raised position.

[0181] For example, Figure 5 As shown, when the cleaning device 100 is performing cleaning along the first path 501, the side brush is in the cleaning position. If it is confirmed that the cleaning device 100 enters the third path 503 from the first path, the side brush assembly can be controlled to switch from the cleaning position to the raised position, so that the cleaning device 100 can perform cleaning on the second path and the third path.

[0182] In this way, the cleaning device can lift the side brush assembly when it is on the third path, so that the cleaning device can clean the second and third paths based on the state of the side brush assembly in the raised position. If the side brush assembly is controlled to be lifted on the first path, it is lifted too early, which may easily miss the first path; if the side brush assembly is controlled to be lifted on the second path, it is lifted too late, and the side brush assembly is easily contaminated by the wet ground, thereby affecting the cleaning power of the next cleaning, and causing the side brush assembly to contaminate other areas, affecting the cleaning effect. Therefore, the side brush assembly is controlled to be lifted on the third path to avoid the above situation. When the cleaning device enters the third path from the first path, since the side brush assembly is in the cleaning position for cleaning on the first path, when cleaning the first path, it has at least partially covered the cleaning range of the cleaning device when it moves along the third path. Therefore, controlling the side brush assembly to switch to the raised position when it enters the third path from the first path is conducive to timely lifting of the side brush assembly and avoiding contamination of the side brush assembly by wet areas.

[0183] In this way, the cleaning effect of the cleaning device can be improved.

[0184] Optionally, confirming that a wet area exists on a cleaning path of the cleaning device includes: confirming that a second area contaminated by wet stains exists on the cleaning path, and the wet area includes the second area.

[0185] In the embodiment of the present application, wet stains usually need to be cleaned by the mop assembly, and the side brush assembly does not clean wet stains. Usually, during a complete cleaning process of the cleaning device, the cleaning mode will not be reset for the local area within the cleaning surface, and the presence of wet stains may be unexpected. Therefore, the cleaning device needs to promptly confirm the second area and then control the side brush assembly to be in the raised position to perform cleaning.

[0186] In some embodiments, when the cleaning device is performing a cleaning task, during the driving process based on the cleaning path, based on the AI recognition method, when AI identifies that there is a second area contaminated by wet stains, the cleaning device can control the side brush assembly to be in a raised position, thereby allowing the cleaning device to clean the second area.

[0187] In other embodiments, when the cleaning device is cleaning along a cleaning path, if a second area contaminated by wet stains is identified on the cleaning path, the side brush assembly may be controlled to switch from a cleaning position to a raised position before the cleaning device reaches the second area, before the cleaning device contacts the second area, or when the cleaning device reaches a preset distance or critical point from the second area, so that the cleaning device can clean the second area. The preset distance or critical point may be determined based on a sensor detection range of the cleaning device, or may be pre-set by the user, or may be automatically determined by a controller of the cleaning device.

[0188] In this way, when the embodiment of the present application cleans the second area contaminated by wet stains, the side brush assembly can be controlled to be in a raised position to clean the second area, so that the side brush assembly will not directly contact the second area, thereby preventing the dirt in the second area from contaminating the side brush assembly. Since the side brush assembly may be stained with a lot of dirt during the cleaning process, if it touches the second area and then cleans the cleaning surface, it may cause contamination to the cleaning surface. The present application intelligently controls the side brush assembly to be in a raised position to clean the second area, ensuring a good cleaning experience and avoiding expanding the scope of wet stains through the side brush assembly and contaminating the cleaning surface.

[0189] Optionally, the second area is determined based on stain information identified by the stain sensor, or based on a stain area pre-demarcated on the operation map.

[0190] In an embodiment of the present application, the stain information includes at least one of the following: beverage stains, milk stains, soup stains, soy sauce stains, paste stains and other stains containing water; the cleaning device may also include a stain sensor.

[0191] Optionally, the second area is confirmed in advance based on the detection signal of the stain sensor; and / or the cleaning device obtains user preset information and confirms the second area in advance based on the user preset information, the preset information is the position information of the second area in the cleaning surface input in advance by the user, and further, based on the preset information, a mark is made in the operation map, that is, a pre-demarcated stain area, so that the cleaning device can determine the second area in advance based on the pre-demarcated stain area on the operation map.

[0192] Optionally, the dirt sensor includes: an image sensor and / or a radar.

[0193] In some embodiments, the image information captured by the image sensor is input into an AI model to identify stain information in the image information.

[0194] In other embodiments, point cloud data is collected based on radar, and corresponding stain information is determined based on the point cloud data. For example, point cloud data with characteristics of a dotted area can be determined as stain information. The embodiments of the present application do not make specific limitations on this.

[0195] Therefore, the embodiment of the present application can determine the second area in advance based on the stain sensor or the operation map, and then control the side brush assembly of the cleaning equipment to be in the raised position in advance to clean the second area, thereby solving the problem of the side brush assembly contacting the second area due to the side brush assembly not being in the raised position in time, and ensuring the cleaning effect.

[0196] Optionally, the method further includes: after the stain sensor recognizes the stain information and before the side brush assembly contacts the second area, controlling the side brush assembly to switch from the cleaning position to the raised position.

[0197] Optionally, after the stain sensor recognizes the stain information, if the side brush assembly is controlled to be lifted at a certain distance from the second area, the lifting timing is too early, and it is easy to miss some areas in front of the second area; if the side brush assembly is controlled to be lifted after contacting the second area, the lifting timing is too late, and the side brush assembly is easily contaminated by stains, thereby affecting the cleaning power of the next cleaning, causing the side brush assembly to contaminate other areas during the next cleaning, expanding the scope of contamination. Therefore, the side brush assembly is controlled to be lifted at the corresponding critical point before contacting the second area to avoid the above situation.

[0198] In this way, the cleaning effect of the cleaning device can be improved.

[0199] Optionally, the cleaning device further includes a roller brush assembly, where suction is provided to perform cleaning work, and the method further includes:

[0200] The side brush assembly and the roller brush assembly are in a raised position separated from the cleaning surface, and the mop assembly is in a mopping position in contact with the cleaning surface to clean the wet area.

[0201] In the embodiment of the present application, the working principle of the roller brush assembly is to lift the dust and particles on the cleaning surface through the bristles on the front roller brush, and then suck the dust and particles into the dust collection box through the strong suction force of the fan.

[0202] In some embodiments, when the cleaning device cleans a wet area, the side brush assembly and the roller brush assembly can be controlled to be in a raised position separated from the cleaning surface, and the mop assembly can be in a mopping position in contact with the cleaning surface, so that the mop assembly can directly clean the stains in the wet area, thereby avoiding the stains from adhering to the side brush assembly and the roller brush assembly, or even spreading the stains, and keeping the cleaning surface dry and pollution-free.

[0203] Optionally, the method further includes: controlling the side brush assembly to not rotate in the raised position; and / or controlling the suction force at the roller brush assembly to be turned off.

[0204] In some embodiments, when the cleaning device cleans the second area, the side brush assembly and the roller brush assembly can be controlled to be in a raised position, and the side brush assembly can be controlled not to rotate in the raised position, and / or the suction force at the roller brush assembly can be controlled to be turned off, and / or the roller brush assembly can be controlled not to rotate in the raised position, so that the mop assembly is in the mopping position to directly clean the stains in the second area.

[0205] In this way, electrical energy can be saved, thereby extending the working time of the cleaning equipment.

[0206] Optionally, the method further includes: controlling the side brush assembly to rotate in a raised position; and / or controlling the roller brush assembly to have suction in the raised position to air-dry at least a portion of the wet area.

[0207] In the embodiment of the present application, the area after wet cleaning can be air-dried by the suction of the side brush assembly and / or the roller brush assembly.

[0208] In some embodiments, when the cleaning device cleans the second area, the side brush assembly and the roller brush assembly can be controlled to be in a raised position, and the side brush assembly can be controlled to rotate at the raised position, and / or the roller brush assembly can be controlled to rotate at the raised position, so that after the mop assembly wet-cleans the stains in the second area, the second area after wet cleaning is air-dried.

[0209] In this way, the scope of the first area can be reduced, the drying of the cleaning area can be accelerated, and the cleaning effect of the cleaning equipment can be improved.

[0210] Optionally, the method further includes: confirming that there is a carpet area within the cleaning surface of the cleaning device, and when the cleaning device is located in the carpet area, controlling the side brush assembly to be in a raised position.

[0211] In an embodiment of the present application, in order to avoid the situation where the cleaning device lifts the side brush assembly on the carpet area, causing the side brush to be entangled in the carpet, or lifts the side brush assembly when it contacts the edge of the carpet area, causing the side brush to be drawn into the carpet, etc., the side brush assembly can be controlled to be in a raised position when the cleaning device is located in the carpet area, thereby avoiding the side brush from being entangled in the carpet or damaging the side brush and the carpet.

[0212] In some embodiments, when the cleaning device performs a cleaning task, it can clean the cleaning surface according to a predefined cleaning path. During the driving process of the cleaning device based on the cleaning path, based on AI recognition, when AI recognizes the existence of a carpet area, the cleaning device can control the side brush assembly to be in a raised position, thereby allowing the cleaning device to clean the carpet area.

[0213] Optionally, after the cleaning device finishes cleaning the carpet area, the side brush assembly can be controlled to be in the cleaning position to continue cleaning the cleaning surface along the cleaning path.

[0214] In other embodiments, while the cleaning device is traveling along a predefined cleaning path to clean a cleaning surface, it can be predetermined based on a work map that a carpet area exists on the cleaning path. When the cleaning device advances along the cleaning path to a specific distance relative to the carpet area, the cleaning device can be controlled to clean the carpet area with the side brush assembly in a raised position.

[0215] The operation map is marked with the location of the carpet area. It should be noted that the embodiment of the present application does not limit the specific implementation method of confirming the presence of the carpet area on the cleaning path of the cleaning device, and the above is only an example.

[0216] It is understandable that the specific distance may be preset by a user or determined by cleaning data collected by the cleaning device.

[0217] Therefore, for the carpet area on the cleaning surface, the cleaning device can control the side brush assembly to be in a raised position to clean the carpet area. Since the side brush assembly may be stained with a lot of dirt during the cleaning process, if the carpet area is cleaned, it may cause pollution to the carpet area. The present application controls the side brush assembly to be in a raised position to clean the carpet area. The side brush assembly will not directly contact the carpet area, which can avoid pollution to the carpet area and the occurrence of the side brush entangled in the carpet, thereby improving cleaning efficiency.

[0218] Optionally, the method also includes: when identifying that the cleaning device is in the carpet area, controlling the cleaning device to move to the ground area, then controlling the side brush assembly to switch from the cleaning position to the raised position, and then controlling the cleaning device to enter the carpet area to perform cleaning work.

[0219] For example, Figure 6 A schematic diagram of a scene in which a cleaning device is cleaning a carpet area provided in an embodiment of the present application is shown as follows: Figure 6 As shown, during the cleaning process of the cleaning device, the side brush assembly 10 is in the cleaning position. Further, the carpet signal can be detected based on the sensor, such as Figure 6 As shown in A, when the cleaning device detects a carpet signal based on a sensor such as an ultrasonic sensor, the presence of the carpet can be confirmed based on the cleaning device being in the carpet area 601, as shown in FIG. Figure 6 As shown in FIG. 6B , if the cleaning device confirms that there is a carpet in the carpet area 601, the carpet area 601 is marked and exited, and the cleaning device is controlled to move to the floor area. During the exit process, if the sensor confirms that there is no carpet signal in the floor area, the side brush assembly 10 is controlled to lift, that is, the side brush assembly 10 is controlled to switch from the cleaning position to the lifting position, as shown in FIG. Figure 6 As shown in C, the cleaning device re-enters the marked carpet area 601 and performs cleaning.

[0220] In this way, the embodiment of the present application can control the side brush assembly to switch from the cleaning position to the raised position when the cleaning device is cleaning the carpet area, and then control the cleaning device to enter the carpet area to perform cleaning work, thereby avoiding the side brush from getting entangled when the side brush assembly is lifted on the carpet area, and also avoiding the side brush from contaminating the carpet.

[0221] Optionally, the method also includes: when there is a carpet area on the cleaning surface and the cleaning device is in the ground area, when the cleaning device is in the ground area, first controlling the side brush assembly to switch from the cleaning position to the raised position, and then controlling the cleaning device to move from the ground area to the carpet area.

[0222] For example, Figure 7 A schematic diagram of another cleaning device cleaning a carpet area according to an embodiment of the present application is shown in FIG. Figure 7 As shown, during the cleaning process of the cleaning device, the side brush assembly 10 is in the cleaning position. Further, the carpet area can be detected based on the sensor, such as Figure 7 As shown in Figure A, the cleaning device outputs the captured image information to the controller based on a sensor such as an image sensor for processing to determine whether there is a carpet. At this time, when the cleaning device is located in the ground area, if the cleaning device confirms that there is a carpet in the carpet area 601, the side brush assembly 10 is controlled to switch from the cleaning position to the raised position, and then the cleaning device is controlled to move from the ground area to the carpet area. Figure 7 As shown in B, the cleaning device enters the carpet area 601 and performs cleaning.

[0223] The cleaning device can control the side brush assembly 10 to switch from the cleaning position to the raised position in advance at a specific position in front of the carpet area 601 .

[0224] Optionally, the presence of a carpet area within the cleaning surface is confirmed based on the operation map of the cleaning device, and / or the presence of a carpet area within the cleaning area is confirmed based on a carpet detection sensor, so that before the cleaning device enters the carpet area, the side brush assembly is controlled to switch from the cleaning position to the raised position.

[0225] The carpet area in the operation map may be obtained based on manual marking or historical mapping, and this embodiment of the present application does not specifically limit this.

[0226] Optionally, the carpet detection sensor may be a combination of an image sensor and a controller. The embodiment of the present application does not specifically limit the type and quantity of the carpet detection sensor.

[0227] Therefore, the embodiment of the present application can control the side brush assembly to switch from the cleaning position to the raised position in advance when the cleaning device is located in the ground area, and then control the cleaning device to move from the ground area to the carpet area for cleaning, thereby solving the problem of contamination of the carpet area caused by untimely state switching. The carpet area can then be determined in advance according to the environment in which the cleaning device is located, and the position of the side brush assembly can be intelligently switched, thereby improving the convenience of using the cleaning device.

[0228] Optionally, the method further includes: when the cleaning device is located in a carpet area, controlling the side brush assembly and the mop assembly to be in a raised position separated from the cleaning surface.

[0229] In some embodiments, while the cleaning device is traveling along a cleaning path to clean a cleaning surface, if it is determined that there is a carpet area on the cleaning path, when the cleaning device advances along the cleaning path to a specific distance relative to the carpet area, the side brush assembly and the mop assembly of the cleaning device can be controlled to be in a raised position to clean the carpet area.

[0230] In this way, the side brush assembly and the mop assembly can be prevented from contacting the carpet and causing contamination to the carpet.

[0231] Optionally, the method also includes: when the cleaning device is in a non-cleaning task scenario, controlling the side brush assembly to be in a raised position, the non-cleaning task scenario including at least one of the following: the cleaning device returns to the base station, the cleaning device is in the base station, the cleaning device is in a navigation process, and the cleaning device is in a positioning process.

[0232] In an embodiment of the present application, when the cleaning device determines that it is in a non-cleaning task scenario based on its own progress, such as in non-cleaning task scenarios such as navigation, mapping, and charging, the cleaning device does not need to perform cleaning work through the side brush assembly. By controlling the side brush assembly to be in a raised position, the side brush assembly is prevented from contacting the cleaning surface, causing wear or frizzing of the side brush.

[0233] In some embodiments, when the cleaning device is in the navigation process, the length of the navigation distance can be judged based on the map information and task planning. If the length of the navigation distance is greater than a preset threshold, it is determined to be a long navigation process. At this time, the cleaning device lifts the side brush assembly in advance to avoid friction damage; if the length of the navigation distance is less than or equal to the preset threshold, it is determined to be a short navigation process. At this time, the side brush assembly is not lifted to avoid frequent lifting, which in turn affects the service life of the side brush assembly.

[0234] Among them, the preset threshold can be configured based on the application scenario and / or user needs, and the embodiment of the present application does not specifically limit the size of the preset threshold.

[0235] In other embodiments, when the cleaning device is in the mapping process, that is, the positioning process, the side brush assembly can be lifted in advance to locate various positions in the preset area to reduce the friction between the side brush assembly and the cleaning surface, and at the same time avoid contact between the side brush assembly and the cleaning surface to cause damage or contamination of the side brush, thereby avoiding the spread of pollution and ensuring the accuracy of the generated map geometric information.

[0236] Among them, the preset area can be determined based on the size of the application scenario, and the embodiment of the present application does not make any specific limitations on this.

[0237] In some other embodiments, when the cleaning device receives a charging signal, that is, when the cleaning device returns to the base station, the side brush can be lifted in advance and the cleaning device can be controlled to return to the base station to reduce the friction between the side brush assembly and the cleaning surface; optionally, it is necessary to ensure that the side brush assembly is lifted before the cleaning device enters the base station to avoid the problem of hair frying caused by the cleaning device entering the base station.

[0238] It is understandable that after the cleaning device is in the base station, if the side brush assembly is not in the raised position, the side brush assembly can also be controlled to be in the raised position to avoid the hair frying problem caused by the side brush assembly.

[0239] In this way, the embodiment of the present application can control the side brush assembly to be in a raised position during the above process to reduce the friction of the side brush assembly, avoid problems such as hair frying caused by the side brush assembly, and increase the service life of the side brush assembly.

[0240] Optionally, the method also includes: when the cleaning device is in a difficult cleaning scenario, controlling the side brush assembly to be in a raised position, the difficult cleaning scenario including at least one of the following: the cleaning device overcoming an obstacle, the cleaning device being trapped, the presence of an obstacle with entanglement characteristics on the cleaning path, and the presence of a granular obstacle on the cleaning path.

[0241] In the embodiment of the present application, obstacles with entanglement characteristics include linear obstacles, hair, fabrics, yarns, cables and other debris that are easy to entangle the side brush. Granular obstacles can refer to granular dirt. For granular dirt, since it is easy to adhere to the side brush, it is necessary to control the side brush assembly to be in a raised position so that the side brush assembly does not clean the granular dirt.

[0242] In some embodiments, for cleaning scenarios where the cleaning device needs to overcome obstacles, when the cleaning device encounters an identified obstacle, such as a door sill, a slope, or other high protrusion, the side brush assembly can be controlled to be in a raised position so that the cleaning device can smoothly overcome the obstacle.

[0243] In other embodiments, for cleaning scenarios where the cleaning device is trapped, when the cleaning device detects that it is blocked and cannot move forward, such as being stuck under furniture, trapped in a small space or other difficult-to-escape area, the cleaning device can control the side brush assembly to be in a raised position to reduce the friction of the side brush, making it easier for the cleaning device to escape.

[0244] In some other embodiments, for cleaning scenarios where there are obstacles with entanglement characteristics or granular obstacles on the cleaning path, the cleaning device can control the side brush assembly to be in a raised position to reduce the occurrence of the side brush assembly being entangled in obstacles and damaging the side brush assembly, reduce the risk of getting stuck and entangled, and maintain the normal operation and cleaning effect of the cleaning device.

[0245] Therefore, in response to the above-mentioned difficult cleaning scenarios, the embodiment of the present application can control the side brush assembly to be in a raised position to prevent the side brush assembly from being worn or knocked off by known obstacles in the above-mentioned scenarios, and to facilitate the cleaning device to escape from the predicament.

[0246] Optionally, the side brush assembly is swingably connected to the body via a swing arm, so that the side brush assembly has a retracted position and an outward swing position, and when the side brush assembly is in the outward swing position, it is further away from the edge of the body than in the retracted position. The method further includes:

[0247] When the side brush assembly is in the outward swing position, the side brush assembly is first controlled to switch from the outward swing position to the inward retracted position, and then the side brush assembly is controlled to move to the raised position.

[0248] In an embodiment of the present application, the side brush assembly has a retracted position and an outward swing position. When the side brush assembly is in the outward swing position, the portion located outside the peripheral side of the body is larger than the portion located outside the peripheral side of the body when the side brush assembly is in the retracted position.

[0249] For example, Figure 8 A schematic diagram of a scenario in which all side brush assemblies are in an outward swing position is provided in an embodiment of the present application, such as Figure 8 As shown, the side brush assemblies 10 are all in the swing-out position.

[0250] In some embodiments, when the cleaning device is cleaning narrow gaps, corners, or areas such as the bottom of furniture, the side brush assembly can be controlled to be in an outward swing position to push the dust, fine particles, or debris accumulated in the above areas into the cleaning path of the cleaning device to improve the cleaning effect and ensure more thorough gap cleaning. At this time, the side brush assembly is in a cleaning position in contact with the cleaning surface.

[0251] Furthermore, after the cleaning device has cleaned the above-mentioned area, the side brush assembly can be controlled to switch from the outward swing position to the inward retracted position, such as Figure 9 As shown, Figure 9 A schematic diagram of a side brush assembly provided in an embodiment of the present application switching from an outward swing position to an inward retracted position, as shown in FIG. Figure 9 As shown in A, the side brush assembly 10 is in the outward swing position. After the side brush assembly 10 is switched from the outward swing position to the inward retracted position, as shown in FIG. Figure 9 As shown in FIG. 8B , the side brush assembly 10 is in the retracted position, and then the side brush assembly is controlled to move from the cleaning position to the raised position.

[0252] It can be understood that a movable channel is provided at the bottom of the body of the cleaning device, and the side brush assembly moves along the movable channel from the retracted position to the outward swing position. When the side brush assembly is in the outward swing position, at least part of the bristles of the side brush assembly overlap with the movable channel; if the side brush assembly is lifted in the outward swing position, the bristles are easily stuck in the movable channel, causing abnormal rotation of the side brush.

[0253] In this way, by avoiding lifting the side brush assembly at the outward swing position, resistance caused by the excessive diameter of the side brush or the side brush being stuck in the cleaning device when the side brush assembly is lifted can be avoided, thereby ensuring the normal operation of the cleaning device.

[0254] Reference below Figures 10-17 The cleaning device 100 according to the embodiment of the present application is described.

[0255] The cleaning device 100 of the embodiment may be a sweeping robot, or may be other devices. The cleaning device 100 includes a body 40 and a cleaning component.

[0256] Optionally, the side brush assembly includes a side brush housing 12 and a cleaning member 11 at least partially housed in the side brush housing. When the side brush housing 12 and the cleaning member 11 move synchronously, the side brush assembly 10 is in a cleaning position to clean the cleaning surface through the cleaning member 11; when the side brush housing 12 and the cleaning member 11 generate relative movement, the side brush assembly 10 switches between the cleaning position and the raised position.

[0257] The side brush housing 12 can provide installation support for the cleaning element 11 .

[0258] When the side brush housing 12 and the cleaning member 11 are in a first relative motion state, the side brush assembly 10 is in a cleaning position to clean the cleaning surface through the cleaning member 11. When the side brush housing 12 and the cleaning member 11 are in a second relative motion state, the side brush assembly 10 switches between the cleaning position and the raised position. For example, the first relative motion state may be that the cleaning member 11 and the side brush housing 12 rotate synchronously, and the second relative motion state may be that one of the cleaning member 11 and the side brush housing 12 rotates relative to the other.

[0259] According to the cleaning device 100 of the embodiment of the present application, when the side brush housing 12 and the cleaning member 11 are in a first relative motion state, the side brush assembly 10 is in a cleaning position to clean the cleaning surface via the cleaning member 11; when the side brush housing 12 and the cleaning member 11 are in a second relative motion state, the side brush assembly 10 switches between the cleaning position and the raised position. In this way, by simply adjusting the relative motion state of the side brush housing 12 and the cleaning member 11, the position of the side brush assembly 10 relative to the cleaning surface can be flexibly controlled according to the operating conditions, thereby preventing dirt on the side brush assembly 10 from contaminating the cleaning surface and causing low cleaning efficiency. This can also improve the adaptability of the cleaning device 100 to the environment, thereby helping to improve the user experience.

[0260] In some embodiments, when the side brush housing 12 and the cleaning member 11 are in a first motion state, the side brush housing 12 and the cleaning member 11 move synchronously. That is, when the side brush assembly 10 cleans the cleaning surface, the side brush housing 12 and the cleaning member 11 rotate synchronously. When the side brush housing 12 and the cleaning member 11 are in a second motion state, the side brush housing 12 and the cleaning member 11 produce relative motion, and the cleaning member 11 switches between a cleaning position and a raised position under the contact force of the side brush housing 12. In this way, through the relative motion between the side brush housing 12 and the cleaning member 11, at least a portion of the structure of the cleaning member 11 moves into the side brush housing 12, thereby separating from the cleaning surface. The operating principle is relatively simple and easy to implement.

[0261] When the side brush housing 12 and the cleaning member 11 are in the second motion state, the side brush housing 12 and the cleaning member 11 generate relative motion, and the relative motion is a rotational relative motion. For example, the side brush housing 12 generates rotational motion relative to the cleaning member 11, or the cleaning member 11 generates relative motion relative to the side brush housing 12.

[0262] In some embodiments, when the side brush housing 12 and the cleaning member 11 generate relative motion, the side brush housing 12 and the cleaning member 11 generate relative displacement in the circumferential direction and relative displacement in the axial direction.

[0263] In some embodiments, reference Figure 10 and Figure 11 The side brush assembly 10 includes a first drive assembly 20, which can be in transmission engagement with the side brush assembly 10 and is used to drive the side brush housing 12 and the cleaning element 11 to move synchronously and / or relative to each other. The first drive assembly 20 facilitates the switching of the side brush assembly 10 between the cleaning position and the raised position, thereby preventing the side brush assembly 10 from contaminating the cleaning surface.

[0264] In some embodiments, when the side brush assembly 10 is in the cleaning position, the first drive assembly 20 drives the side brush housing 12 and the cleaning member 11 to move synchronously. Thus, the first drive assembly 20 can drive the side brush assembly 10 to clean the cleaning surface. When the first drive assembly 20 drives the side brush housing 12 and the cleaning member 11 to generate relative motion, the side brush assembly 10 can be switched between the cleaning position and the raised position. This makes the motion control method of the first drive assembly 20 relatively simple and easy to implement.

[0265] In some embodiments, reference Figure 12 and Figure 13The side brush housing 12 can be in the shape of a disk, a cylinder or other shapes. The side brush housing 12 has a mounting cavity 121 and a projection 122. The projection 122 is connected to the mounting cavity 121. The projection 122 can be provided on the side wall or bottom wall of the side brush housing 12. The cleaning member 11 is partially provided in the mounting cavity 121. The projection 122 is for the cleaning member 11 to extend out. In this way, the coordination between the side brush housing 12 and the cleaning member 11 is relatively simple and easy to implement. In addition, the structural combination of the cleaning member and the side brush housing can advantageously save the space required for the side brush assembly. The travel required for the side brush assembly in the height direction is small, thereby reducing the height space occupied by the side brush assembly, thereby facilitating a lightweight and thin design of the cleaning device.

[0266] In some embodiments, reference Figure 10 as well as Figure 12 and Figure 13 , the cleaning member 11 produces a relative motion state relative to the side brush housing 12, that is, when the two are in the second relative motion state, at least one of the height of the cleaning member 11 relative to the cleaning surface and the extension length of the cleaning member 11 relative to the outside of the side brush housing 12 can be changed to make the cleaning member 11 rise or fall relative to the cleaning surface.

[0267] In other words, in this embodiment, only the height of the cleaning member 11 relative to the cleaning surface can be controlled, such as controlling the cleaning member 11 to rise and fall, so that the cleaning member 11 and the cleaning surface are in contact or separated; or, only the change in the extension length of the cleaning member 11 can be controlled, for example, the cleaning member 11 is constructed to be in contact with the cleaning surface when in an expanded state, and to be separated from the cleaning surface when in any of a contracted state, a bent state, and a deformed state; or, the cleaning member 11 and the cleaning surface can be brought into contact or separated by simultaneously controlling the change in the height of the cleaning member 11 relative to the cleaning surface and the change in the extension length of the cleaning member 11.

[0268] For example, the cleaning member 11 can rotate relative to the side brush housing 12 to adjust the angular position of the cleaning member 11 in the circumferential direction, or the cleaning member 11 can extend and retract relative to the side brush housing 12 by moving along the extension opening 122 to adjust the length of the portion of the cleaning member 11 extending from the side brush housing 12, thereby achieving the purpose of changing at least one of the height of the cleaning member 11 relative to the cleaning surface and the extension length of the cleaning member 11. In this way, the side brush housing 12 can be used to provide support and accommodation for the relative position change of the cleaning member 11, thereby better achieving the purpose of adjusting the distance between the cleaning member 11 and the cleaning surface.

[0269] In this way, the cleaning member 11 can be implemented in various ways and can better meet the needs of use. In addition, by changing the length of the part of the cleaning member extending out of the side brush housing to affect the height of the cleaning member, the space required to occupy the side brush assembly in the height direction can be smaller, the axial space of the side brush assembly can be saved, and the cleaning equipment can flexibly set the position of the side brush assembly. The specific structure of the cleaning member 11 can be flexibly selected according to actual needs.

[0270] In some embodiments, reference Figure 10 and Figure 11 The cleaning member 11 is provided with bristles 115, and the cleaning member 11 cleans the cleaning surface via the bristles 115. The cleaning member 11 is configured to move into contact with the cleaning surface to clean the cleaning surface, wherein the cleaning member 11 and the cleaning surface can be in contact or separated. In other words, in this embodiment, the side brush assembly 10 is switched to the raised position primarily by controlling the separation of the cleaning member 11 from the cleaning surface, and is switched to the cleaning position primarily by controlling the contact of the cleaning member 11 with the cleaning surface. In this way, secondary contamination of the cleaning surface by the cleaning member 11 of the side brush device can be avoided, making implementation easy.

[0271] In some embodiments, the first drive assembly 20 includes a first motor. When the side brush assembly 10 is in the cleaning position and the first motor rotates in a first direction, the side brush housing 12 and the cleaning member 11 move synchronously, and the cleaning member 11 cleans the cleaning surface. When the side brush assembly 10 is in the cleaning position and the first motor rotates in a second direction, the side brush housing 12 and the cleaning member 11 move relative to each other, and the cleaning member 11 is lifted. In other words, the first motor can rotate in both directions. Thus, the side brush assembly 10 can be switched from the first relative motion state to the second relative motion state, and from the cleaning position to the lifted position, solely using the first motor. This makes the overall structure relatively simple, easy to implement, and low-cost.

[0272] When the cleaning member 11 is in the raised position and the first motor rotates in the first direction, the side brush housing 12 and the cleaning member 11 rotate at a differential speed so that the side brush assembly 10 moves to the cleaning position. In this way, the side brush assembly 10 can be converted from the raised position to the cleaning position.

[0273] In this way, when the first drive component drives the side brush housing 12 and the cleaning member 11 to move synchronously, the first drive component can drive the cleaning member to perform cleaning work in the cleaning position; when the first drive component drives the side brush housing 12 and the cleaning member 11 to produce relative movement, the side brush assembly can switch between the cleaning position and the lifting position, that is, the cleaning work and lifting action of the side brush assembly can be realized only by the first drive component, which further simplifies the structural design of the side brush assembly and helps to reduce the manufacturing cost of the cleaning equipment.

[0274] In some embodiments, one of the side brush housing 12 and the cleaning member 11 is configured to rotate unidirectionally when driven by the first motor. When the first motor drives the side brush assembly 10 to rotate in a first direction, the cleaning member 11 and the side brush housing 12 rotate synchronously. When the first motor drives the side brush assembly 10 to rotate in a second direction, one of the cleaning member 11 and the side brush housing 12 rotates relative to the other, causing the side brush assembly to reach a raised position.

[0275] In some embodiments, the first drive assembly 20 includes a stopper 14 and an output shaft 23, one of which is connected to the cleaning member 11, and the other is connected to the side brush housing 12. The stopper 14 is configured to rotate in a first direction. For example, the stopper 14 may be connected to the cleaning member 11, and the output shaft 23 may be connected to the side brush housing 12; or the stopper 14 may be connected to the side brush housing 12, and the output shaft 23 may be connected to the stopper 14. In this way, when the first drive assembly 20 is driven in the first direction, the stopper 14 and the output shaft 23 rotate in the first direction, so that the side brush housing 12 and the cleaning member 11 can move synchronously; when the first drive assembly 20 is driven in the second direction, the output shaft 23 rotates in the second direction, and the stopper 14 does not rotate, so that the side brush housing 12 and the cleaning member 11 can generate relative motion.

[0276] In a specific embodiment, the stop member 14 includes a one-way bearing. Since the inner ring of the one-way bearing can only rotate in one direction relative to its outer ring, the one-way bearing can serve as a stop member, wherein the inner ring of the one-way bearing is connected to the cleaning member 11, and the inner ring of the bearing is configured to rotate in a first direction. The output shaft 23 rotates under the drive of the first motor, and the output shaft 23 is connected to the side brush housing 12 so that the side brush housing 12 rotates with the rotation direction of the first motor. In this way, the cleaning member 11 and the side brush housing 12 can both rotate synchronously in the first direction under the drive of the first motor, and the side brush housing 12 can also rotate in the second direction under the drive of the first motor, thereby generating relative motion with the cleaning member 11, and the implementation method is relatively simple and the cost is low.

[0277] In other embodiments, the connection relationship between the one-way bearing and the output shaft 23 can also be swapped. For example, the inner ring of the one-way bearing is connected to the side brush housing 12, and the output shaft 23 is connected to the cleaning strip 11, and the relative motion state of the side brush assembly 10 also changes accordingly.

[0278] In addition to the one-way bearing described above, the stopper 14 may also have other configurations. For example, the stopper 14 may be configured so that when the cleaning member 11 rotates in the second direction, the stopper 14 and the cleaning member 11 interfere with each other in the rotational direction. Alternatively, the stopper 14 may be configured so that it can only rotate in the first direction and cannot rotate in the second direction. The configuration of the stopper 14 may be appropriately designed based on actual needs, such as using a one-way ratchet, a one-way gear rack, or other solutions.

[0279] In this way, by setting a stopper, one of the cleaning member or the side brush housing can rotate in one direction, and the other can produce bidirectional rotation following the output shaft, thereby realizing relative movement between the side brush housing and the cleaning member. The structure is simple and easy to implement.

[0280] In some embodiments, reference Figure 10 and Figure 11 The side brush assembly 10 may further include a connecting shaft 13. Specifically, one end of the connecting shaft 13 (e.g., the lower end of the connecting shaft 13) is located in the mounting cavity 121 and connected to the side brush housing 12, and the other end (e.g., the upper end of the connecting shaft 13) extends from the mounting cavity 121 and is connected to the output shaft 23 of the first drive assembly 20. The connecting shaft 13 is connected to the cleaning member 11 and is suitable for driving the cleaning member 11 to rotate about the connecting shaft 13. The provision of the connecting shaft 13 facilitates the connection and cooperation between the side brush assembly 10 and the first drive assembly 20. Moreover, when the first drive assembly 20 drives the connecting shaft 13 to rotate, the connecting shaft 13 can drive the cleaning member 11 to rotate relative to the side brush housing 12, so that the cleaning member 11 can be extended from the extension opening 122.

[0281] In some embodiments, combined Figure 10 and Figure 11 The side wall of the extension opening 122 of the side brush housing 12 forms a guide surface 123. When the first motor rotates in the second direction, the guide surface 123 abuts the cleaning member 11, and the cleaning member 11 slides relative to the guide surface 123 to change the position of the cleaning member 11 relative to the side brush housing 12. Thus, by providing the guide surface 123, when the side brush housing 12 rotates along the connecting shaft 13, the side brush housing 12 can press the cleaning member 11 inward, making it easier for the cleaning member 11 to retract into the side brush housing 12. The retraction process is smoother, reducing the possibility of sticking.

[0282] In some embodiments, the side walls on opposite sides of the extension opening 122 extend obliquely relative to the axial direction of the connecting shaft 13 to form at least a portion of the guide surface 123. For example, the side walls on opposite sides of the extension opening 122 along the circumference of the connecting shaft 13 extend obliquely relative to the axial direction of the connecting shaft 13 to form the guide surface 123. In this way, when the side brush housing 12 rotates relative to the cleaning element 11 in the second direction, the cleaning element 11 can be retracted into the side brush housing 12 along the guide surface 123, and the retraction process is relatively smooth, which can minimize the squeezing force of the side brush housing 12 on the cleaning element 11, thereby reducing the degree of bending deformation of the cleaning element 11 and ensuring the reliability of the cleaning element 11.

[0283] In some embodiments, at least a portion of the guide surface 123 forms a predetermined angle with the horizontal, such that the guide surface 123 extends diagonally upward. When the cleaning member 11 retracts into the mounting cavity 121, the cleaning member 11 moves along the guide surface 123 to change its height relative to the cleaning surface. This allows the cleaning member 11 to retract into the side brush housing 12 along the guide surface 123 smoothly, minimizing the squeezing force exerted by the side brush housing 12 on the cleaning member 11, thereby reducing the degree of bending deformation of the cleaning member 11 and ensuring the reliability of the cleaning member 11.

[0284] It can be understood that the action of the guide surface 123 on the cleaning member 11 realizes the change of the angle of the cleaning member 11 relative to the cleaning surface, and the retraction of the cleaning member 11 into the mounting cavity 121 realizes the change of the extension length of the cleaning member 11 outside the side brush housing 12.

[0285] In summary, by changing the angle and extension length of the cleaning member 11, the cleaning member 11 can be effectively controlled to switch from the cleaning position to the raised position, achieving separation from the cleaning surface, thereby avoiding secondary contamination of the cleaning surface. In addition, by setting the guide surface 123 at a preset angle to the horizontal direction, when the cleaning strip 112 retracts into the side brush housing 12, the side brush assembly 10 has a lifting effect based on the guide surface 123, thereby further increasing the height of the cleaning strip 112 from the ground. Moreover, the provision of the guide surface 123 is simple and easy to implement, without the need for adding a power element to drive the height change of the side brush assembly 10 from the ground, thereby further simplifying the structural design of the side brush assembly 10.

[0286] In some embodiments, combined Figure 10 、 Figure 11 and Figure 15The cleaning member 11 may include a clutch sleeve 111 and a cleaning strip 112. Specifically, the clutch sleeve 111 may be sleeved on the connecting shaft 13. The stopper 14 is provided on the first drive assembly 20 and sleeved on the outside of the clutch sleeve 111 so that the stopper 14 can stop the clutch sleeve 111 when the connecting shaft 13 rotates in the second direction. There are multiple cleaning strips 112, each used to clean the cleaning surface. The multiple cleaning strips 112 are arranged at intervals along the circumference of the clutch sleeve 111. One end of the cleaning strip 112 is connected to the clutch sleeve 111, and the other end extends from the extension port 122.

[0287] In this way, the cleaning member 11 can be rotated with the connecting shaft 13 through the clutch sleeve 111, and the cleaning member 11 can be stopped by the stopper 14 and the clutch sleeve 111. The overall coordination is relatively simple and easy to implement. In addition, the clutch sleeve is sleeved on the connecting shaft, and the stopper is sleeved on the outside of the clutch sleeve. The sleeved relationship in the circumferential direction is beneficial to the coordination between the structures on the one hand, and on the other hand, it is beneficial to extremely compress the axial space required for the side brush assembly, thereby reducing the height space occupied by the cleaning equipment and reducing the height of the cleaning equipment, so that the cleaning equipment has better accessibility in low areas.

[0288] In some embodiments, combined Figure 10 and Figure 11 The first drive assembly 20 has an assembly cavity 211, within which a rotatable output shaft 23 is disposed. At least a portion of the connecting shaft 13 extends into the assembly cavity 211, and the connecting shaft 13 can be sleeved onto the outside of the output shaft 23. The stopper 14 is a one-way bearing fixedly disposed within the assembly cavity 211. Furthermore, since the clutch sleeve 111 of the cleaning element 11 sleeves onto the outside of the connecting shaft 13, the one-way bearing can mate with the clutch sleeve 111. This is not a limitation of this embodiment, and the stopper 14 can also be another one-way stopper. This reduces the axial space required for the side brush assembly, facilitating a reduction in the height of the cleaning apparatus.

[0289] In this way, the cooperation between the first drive component 20 and the connecting shaft 13 is relatively simple. Since the stop member 14 is a one-way bearing, it can provide rotational support for the connecting shaft 13 when it rotates in the first direction, and can also stop the cleaning member 11 separately when the connecting shaft 13 rotates in the second direction. The complexity of the overall structure is not increased due to the realization of stopping the cleaning member 11, and the cost is low.

[0290] In some embodiments, reference Figure 10The inner side of the connecting shaft 13 has a fixed end plate, and the fixed end plate is provided with a threaded connection hole. The inner wall of the output shaft 23 is provided with a threaded matching hole. After the connecting shaft sleeve 24 is provided on the outer side of the output shaft 23, the connecting shaft 13 and the output shaft 23 are fastened together by threaded fasteners 15 passing through the threaded connection hole and the threaded matching hole in sequence. In this way, the connection method of the connecting shaft 13 and the output shaft 23 is simple and reliable, which can ensure the transmission of power.

[0291] In some embodiments, combined Figure 10 and Figure 11 The first drive assembly 20 may further include a connecting sleeve 24. Specifically, the connecting sleeve 24 is embedded between the clutch sleeve 111 and the inner ring of the one-way bearing. The connecting sleeve 24 is respectively engaged with the inner ring of the bearing and the clutch sleeve 111 along the circumferential limit of the connecting sleeve 24. In this way, when the first drive assembly 20 drives the connecting shaft 13 to rotate in the second direction, the one-way bearing can sequentially transmit the stopping force to the clutch sleeve 111 through the inner ring of the bearing and the connecting sleeve 24, thereby reducing wear on the clutch sleeve 111 and ensuring its service life.

[0292] In some embodiments, the connecting sleeve 24 is interference fit with the bearing inner ring, so that the stopping force can be reliably transferred between the bearing inner ring and the connecting sleeve 24, and the fitting method is simple.

[0293] In some embodiments, the inner hole of the connecting sleeve 24 and the outer wall of the clutch sleeve 111 are both formed into mutually compatible polygons. For example, the inner hole of the connecting sleeve 24 and the outer wall of the clutch sleeve 111 can both be quadrilaterals, hexagons, or octagons. In this way, the stopping force can be reliably transmitted between the connecting sleeve 24 and the clutch sleeve 111, and the matching method is simple. At the same time, when the side brush housing and the cleaning element move synchronously, the side brush housing and the cleaning element are prevented from slipping, which would affect the cleaning experience.

[0294] In some embodiments, the projection of the cleaning strip 112 on the reference plane extends in a direction that deviates from the radial direction of the connecting shaft 13, wherein the reference plane is perpendicular to the axis of the connecting shaft 13. That is, the cleaning strip 112 is offset toward one side of the connecting shaft 13 in the circumferential direction relative to the axis of the connecting shaft 13. Since the side brush housing 12 exerts a circumferential squeezing force on the cleaning strip 112 when the side brush housing 12 rotates relative to the cleaning member 11, in this embodiment, the projection of the cleaning strip 112 on the reference plane is configured to extend in a direction that deviates from the radial direction of the connecting shaft 13. Compared to a solution in which the cleaning strip 112 extends in the radial direction of the connecting shaft 13, this can reduce the degree of deformation of the cleaning strip 112, ensuring that the cleaning strip 112 will not suffer structural damage. At the same time, it can also make it easier for the cleaning strip 112 to converge into the side brush housing 12 to achieve the purpose of separation from the cleaning surface.

[0295] In some embodiments, reference Figure 12-15The extension lines of the multiple cleaning strips 112 are all tangent to the same circle, the center of which passes through the central axis of the side brush assembly 10. This can further reduce the convergence force of the cleaning strips 112, making the switching process of the side brush assembly 10 smoother. In this way, during operation, the cleaning strips 112 form a roughly 45° angle with the rotation direction of the side brush assembly 10 during cleaning. During the operation of the side brush assembly 10, hair adhering to the cleaning strips 112 will be disengaged downward, thereby at least partially achieving the anti-entanglement effect of the side brush assembly 10.

[0296] In some embodiments, the height range of the side brush assembly 10 is 2-15 mm. In other words, the distance between the bottom end of the cleaning member 11 and the cleaning surface is 2-15 mm. For example, the height of the side brush assembly 10 can be 2 mm, 4 mm, 6 mm, 8 mm, 10 mm, 12 mm or 15 mm. Of course, the present application does not impose any restrictions on this. The lifting height of the side brush assembly 10 can be reasonably selected within the above range according to actual needs.

[0297] In this way, it is possible to avoid the situation where the height is too small, for example, less than 2mm, and the distance from the cleaning surface is too small, which may lead to contact with the cleaning surface and cause contamination, especially when the cleaning surface is not flat enough, the cleaning member may contact with the cleaning surface to cause contamination; in addition, it is possible to avoid the situation where the height is too large, for example, greater than 15mm, which may lead to the side brush assembly 10 occupying too much space in the height direction. For example, when the cleaning device is performing cleaning work, there is a height from the ground between the chassis of the cleaning device and the cleaning surface, and the height from the ground is exemplarily not more than 15mm, thereby ensuring better walking performance and cleaning performance of the cleaning device. By setting the height range of the side brush assembly to not more than 15mm, the cleaning device will not increase its own height due to the lifting height of the side brush assembly, thereby causing the overall volume of the cleaning device 100 to be too large, which is not conducive to a lightweight design.

[0298] In some embodiments, reference Figure 15 The cleaning strip 112 is connected to the clutch sleeve 111 on one side along its width direction, and an avoidance notch 113 is provided on the side of the connection between the cleaning strip 112 and the clutch sleeve 111 close to the clutch sleeve 111. The avoidance notch 113 faces the circumferential opening of the clutch sleeve 111. By setting the avoidance notch 113, when the cleaning strip 112 is retracted into the side brush housing 12, the cleaning strip 112 can be attached to the clutch sleeve toward the avoidance notch 113, which can reduce the extrusion of various parts of the cleaning strip 112 when it is contracted, reduce the degree of deformation, extend the service life of the cleaning strip 112, and make the contraction process smoother.

[0299] In some embodiments, the width of the avoidance gap 113 gradually increases along the circumferential and outward direction of the clutch sleeve 111. In this way, the deformability of the cleaning strip 112 can be increased while ensuring the service life of the cleaning strip 112, making the contraction process smoother.

[0300] In some embodiments, the side walls on both sides of the avoidance gap 113 are constructed as arc surfaces suitable for fitting together. This helps to reduce the degree of extrusion deformation of the structures on both sides of the avoidance gap 113, extend the service life of the cleaning strip 112, and make the contraction process smoother.

[0301] In some embodiments, reference Figure 11-Figure 15 The cleaning strip 112 may include a connecting body 114 and bristles 115. Specifically, the connecting body 114 may be in the shape of a strip, connected to the clutch sleeve 111. The bristles 115 are disposed at one end of the connecting body 114 away from the clutch sleeve 111. The bristles 115 are used to clean the cleaning surface. The bristles 115 may be adhered to the connecting body 114, or the bristles 115 and the connecting body 114 may be integrally formed. Thus, the cleaning strip 112 has a relatively simple structure and is easy to manufacture.

[0302] In some embodiments, the connecting body 114 is made of at least one of TPU, silicone, and spring steel; and / or the bristles 115 are made of at least one of nylon and PVC. This allows the connecting body 114 to be sufficiently flexible, making it easier to be retracted within the side brush housing 12, thereby reducing the risk of damage.

[0303] In some embodiments, the cleaning strip 112 is made of at least one of ABS and PP. This allows the connecting body 114 to have a certain hardness and structural strength, which helps to ensure a cleaning effect.

[0304] In some embodiments, the cleaning strip 112 is detachably connected to the clutch sleeve 111. For example, the cleaning strip 112 can be mounted on the clutch sleeve 111 or connected in other ways. In this way, when the cleaning strip 112 is damaged or fails, only the cleaning strip 112 can be replaced to reduce maintenance costs.

[0305] Alternatively, in other embodiments, the cleaning strip 112 is integrally formed with the clutch sleeve 111. For example, the cleaning strip 112 can be integrally formed with the clutch sleeve 111 through a rubber coating process. In this way, the connection strength between the cleaning strip 112 and the clutch sleeve 111 can be ensured, thereby ensuring that the cleaning strip 112 and the clutch sleeve 111 move synchronously.

[0306] In some embodiments, the first drive assembly 20 may further include a transmission assembly. Specifically, the first motor may be fixedly mounted on the body 40, and the transmission assembly may include a housing 21 and a transmission mechanism 22. The housing 21 defines an assembly cavity 211, and the transmission mechanism 22 is disposed within the assembly cavity 211. An output shaft 23 is connected to the transmission mechanism 22. The first motor drives the output shaft 23 to rotate via the transmission mechanism 22, thereby driving the connecting shaft 13 to rotate. This allows the overall structure of the first drive assembly 20 to be relatively simple and easy to implement.

[0307] In some embodiments, reference Figure 10 The transmission mechanism 22 includes multiple meshing gears. The specific number of gears and the transmission ratio can be appropriately set according to actual needs. The output shaft 23 is connected to the final gear among the multiple gears. For example, the output shaft 23 and the final gear can be integrally formed, or they can be separate components mechanically connected. By providing multiple gears, the size and number of teeth of the gears can be flexibly adjusted, thereby adjusting the rotational speed and direction of the output shaft 23. Furthermore, the transmission mechanism 22 has a relatively simple structure and is easy to implement.

[0308] In some embodiments, combined Figure 10 and Figure 11 The side brush housing 12 may include a side brush base 124 and a side brush top cover 125, which are connected to each other and define a mounting cavity 121. One end of the connecting shaft 13 is connected to the side brush base 124, and the other end passes through the side brush top cover 125 and is connected to the first drive assembly 20. For example, the side brush base 124 and the side brush top cover 125

[0309] In this way, connecting the connecting shaft 13 with the side brush base 124 can drive the side brush housing 12 to rotate in the first direction and the second direction. At the same time, it is convenient to connect the cleaning strip 112 with the connecting shaft 13 to realize the rotation of the side brush housing 12 relative to the cleaning strip 112 in the second direction.

[0310] In some embodiments, the side brush base 124 and the side brush cover 125 can both be metal parts. In this case, the side brush base 124 and the side brush cover 125 can be connected to each other by welding methods such as ultrasonic welding and thermal welding, or the side brush base 124 and the side brush cover 125 can be glued together, for example, by UV glue. In this way, the connection between the side brush bottom cover and the side brush cover 125 is stable and reliable, which is conducive to better realizing their functions. In addition, the connection method is relatively simple and easy to implement.

[0311] In some embodiments, the first drive assembly 20 is adapted to drive the side brush assembly 10 to move up and down to switch between a cleaning position and a raised position. That is, in this embodiment, the first drive assembly 20 can drive the side brush assembly 10, or the entire side brush device, to move up and down to adjust the distance between the side brush assembly 10 and the cleaning surface. For example, the first drive assembly 20 drives the side brush assembly 10 down to reach the cleaning position, and the second drive assembly drives the side brush assembly 10 up to reach the raised position. This further simplifies the coordination between the first drive assembly 20 and the side brush assembly 10.

[0312] In some embodiments, the cleaning device 100 may further include a second drive assembly (not shown), which is connected to the connecting shaft 13 and is adapted to drive the connecting shaft 13 to rotate, thereby causing the cleaning member 11 to perform a cleaning operation. In other words, in this embodiment, the first drive assembly 20 is configured only to drive the side brush assembly 10 to the cleaning position and the raised position, while the second drive assembly is configured to drive the side brush assembly 10 to rotate to clean the cleaning surface after the first drive assembly 20 drives the side brush assembly 10 to the cleaning position. This further simplifies the control methods of the first drive assembly 20 and the second drive assembly.

[0313] In some embodiments, combined Figure 16 and Figure 17 The cleaning device 100 may further include a swing arm 30 rotatably connected to the body 40. The side brush assembly 10 is disposed on the swing arm 30 to follow the movement of the swing arm 30. The swing arm 30 moves relative to the body 40 between a retracted position and an outward swing position. When the swing arm 30 is in the outward swing position, the side brush assembly 10 extends beyond the body 40 to a greater extent than when the side brush assembly 10 is in the retracted position. Thus, the side brush assembly can have different cleaning ranges when in the retracted and outward swing positions. For example, when the side brush assembly is in the retracted position, the cleaning device performs normal cleaning operations. When the side brush assembly is in the outward swing position, the side brush assembly can move closer to corner areas, thereby achieving a better cleaning effect in corner areas. For example, the swing arm 30 may be provided with a mounting portion. The mounting portion may be a hollow structure or other structure. The first drive assembly 20 may be mounted to the mounting portion to achieve mounting of the side brush assembly to the swing arm 30.

[0314] In this way, the side brush assembly 10 can be controlled to move to the side of the body 40 and to a position at a certain distance from the body 40 by controlling the swing of the swing arm 30. In this way, the cleaning range of the cleaning device 100 can be larger and can adapt to more complex cleaning conditions.

[0315] In some embodiments, the cleaning device 100 further includes a third drive assembly disposed on the body 40 to drive the swing arm 30 between a retracted position and an outward swing position. When the side brush assembly 10 is in the cleaning position, the third drive assembly drives the swing arm 30 between the retracted position and the outward swing position. Thus, the side brush assembly 10 can perform cleaning tasks in either the retracted or outward swing position.

[0316] In some possible embodiments, the third drive assembly may include a swing arm drive motor and a swing arm transmission mechanism 22. The swing arm transmission mechanism 22 may be a rack and pinion mechanism, a gear train mechanism, or other structures. This is not intended to limit this invention, and the specific structure of the swing arm transmission mechanism 22 may be appropriately configured based on actual needs. Thus, by providing a swing arm drive device, the rotational state of the swing arm 30 can be easily controlled, thereby flexibly controlling the position of the side brush assembly relative to the body 40, thereby enabling the cleaning device 100 to better perform its cleaning tasks.

[0317] In some embodiments, the cleaning device 100 may further include a position detection device and a control device. Specifically, the position detection device is provided on the body 40. For example, the position detection device may be a proximity sensor, a radar sensor, an infrared sensor, etc., and of course it may also be other detection devices. The position detection device can be used to detect the position of the cleaning device 100 and the surrounding environment. The control device is respectively connected to the position detection device and the swing arm 30 drive device by signal. The control device controls the action of the swing arm 30 drive device according to the signal of the position detection device to drive the swing arm 30 to rotate. In this way, the degree of automation of the cleaning device 100 can be further improved, and the cleaning task can be smoothly performed, which can improve the user experience.

[0318] Optionally, the method further includes: confirming, based on the configuration information, the scenario in which the side brush assembly is allowed to be lifted; when the cleaning device confirms that there is a scenario that requires lifting and confirms, based on the configuration information, that the current scenario allows lifting, controlling the side brush assembly to switch to the lifted position.

[0319] In the embodiment of the present application, the configuration information may refer to the structural information and control logic information that are configured in advance for the cleaning device to be used for lifting the side brush assembly. The embodiment of the present application does not specifically limit the content of the configuration information.

[0320] It should be noted that after the cleaning device confirms that there is a scenario that requires lifting, it is also necessary to confirm whether the current scenario allows lifting based on the configuration information. If so, the side brush assembly is controlled to switch to the raised position. Otherwise, even if the cleaning device confirms that there is a scenario that requires lifting, the side brush assembly is not controlled to switch to the raised position because the cleaning device may not have the structure and control logic to support the lifting of the side brush assembly.

[0321] Optionally, when the cleaning device confirms that there is a scene that requires lifting, and confirms that the current scene allows lifting based on the configuration information, the side brush assembly is controlled to switch from any position to the lifting position.

[0322] Therefore, as long as the cleaning device needs to be lifted, the side brush assembly can be switched to the lifted position after determining according to the configuration information that the conditions for allowing the side brush assembly to be lifted are met, thereby improving the flexibility of application.

[0323] Optionally, the cleaning device further includes a mop assembly, and the cleaning device is configured to have a mop mode. When the cleaning device is in the mop mode, the side brush assembly is in a raised position, and the mop assembly contacts the cleaning surface to perform cleaning work.

[0324] In some embodiments, when the cleaning device is in mopping mode, the side brush assembly is lifted and the cleaning surface is cleaned with the mop assembly. This can reduce the frequency of contact between the side brush assembly and contaminants, reduce the wear of the side brush assembly, and prevent the dirty side brush assembly from contaminating other areas.

[0325] Optionally, when the cleaning device is in mopping mode, the side brush assembly and the roller brush assembly are both in a raised position, and the mop assembly contacts the cleaning surface to perform cleaning work, thereby preventing stains from adhering to the side brush assembly and the roller brush assembly, and spreading the stains, keeping the cleaning surface contamination-free.

[0326] Optionally, the cleaning device is configured to have a cleaning mode. When the cleaning device is in the cleaning mode, the side brush assembly is in a cleaning position and the mop assembly is in a raised position separated from the cleaning surface to perform cleaning work.

[0327] Optionally, the cleaning device is configured to have a sweeping and mopping mode. When the cleaning device is in the sweeping and mopping mode, the side brush assembly is in the cleaning position, and the mop assembly contacts the cleaning surface to perform cleaning work.

[0328] Optionally, when the cleaning device switches from sweeping and mopping mode to mopping mode, the side brush assembly is controlled to switch from the cleaning position to the raised position, thereby avoiding continuous friction between the side brush assembly and the ground when it is in the cleaning position, which affects the service life of the side brush.

[0329] Based on the settings of the above multiple modes, different application scenarios and user needs can be adapted, thereby improving the cleaning flexibility of the cleaning equipment.

[0330] Optionally, after the side brush assembly is in the raised position, the position detector can be activated to detect and record the initial position of the side brush assembly, and the number of rotations of the side brush motor can be monitored, and the number of rotations can be compared with a first threshold. When the number of rotations exceeds the first threshold, it is confirmed that the side brush assembly has been fully raised to its position. The setting of the first threshold can be obtained based on a large number of experiments or manually set. The embodiment of the present application does not limit the specific value corresponding to the first threshold. For example, the first threshold is determined based on the structure of the side brush assembly, and the first threshold is 2-5 turns. When it is detected that the number of rotations exceeds the first threshold, it is confirmed that the side brush has been fully raised to its position. In this way, there is no need to set a separate lift-in-place sensor to detect the position of the side brush assembly. This solution is simple to implement and does not increase hardware costs, thereby reducing the manufacturing cost of the cleaning equipment.

[0331] Optionally, after the side brush assembly is in the raised position for cleaning, the first motor is rotated at preset time intervals and the first motor is locked to prevent accidental loosening or interference of the side brush assembly during movement.

[0332] Optionally, during the operation of the first motor, the current of the first motor can also be monitored in real time. If the monitored current exceeds the second threshold, the overcurrent protection mechanism is triggered, and the cleaning equipment can then perform abnormality detection and processing to prevent damage to the first motor or further failure. The setting of the second threshold can also be based on a large number of experiments or manually set. The embodiment of the present application does not limit the specific numerical value corresponding to the second threshold.

[0333] Optionally, in an embodiment of the present application, the current status information of the side brush assembly can also be displayed on the human-machine interface corresponding to the cleaning device in the form of icon text or body indicator lights to prompt the user of various states of the cleaning device.

[0334] Based on the above considerations, in order to improve the availability of the side brush assembly of the cleaning equipment and to efficiently control the side brush assembly in bow path cleaning, carpet area cleaning or other non-cleaning tasks, this application designs strategies for raising and lowering the side brush in the above-mentioned various scenarios. At the same time, in order to improve the flexibility of the side brush assembly in different scenarios, various coordination modes of the side brush assembly with the mop assembly, roller brush assembly, etc. are also designed, thereby improving the cleaning efficiency and flexibility of the cleaning equipment. In addition, in order to improve the accuracy of the control design of the side brush assembly, position detection, overcurrent protection and other schemes are also set up.

[0335] In the aforementioned embodiments, the cleaning control method provided by the embodiments of the present application is introduced. In order to implement the various functions of the method provided by the embodiments of the present application, the cleaning device as the execution subject may include a hardware structure and / or a software module, and the aforementioned functions may be implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a particular function of the aforementioned functions is implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0336] For example, Figure 18 This is a structural diagram of a cleaning control device provided in an embodiment of the present application. The cleaning control device 1800 is applied to a cleaning device, which includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is at least used to perform dry cleaning on the cleaning surface, and the mop assembly is at least used to perform wet cleaning on the cleaning surface. The side brush assembly has a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface; Figure 18 As shown, the cleaning control device 1800 includes a control module 1801, and the control module 1801 is used to:

[0337] When it is confirmed that there is a wet area on the cleaning path of the cleaning device, the cleaning device cleans the wet area when the side brush assembly is in the raised position.

[0338] Optionally, the cleaning control device 1800 further includes a switching module 1802, and the switching module 1802 is used to control the side brush assembly to switch from the cleaning position to the lifting position before the side brush assembly contacts the wet area.

[0339] Optionally, the control module 1801 includes a confirmation unit; the confirmation unit is configured to:

[0340] It is confirmed that there is a first area on the cleaning path that has been wet cleaned, and the wet area includes the first area.

[0341] Optionally, the confirmation unit is specifically configured to:

[0342] Confirm the presence of a first area on the cleaning path based on the sensor signal; and / or confirm the area where the cleaning device has performed wet cleaning based on the cleaning map of the cleaning device, and determine the presence of the first area on the cleaning path of the cleaning device based on the wet cleaning area.

[0343] Optionally, the mop assembly is disposed on the rear side of the machine body, and the side brush assembly is disposed on the front side of the machine body. The mop assembly is at least used to wet clean the cleaning surface when the cleaning device performs a bow-shaped path cleaning. The bow-shaped path includes a first path, a second path, and a third path transitioning from the first path to the second path. When the cleaning device cleans along the first path and the second path, the coverage of the wet cleaning at least partially overlaps. The cleaning control device 1800 further includes a first control module, which is used to:

[0344] When cleaning the second path or the third path, if the side brush assembly is in the area covered by the mop assembly when cleaning the first path, the side brush assembly is controlled to be in a raised position for cleaning.

[0345] Optionally, there is one side brush assembly, which is disposed on the right front side of the machine body. The cleaning control device 1800 further includes a first cleaning module, which is configured to:

[0346] When the cleaning device performs bow path cleaning, it first cleans along the first path and then cleans along the second path. When the cleaning device cleans along the first path, the side brush assembly is in the cleaning position; when the cleaning device cleans along the second path, the side brush assembly is in the raised position.

[0347] Optionally, the first cleaning module is further configured to: when the cleaning device cleans along the first path, the side brush assembly is in the cleaning position; when the cleaning device enters the third path from the first path, the side brush assembly is switched from the cleaning position to the raised position.

[0348] Optionally, the confirmation unit is specifically used to confirm that there is a second area on the cleaning path that is contaminated by wet stains, and the wet area includes the second area.

[0349] Optionally, the second area is determined based on stain information identified by the stain sensor, or based on a stain area pre-demarcated on the operation map.

[0350] Optionally, the cleaning control device 1800 further includes a first switching module, which is configured to control the side brush assembly to switch from the cleaning position to the raised position after the stain sensor recognizes the stain information and before the side brush assembly contacts the second area.

[0351] Optionally, the cleaning device further includes a roller brush assembly, where suction is provided to perform cleaning work. The cleaning control device 1800 further includes a second cleaning module, which is configured to:

[0352] The side brush assembly and the roller brush assembly are in a raised position separated from the cleaning surface, and the mop assembly is in a mopping position in contact with the cleaning surface to clean the wet area.

[0353] Optionally, the cleaning control device 1800 further includes a second control module, which is used to: control the side brush assembly to not rotate in the raised position; and / or control the suction force at the roller brush assembly to be turned off.

[0354] Optionally, the cleaning control device 1800 further includes a third control module, which is used to: control the side brush assembly to rotate in a raised position; and / or control the roller brush assembly to have suction in the raised position to air-dry at least part of the wet area.

[0355] Optionally, the cleaning control device 1800 further includes a fourth control module, which is configured to: confirm that there is a carpet area within the cleaning surface of the cleaning device, and control the side brush assembly to be in a raised position when the cleaning device is located in the carpet area.

[0356] Optionally, the cleaning control device 1800 also includes a fifth control module, which is used to: when identifying that the cleaning device is in the carpet area, control the cleaning device to move to the ground area, then control the side brush assembly to switch from the cleaning position to the raised position, and then control the cleaning device to enter the carpet area to perform cleaning work.

[0357] Optionally, the cleaning control device 1800 also includes a sixth control module, which is used to: when there is a carpet area on the cleaning surface and the cleaning device is in the ground area, when the cleaning device is in the ground area, first control the side brush assembly to switch from the cleaning position to the raised position, and then control the cleaning device to move from the ground area to the carpet area.

[0358] Optionally, the cleaning control device 1800 further includes a seventh control module, which is configured to control the side brush assembly and the mop assembly to be in a raised position separated from the cleaning surface when the cleaning device is located in the carpet area.

[0359] Optionally, the cleaning control device 1800 also includes an eighth control module, which is used to: control the side brush assembly to be in a raised position when the cleaning device is in a non-cleaning task scenario, and the non-cleaning task scenario includes at least one of the following: the cleaning device returns to the base station, the cleaning device is in the base station, the cleaning device is in the navigation process, and the cleaning device is in the positioning process.

[0360] Optionally, the cleaning control device 1800 also includes a ninth control module, which is used to control the side brush assembly to be in a raised position when the cleaning device is in a difficult cleaning scenario, and the difficult cleaning scenario includes at least one of the following: the cleaning device overcoming an obstacle, the cleaning device being trapped, the presence of obstacles with entanglement characteristics on the cleaning path, and the presence of granular obstacles on the cleaning path.

[0361] Optionally, the side brush assembly is swingably connected to the body via a swing arm, so that the side brush assembly has a retracted position and an outward swing position. When the side brush assembly is in the outward swing position, it is further away from the edge of the body than in the retracted position. The cleaning control device 1800 further includes a tenth control module, which is configured to:

[0362] When the side brush assembly is in the outward swing position, the side brush assembly is first controlled to switch from the outward swing position to the inward retracted position, and then the side brush assembly is controlled to move to the raised position.

[0363] Optionally, the control module is specifically used to: confirm the scenario in which the side brush assembly is allowed to be lifted according to the configuration information; when the cleaning device confirms that there is a scenario that requires lifting and confirms that the current scenario allows lifting according to the configuration information, control the side brush assembly to switch to the lifting position.

[0364] Optionally, the cleaning device further includes a mop assembly, and the cleaning device is configured to have a mop mode. When the cleaning device is in the mop mode, the side brush assembly is in a raised position, and the mop assembly contacts the cleaning surface to perform cleaning work.

[0365] It should be noted that the specific implementation principles and effects of the cleaning control device provided in the above embodiment can be found in the corresponding relevant descriptions and effects of the cleaning control method in the above embodiment, and will not be elaborated here.

[0366] The present application also provides a schematic structural diagram of a cleaning device. Figure 19 A schematic diagram of the structure of a cleaning device provided in an embodiment of the present application is shown in FIG. Figure 19 As shown, the cleaning device 100 may include: a body 40, a side brush assembly 10 movably connected to the body, a mop assembly 70, and a controller 50. The controller 50 is configured to execute the method described in any of the aforementioned embodiments of the present application.

[0367] An embodiment of the present application further provides a computer-readable storage medium, which stores computer program execution instructions. When the computer program execution instructions are executed by a processor, they are used to implement the method described in any of the aforementioned embodiments of the present application.

[0368] An embodiment of the present application further provides a chip for executing instructions, which is used to execute the method in any of the aforementioned embodiments as executed by an electronic device in any of the aforementioned embodiments of the present application.

[0369] An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it can implement the method described in any of the aforementioned embodiments of the present application executed by an electronic device.

[0370] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods, such as multiple modules 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 through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0371] Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, that is, they may be located in one place or distributed across multiple network elements. Some or all of these modules may be selected to implement the solution of this embodiment based on actual needs.

[0372] In addition, the functional modules in the various embodiments of the present application may be integrated into a single processing unit, each module may exist physically separately, or two or more modules may be integrated into a single unit. The aforementioned modular units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0373] The above-mentioned integrated module implemented in the form of a software functional module can be stored in a computer-readable storage medium. The above-mentioned software functional module is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present application.

[0374] It should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), or application-specific integrated circuits (ASICs). A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the application may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0375] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk.

[0376] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0377] The storage medium may 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 storage, flash memory, magnetic disk, or optical disk. The storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0378] An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the storage medium can also exist as discrete components in an electronic device or a main control device.

[0379] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A cleaning control method, characterized in that: The method is applied to a cleaning device, the cleaning device comprising a body, a side brush assembly movably connected to the body, and a mop assembly, the side brush assembly being at least used for performing dry cleaning on a cleaning surface, the mop assembly being at least used for performing wet cleaning on the cleaning surface, the side brush assembly having a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface; the method comprising: When it is determined that there is a wet area on the cleaning path of the cleaning device, the cleaning device cleans the wet area with the side brush assembly in the raised position.

2. The cleaning control method according to claim 1, characterized in that: The method further includes controlling the side brush assembly to switch from the cleaning position to the raised position before the side brush assembly contacts the wet area.

3. The cleaning control method according to claim 2, characterized in that: The confirming that a wet area exists on a cleaning path of the cleaning device includes: It is confirmed that there is a first area on the cleaning path that has been wet cleaned, and the wet area includes the first area.

4. The cleaning control method according to claim 3, characterized in that: The confirming that a wet area exists on a cleaning path of the cleaning device includes: Confirm the presence of the first area on the cleaning path based on the sensor signal; and / or confirm the area where the cleaning device has performed wet cleaning based on the cleaning map of the cleaning device, and determine the presence of the first area on the cleaning path of the cleaning device based on the wet cleaning area.

5. The cleaning control method according to claim 3, characterized in that: The mop assembly is arranged at the rear side of the body, and the side brush assembly is arranged at the front side of the body. The mop assembly is used at least for wet cleaning the cleaning surface when the cleaning device performs bow-shaped path cleaning; the bow-shaped path includes a first path and a second path that are adjacently arranged, and a third path that transitions from the first path to the second path; When the cleaning device cleans along the first path and the second path, the wet cleaning coverage at least partially overlaps; the method further comprises: When cleaning the second path or the third path, if the side brush assembly is in the area covered by the mop assembly when cleaning the first path, the side brush assembly is controlled to be in a raised position for cleaning.

6. The cleaning control method according to claim 5, characterized in that: The number of the side brush assembly is one, and the side brush assembly is arranged on the right front side of the body. The method further includes: When the cleaning device performs bow path cleaning, it first cleans along the first path and then cleans along the second path. When the cleaning device cleans along the first path, the side brush assembly is in the cleaning position; when the cleaning device cleans along the second path, the side brush assembly is in the raised position.

7. The cleaning control method according to claim 5, characterized in that: The method includes: when the cleaning device cleans along a first path, the side brush assembly is in a cleaning position; when the cleaning device enters a third path from the first path, the side brush assembly is switched from the cleaning position to a raised position.

8. The cleaning control method according to claim 2, characterized in that: The confirming that a wet area exists on the cleaning path of the cleaning device includes: confirming that a second area contaminated by wet stains exists on the cleaning path, and the wet area includes the second area.

9. The cleaning control method according to claim 8, characterized in that: The second area is determined based on soiling information recognized by the soiling sensor, or based on a soiling area pre-defined on a work map.

10. The cleaning control method according to claim 9, characterized in that: The method further includes: after the stain sensor recognizes the stain information and before the side brush assembly contacts the second area, controlling the side brush assembly to switch from the cleaning position to the raised position.

11. The cleaning control method according to any one of claims 1 to 10, characterized in that: The cleaning device further includes a roller brush assembly, wherein suction is provided at the roller brush assembly to perform cleaning work, and the method further includes: The side brush assembly and the roller brush assembly are in a raised position separated from the cleaning surface, and the mop assembly is in a mopping position in contact with the cleaning surface to clean the wet area.

12. The cleaning control method according to claim 11, characterized in that: The method further includes: controlling the side brush assembly to not rotate in the raised position; and / or controlling the suction force at the roller brush assembly to be turned off.

13. The cleaning control method according to claim 11, characterized in that: The method further includes: controlling the side brush assembly to rotate in the raised position; and / or controlling the roller brush assembly to have suction at the raised position to air-dry at least a portion of the wet area.

14. The cleaning control method according to claim 1 or 2, characterized in that: The method further includes: confirming that a carpet area exists within the cleaning surface of the cleaning device, and when the cleaning device is located in the carpet area, controlling the side brush assembly to be in a raised position.

15. The cleaning control method according to claim 14, characterized in that: The method further includes: upon identifying that the cleaning device is in a carpet area, controlling the cleaning device to move to a floor area, then controlling the side brush assembly to switch from the cleaning position to the raised position, and then controlling the cleaning device to enter the carpet area to perform cleaning work.

16. The cleaning control method according to claim 14, characterized in that: The method also includes: when there is a carpet area on the cleaning surface and the cleaning device is in the ground area, when the cleaning device is in the ground area, first controlling the side brush assembly to switch from the cleaning position to the raised position, and then controlling the cleaning device to move from the ground area to the carpet area.

17. The cleaning control method according to claim 14, characterized in that: The method further includes controlling the side brush assembly and the mop assembly to be in a raised position separated from the cleaning surface when the cleaning device is located in a carpet area.

18. The cleaning control method according to claim 1 or 2, characterized in that: The method also includes: when the cleaning device is in a non-cleaning task scenario, controlling the side brush assembly to be in a raised position, and the non-cleaning task scenario includes at least one of the following: the cleaning device returns to the base station, the cleaning device is in the base station, the cleaning device is in the navigation process, and the cleaning device is in the positioning process.

19. The cleaning control method according to claim 1 or 2, characterized in that: The method also includes: when the cleaning device is in a difficult cleaning scenario, controlling the side brush assembly to be in a raised position, the difficult cleaning scenario including at least one of the following: the cleaning device overcoming an obstacle, the cleaning device being trapped, the presence of an obstacle with entanglement characteristics on the cleaning path, and the presence of a granular obstacle on the cleaning path.

20. The cleaning control method according to claim 1 or 2, characterized in that: The side brush assembly is swingably connected to the body via a swing arm, so that the side brush assembly has a retracted position and an outward swing position, and the side brush assembly is further away from the edge of the body when in the outward swing position than in the retracted position. The method further includes: When the side brush assembly is in the outward swing position, the side brush assembly is first controlled to switch from the outward swing position to the inward retracted position, and then the side brush assembly is controlled to move to the raised position.

21. The cleaning control method according to claim 1 or 2, characterized in that: The side brush assembly includes a side brush housing and a cleaning member at least partially housed within the side brush housing, wherein when the side brush housing and the cleaning member move synchronously, the side brush assembly is in a cleaning position to clean the cleaning surface via the cleaning member; When the side brush housing and the cleaning member generate relative motion, the side brush assembly switches between the cleaning position and the raised position.

22. The cleaning control method according to claim 21, characterized in that: The side brush assembly includes a first drive assembly, and when the side brush assembly is in the cleaning position, the first drive assembly drives the side brush housing and the cleaning member to move synchronously, and the first drive assembly drives the side brush assembly to clean the cleaning surface; When the side brush assembly is in the cleaning position, the first drive assembly drives the side brush housing and the cleaning member to produce relative movement, and the side brush assembly switches between the cleaning position and the raised position, and / or, when the side brush assembly is in the raised position, the first drive assembly drives the side brush housing and the cleaning member to rotate differentially, so that the side brush assembly moves to the cleaning position.

23. The cleaning control method according to claim 22, characterized in that: The first drive assembly includes a first motor. When the side brush assembly is in the cleaning position and the first motor rotates in a first direction, the side brush housing and the cleaning member move synchronously, and the cleaning member cleans the cleaning surface. When the side brush assembly is in the cleaning position and the first motor rotates in the second direction, the side brush housing and the cleaning member move relative to each other, and the cleaning member is lifted.

24. The cleaning control method according to claim 23, characterized in that: The first driving assembly includes a stopper and an output shaft, one of the stopper and the output shaft is connected to the cleaning member, and the other is connected to the side brush housing, and the stopper is configured to rotate in a first direction.

25. The cleaning control method according to claim 24, characterized in that: The stopper comprises a one-way bearing, an inner ring of the one-way bearing is connected to the cleaning member, and the inner ring of the bearing is configured to rotate in a first direction. The output shaft is connected to the side brush housing so that the side brush housing rotates in the rotation direction of the first motor.

26. The cleaning control method according to claim 23, characterized in that: The side brush housing has a mounting cavity and an extension port communicated with the mounting cavity. The cleaning member is partially disposed in the mounting cavity. The extension port is suitable for allowing the cleaning member to extend.

27. The cleaning control method according to claim 26, characterized in that: When the side brush housing and the cleaning member generate relative motion, at least one of the protruding length of the cleaning member relative to the side brush housing or the height relative to the cleaning surface can be changed, so that the cleaning member is lifted or lowered relative to the cleaning surface.

28. The cleaning control method according to claim 26, characterized in that: The edge side wall of the extension opening forms a guide surface. When the first motor rotates along the second direction, the guide surface abuts against the cleaning member to change the position of the cleaning member relative to the side brush housing.

29. The cleaning control method according to claim 28, characterized in that: The side walls on opposite sides of the extension port extend obliquely relative to the axial direction of the connecting shaft to form at least part of the guide surface, and / or at least part of the guide surface is at a preset angle to the horizontal direction so that the guide surface extends obliquely upward, and when the cleaning member retracts into the mounting cavity, the cleaning member moves along the guide surface to change its height relative to the cleaning surface.

30. The cleaning control method according to claim 1 or 2, characterized in that: The method also includes: confirming the scenario in which the side brush assembly is allowed to be lifted based on the configuration information; when the cleaning device confirms that there is a scenario that requires lifting and confirms that the current scenario allows lifting based on the configuration information, controlling the side brush assembly to switch to the lifted position.

31. The cleaning control method according to claim 1 or 2, characterized in that: The cleaning device is configured to have a mopping mode. When the cleaning device is in the mopping mode, the side brush assembly is in a raised position, and the mop assembly contacts a cleaning surface to perform cleaning work.

32. A cleaning control device, characterized in that: The cleaning device is applied to a cleaning device, the cleaning device comprising a body, a side brush assembly movably connected to the body, and a mop assembly, the side brush assembly being at least used for performing dry cleaning on a cleaning surface, the mop assembly being at least used for performing wet cleaning on the cleaning surface, the side brush assembly having a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface; the device comprising a control module, the control module being used to: When it is determined that there is a wet area on the cleaning path of the cleaning device, the cleaning device cleans the wet area with the side brush assembly in the raised position.

33. A cleaning device, characterized in that The cleaning device comprises a body, a side brush assembly and a mop assembly movably connected to the body, and a controller, wherein the controller is configured to execute the cleaning control method according to any one of claims 1 to 31.

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