Cleaning method of cleaning equipment and cleaning equipment

Abstract

The embodiment of the invention provides a cleaning method of cleaning equipment, the cleaning equipment comprises a suction motor, a floor brush body and a rolling brush arranged on the floor brush body, the suction motor is used for generating suction force capable of taking away garbage at the rolling brush, and the cleaning method comprises the steps that in response to a cleaning instruction for heavy dirt on a to-be-cleaned surface, the cleaning equipment is controlled to enter a scraping and washing mode, the scraping and washing mode comprises a first stage and a second stage which are executed in sequence; in the first stage and the second stage, the rolling brush is controlled to alternately rotate forwards and backwards, so that the rolling brush drives the floor brush body to reciprocate on the surface to be cleaned while repeatedly scrubbing the heavy dirt; wherein the power of the suction motor in the first stage is greater than that of the suction motor in the second stage. The rolling brush rotates forwards and backwards to drive the floor brush to move in a reciprocating mode to scrape and wash heavy dirt, and a user almost does not need to exert force even if holding the handrail. And the cleaning effect on heavy dirt is improved, and the use experience of the equipment is also improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning, and in particular to a cleaning method of a cleaning device and the cleaning device. BACKGROUND

[0002] With the rapid development of smart home technology, cleaning devices such as scrubber dryers and sweeping and mopping integrated machines have gradually become important tools for cleaning floors in homes and commercial environments.

[0003] Taking a scrubber dryer as an example, the scrubber dryer usually realizes floor scrubbing by high-speed rotation of a roller brush in cooperation with a cleaning liquid spraying system, and recycles wastewater by means of a vacuum suction system, so as to complete the cleaning process. Such a device has good cleaning effect on ordinary dust and light stains, but its cleaning ability significantly decreases when facing difficult-to-clean heavy stains. Users usually need to manually control the device to repeatedly clean the same area, and even need to manually process stains in advance, which not only reduces the cleaning efficiency, but also affects the user experience. SUMMARY

[0004] Therefore, the present application provides a cleaning method of a cleaning device and the cleaning device.

[0005] The first aspect of the present application provides a cleaning method of a cleaning device, the cleaning device comprising a suction motor, a floor brush body, and a roller brush arranged on the floor brush body, the suction motor being configured to generate a suction force capable of carrying away garbage at the roller brush, and the cleaning method comprising:

[0006] in response to a cleaning instruction for heavy stains on a surface to be cleaned, controlling the cleaning device to enter a scrubbing mode, the scrubbing mode comprising a first stage and a second stage executed in sequence;

[0007] in the first stage and the second stage, the roller brush is controlled to alternately rotate forward and reverse, so that the roller brush repeatedly scrubs the heavy stains while driving the floor brush body to reciprocate on the surface to be cleaned;

[0008] wherein the power of the suction motor in the first stage is greater than the power of the suction motor in the second stage.

[0009] The forward rotation and reverse rotation of the rolling brush alternately moving can drive the brush body and the handle to move back and forth repeatedly to scrub heavy dirt and clean the heavy dirt completely. This is also the process of simulating the manual cleaning when encountering heavy dirt and scrubbing in place. The difference is that the manual dragging device is more laborious when scrubbing in place, especially when the user pulls the handle backward, the resistance generated by the forward rotating rolling brush is greater, and more laborious. In the embodiment of the present application, the rolling brush alternately rotates and reverses by using the rolling brush motor, the forward rotation of the rolling brush provides power for the forward movement of the device, and the reverse rotation of the rolling brush provides power for the backward movement of the device, so the user almost does not need to exert force even if he holds the handle. Both the cleaning effect of heavy dirt and the use experience of the device are improved.

[0010] Because there is usually garbage on the rolling brush, when reversing, the garbage on the rolling brush will be carried forward by inertia, and this garbage will be seen by the user. The first stage is mainly used to quickly process the garbage discharged from the scrubber by large suction, and the second stage is mainly used to repeatedly scrub heavy dirt to ensure that the heavy dirt can be effectively cleaned. The first stage and the second stage cooperate with each other to improve the cleaning effect.

[0011] Because the garbage discharged from the rolling brush after reversing is more easily sucked away in the first stage with large suction, the second stage does not need to increase the suction power, which is beneficial to save energy consumption.

[0012] Optionally, the power of the suction motor in the second stage is equal to a preset power, and the preset power is the power of the suction motor in the light dirt cleaning mode of the rolling brush.

[0013] The power of the suction motor in the second stage is approximately equal to the power in the conventional cleaning process of cleaning light dirt, which can reduce energy waste.

[0014] Optionally, in the first stage and / or the second stage, the duration of at least one reverse rotation is less than the duration of the forward rotation after the reverse rotation ends. In this way, the first area formed by the reverse rotation of the rolling brush on the ground will be scrubbed again by the forward rotation of the rolling brush, and the second area scrubbed by the rolling brush in the forward rotation is greater than or equal to the first area. In turn, the forward rotation can suck away all the garbage discharged during the reverse rotation, effectively ensuring that the discharged garbage is cleaned completely, and improving the cleaning effect.

[0015] Optionally, in the first stage, the rolling brush alternately rotates and reverses from the initial position, and the rolling brush returns to the initial position again after the rolling brush rotates and reverses N times, wherein N is a positive integer greater than or equal to 1.

[0016] The initial position is a comfortable position of the cleaning device within the controllable range of the user's arm before the scrubbing mode is performed. After multiple forward rotations and reverse rotations of the roller brush, the floor brush is still returned to this position. The user does not need to change position and can continue the subsequent cleaning process by staying in place, providing a better user experience. Generally, during each forward rotation or each reverse rotation, the movement distance of the cleaning device is also within the controllable range of the user, for example, by controlling the time of each forward rotation or reverse rotation of the roller brush. In this way, during the entire first stage, the user does not need to move with the floor brush and can stay in place.

[0017] Optionally, in the first stage, the sum of the durations of all forward rotations is equal to the sum of the durations of all reverse rotations.

[0018] Optionally, the method further comprises:

[0019] In the second stage, in response to the loop end condition not being met, the loop step is repeatedly performed; wherein the loop step comprises multiple forward rotations and reverse rotations of the roller brush alternately.

[0020] Optionally, in the loop step, the roller brush starts from an initial position to perform the alternating forward rotations and reverse rotations, and after the roller brush performs M times of forward rotations and reverse rotations, the roller brush returns to the initial position again, wherein M is a positive integer greater than or equal to 1.

[0021] Optionally, in the loop step, the sum of the durations of all forward rotations is equal to the sum of the durations of all reverse rotations.

[0022] Optionally, the cleaning device further comprises a water distributor for spraying cleaning liquid to the roller brush;

[0023] The water spraying amount of the water distributor in the first stage is greater than a preset water spraying amount, and / or the water spraying amount of the water distributor in the second stage is greater than the preset water spraying amount, and the preset water spraying amount is the water spraying amount in the light dirt cleaning mode.

[0024] Optionally, the cleaning device further comprises a wiping plate assembly located on the front side of the roller brush, the wiping plate assembly being movably connected to the floor brush body to switch between at least a cleaning position and a suspended position relative to the surface to be cleaned, the wiping plate assembly being in contact with the surface to be cleaned in the cleaning position and maintaining a gap with the surface to be cleaned in the suspended position; the cleaning method further comprises:

[0025] When the roller brush is reversed, the wiping plate assembly is controlled to move to the cleaning position.

[0026] Optionally, the power of the suction motor in the first stage is 120-180w, and the power of the suction motor in the second stage is 70-110w.

[0027] Optionally, the total cleaning time of the rolling brush in the second stage is greater than the total cleaning time of the rolling brush in the first stage.

[0028] Optionally, the time length of each forward rotation or reverse rotation of the rolling brush is 0.3-1.0s.

[0029] The second aspect embodiment of the present application provides a cleaning method of a cleaning device, the cleaning device comprising a floor brush body and a rolling brush arranged on the floor brush body, the cleaning method comprising:

[0030] In response to a cleaning instruction for heavy dirt on a surface to be cleaned, the cleaning device is controlled to enter a scraping and washing mode;

[0031] In the scraping and washing mode, the rolling brush is controlled to alternately perform forward rotation and reverse rotation, so that the rolling brush repeatedly wipes the heavy dirt while driving the floor brush body to reciprocate on the surface to be cleaned; and the path covered by the rolling brush in at least one reverse rotation is covered by the path covered by the rolling brush in the subsequent forward rotation.

[0032] The path of the rolling brush on the ground is generally a substantially rectangular area. The path covered by the rolling brush in at least one reverse rotation being covered by the path covered by the rolling brush in the subsequent forward rotation can be understood as that the first area formed by the ground wiping of the rolling brush in the reverse rotation is wiped again by the rolling brush in the subsequent forward rotation, and the second area wiped by the rolling brush in the forward rotation is greater than or equal to the first area. In this way, the forward rotation can completely suck away the garbage discharged in the reverse rotation, effectively ensuring that the discharged garbage is cleaned, and improving the cleaning effect.

[0033] Optionally, the time length of at least one reverse rotation of the rolling brush is less than the time length of the subsequent forward rotation; or, the distance moved by at least one reverse rotation of the rolling brush is less than the distance moved by the subsequent forward rotation. Compared with measuring the areas of the first area or the second area passed by the rolling brush on the ground, the time length of the forward rotation or the reverse rotation of the rolling brush is easier to obtain. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a schematic diagram of the overall structure of a cleaning device according to an exemplary embodiment;

[0035] Figure 2 is a schematic diagram of the partial structure of a floor brush of a cleaning device according to an exemplary embodiment;

[0036] Figure 3 is a schematic diagram of the path of a rolling brush on the ground during forward rotation and reverse rotation of the rolling brush according to an exemplary embodiment;

[0037] Figure 4is a flowchart of the cleaning method in Example 1;

[0038] Figure 5 is a structural diagram of a cleaning device with a squeegee assembly according to an exemplary embodiment;

[0039] Figure 6 is a flowchart of the cleaning method in Example 2.

[0040] Reference signs:

[0041] 110, handle; 120, floor brush; 121, roller brush; 122, floor brush body; 1221, suction port; 1222, squeegee strip; 130, machine body; 140, sewage tank; 150, clean water tank; 160, booster wheel; 170, suction motor; 180, squeegee assembly; 181, squeegee; 182, transmission mechanism; 190, squeegee strip assembly; A, first area; B, second area; O, ground; S, rear section of the roller brush itself. DETAILED DESCRIPTION

[0042] In order to make the technical solutions and beneficial effects of the present application more obvious and easy to understand, the following will be described in detail by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features can be enlarged or reduced to more clearly show the details of local features; unless otherwise defined, the technical and scientific terms used herein have the same meaning as the technical and scientific terms in the technical field to which the present application belongs.

[0043] The embodiments of the present disclosure are not exhaustive, but only illustrate some embodiments, and are not specific limitations on the protection scope of the present disclosure. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing part of the steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, part or all of the steps of different embodiments can be combined arbitrarily, an embodiment can be combined with the optional implementation manners of other embodiments.

[0044] In each embodiment of the present disclosure, the terms and / or descriptions of the embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0045] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and not as a limitation on the present disclosure.

[0046] The cleaning device of the embodiments of the present application includes but is not limited to a scrubber, an electric mop, a scrubbing and mopping all-in-one machine and the like handheld cleaning device.

[0047] The cleaning device of the embodiments of the present application is described below taking the scrubber as an example. It can be understood that the scrubber is only for example and does not constitute a limitation of the embodiments of the present description.

[0048] Referring to Figure 1 and Figure 2 , the cleaning device includes a machine body 130, a floor brush 120 and a handle 110. The floor brush 120 includes a floor brush body 122 and a roller brush 121, and the cleaning of the ground can be achieved through the roller brush 121.

[0049] During cleaning, the user can hold the handle 110 by hand, swing the machine body 130 through the handle 110 to drive the floor brush body to move, and the roller brush is in frictional contact with the surface to be cleaned during the movement of the floor brush body, thereby achieving the cleaning of the surface to be cleaned. The surface to be cleaned includes but is not limited to the ground, the carpet, the wall surface, the table top and the like.

[0050] Referring to Figure 1 , the arrow points to the direction, the floor brush 120 can move forward or backward on the surface to be cleaned in a substantially horizontal direction. The user holds the handle to drive the entire floor brush to move back and forth along the surface to be cleaned.

[0051] In some embodiments, the cleaning device can further include a roller brush motor for driving the roller brush 121 to rotate forward. Referring to Figure 2 , the forward rotation of the roller brush 121 means that the roller brush rotates forward, and when the user holds the handle 110 and moves forward, the forward rotating roller brush 121 can provide assistance and reduce the burden on the user. When the user holds the handle 110 and moves backward, the roller brush 121 is still rotating forward.

[0052] In some embodiments, the cleaning device can further include a clean water tank 150 and a water distributor (not shown), the clean water tank 150 stores cleaning liquid, and the clean water tank 150 can uniformly spray the cleaning liquid to the roller brush 121 through the water distributor, so as to soak the roller brush 121. The roller brush 121 can soak the stains on the surface to be cleaned during cleaning, reduce the adhesion of the stains, and improve the cleaning effect.

[0053] In some embodiments, the cleaning device can further include a sewage tank 140, the sewage tank 140 is used for collecting garbage during cleaning, and the garbage during cleaning is generally a mixture of solid and liquid.

[0054] In some embodiments, the cleaning device can further include a suction motor 170, the suction motor 170 provides negative pressure, and the floor brush body 122 is provided with a suction port 1221 Figure 2The suction motor 170 and the suction port 1221 are communicated by a suction channel. Under the action of the negative pressure suction force generated by the suction motor 170, the garbage at the position of the roller brush 212 (the ground near the roller brush 212 and the roller brush 121 itself) is sucked to the sewage tank 140 through the suction port 1221 and the suction channel.

[0055] Any one of the clean water tank 150, the sewage tank 140 and the suction motor 170 can be arranged in the floor brush 120 or the machine body 130.

[0056] In an embodiment, the floor brush 120 assembly further includes a booster wheel 160 for assisting the movement of the floor brush 120 assembly.

[0057] In an embodiment, the booster wheel 160 can be provided with a driving part (such as a motor) for driving the booster wheel 160. In an embodiment, the cleaning device can further include a sensing system (not shown).

[0058] The above-mentioned sensing system can include at least one of a visual sensor, a laser sensor, a gyroscope, an accelerometer, a speed sensor, a mechanical sensor, an infrared sensor, an ultrasonic sensor, a visual sensor, an angle sensor, etc. to obtain at least one of cleaning device motion state information, position information and obstacle information.

[0059] For example, a speed sensor, an acceleration sensor, etc. can be used to detect the speed and acceleration of the cleaning device. An infrared sensor, an ultrasonic sensor, a visual sensor, etc. can be used to detect the distance between the cleaning device and the obstacle. A visual sensor, an RGB sensor, etc. can be used to detect the degree of dirt.

[0060] The execution subject of the boosting method in the embodiments of the present disclosure can be a controller arranged in the cleaning device, or a controller arranged in a base, wherein the base is used to carry the cleaning device to at least charge the cleaning device, self-clean, etc. Alternatively, the execution subject can also be a server corresponding to the cleaning device and the base. The server is located in the cloud and is connected with the cleaning device through a network, and issues user instructions to the cleaning device and the base, or forwards the user instructions sent by the user through a terminal device (such as a mobile phone, a wearable device or a computer, etc.) to the cleaning device and the base, etc.

[0061] The above-mentioned controller can include a microcontroller unit (MCU). Of course, the above-mentioned controller can also include other devices that can have a control function.

[0062] In some embodiments, the cleaning device further includes a controller. The boosting method of the embodiments of the present disclosure is described taking the controller in the cleaning device as an example.

[0063] One of the inventive concepts of the present application is that the whole device is repeatedly moved forward and backward by the forward rotation and reverse rotation of the roller brush to scrub heavy dirt. Since the forward rotation of the roller brush provides power for the device to move forward, and the reverse rotation of the roller brush provides power for the device to move backward, during the repeated scrubbing process, the user hardly needs to exert force even if he holds the handle. This not only improves the cleaning effect of heavy dirt, but also improves the user experience of the device.

[0064] It needs to be added that: see Figure 2 , Figure 2 The straight line O in the figure points to the ground, and after the reverse rotation of the roller brush 121, garbage will be discharged from the suction port 1221. The discharged garbage may come from the garbage that is not sucked away by the suction port 1221 from the rear segment S of the roller brush itself, or from the scraping strip 1222 above the suction port 1221. Since during the conventional cleaning process for light dirt, the roller brush 121 is continuously rotated forward, garbage is easily accumulated between the scraping strip 1222 and the roller brush 121, and once the roller brush 121 is reversed, this part of the garbage is easily released to the ground.

[0065] Another inventive concept of the present application is to divide the aforementioned repeated scrubbing process into a first stage and a second stage, wherein the suction motor power in the first stage is greater than the suction power of the suction motor in the second stage. The greater the power of the suction motor, the greater the negative pressure (or suction force). In this way, the garbage discharged by the roller brush after reverse rotation is more easily sucked away in the first stage with greater suction power, and the second stage does not need to increase the suction power, taking into account the cleaning effect and energy saving.

[0066] Another inventive concept of the present application is to control the path covered by the roller brush during at least one reverse rotation to be covered by the path covered by the forward rotation after the end of the reverse rotation. It can be understood that the first area (A) formed by the ground scrubbing of the roller brush during reverse rotation will be scrubbed again by the roller brush during the subsequent forward rotation, and the second area (B) scrubbed by the roller brush during the forward rotation has an area greater than or equal to that of the first area (A). In this way, the forward rotation can completely suck away the garbage discharged during reverse rotation, effectively ensuring that the discharged garbage is cleaned, and improving the cleaning effect.

[0067] After the reverse rotation of the roller brush, it is difficult to ensure that the discharged garbage is completely cleaned before it falls to the ground, or even before it is brought to the front side of the roller brush (which means that the discharged garbage is visible to the user). Therefore, by using the coverage of the forward rotation on the path of the previous reverse rotation, the discharged garbage that falls to the ground can be effectively sucked away in time, which can further ensure the cleaning effect.

[0068] In the embodiments of the present application, "heavy dirt" refers to stubborn stains that are more difficult to clean than "light dirt". Heavy dirt includes but is not limited to viscous stains (such as dried sauce, oil stains), locally deposited stubborn dirt (such as paint, coffee stains), or high-viscosity liquids.

[0069] To achieve the above inventive concept, the embodiments of the present application propose the following technical solutions.

[0070] Embodiment 1

[0071] The power assisting method provided by the embodiments of the present application is used for a cleaning device, which comprises a suction motor, a floor brush body, and a rolling brush arranged on the floor brush body. The suction motor is used to generate a suction force capable of taking away dirt at the rolling brush. Referring to Figure 4 , the cleaning method comprises the following steps:

[0072] S110, in response to a cleaning instruction for heavy dirt on a surface to be cleaned, the cleaning device is controlled to enter a scrubbing mode, and the scrubbing mode comprises a first stage and a second stage executed in sequence;

[0073] S120, the rolling brush is controlled to alternately rotate forward and reverse in the first stage and the second stage, so that the rolling brush repeatedly wipes the heavy dirt while driving the floor brush body to reciprocate on the surface to be cleaned; and the power of the suction motor in the first stage is greater than the power of the suction motor in the second stage.

[0074] As described above, the forward rotation and reverse rotation of the rolling brush alternately can drive the floor brush body and the handle to repeatedly move forward and backward to wipe the heavy dirt and clean the heavy dirt. This is also the process of wiping the heavy dirt in place when manual cleaning. The difference is that it is more laborious to manually drag the device to wipe the heavy dirt in place, especially when the user pulls the handle backward, the resistance generated by the forward rotating rolling brush is greater, and more laborious. In the embodiments of the present application, the rolling brush is controlled by the rolling brush motor to alternately rotate forward and reverse, the forward rotation of the rolling brush provides power for the forward movement of the device, and the reverse rotation of the rolling brush provides power for the backward movement of the device. Even if the user holds the handle, almost no effort is needed. Both the cleaning effect on heavy dirt and the use experience of the device are improved.

[0075] Because there is usually garbage on the rolling brush, when the rolling brush is reversed, the garbage on the rolling brush will be taken along with the rolling brush by inertia. This garbage ejected will be seen by the user. The first stage is mainly used to quickly process the garbage ejected from the scrubber by a large suction force, and the second stage is mainly used to repeatedly wipe the heavy dirt to ensure that the heavy dirt can be effectively cleaned. The first stage and the second stage cooperate with each other to improve the cleaning effect. Because of the difference in purpose between the first stage and the second stage, the cleaning time of the first stage should not be too long in comprehensive consideration of energy consumption and cleaning effect. In some embodiments, the total cleaning time of the rolling brush in the second stage is greater than the total cleaning time of the rolling brush in the first stage. For example, after the second stage alternately rotates forward and reverse for a period of time according to a preset frequency, it can be recycled again.

[0076] Because the garbage ejected from the rolling brush after reverse rotation is more easily sucked away in the first stage with a larger suction force, the suction power does not need to be increased in the second stage, which is beneficial to save energy consumption.

[0077] The first rotation mode of the first stage and the second stage, and the last rotation mode are not limited to the present application. For example, the first rotation mode of the first stage can be reverse rotation, such as: the first stage performs reverse rotation-forward rotation-reverse rotation-forward rotation-reverse rotation in turn. Alternatively, the first rotation mode of the first stage can be forward rotation.

[0078] The cleaning instruction for heavy dirt on the surface to be cleaned can be triggered automatically. For example, the cleaning device detects the dirt condition of the ground by using the visual sensor, color sensor and the like installed on the cleaning device, and generates the cleaning instruction for heavy dirt on the surface to be cleaned if heavy dirt is detected, so as to control the cleaning device to enter the scraping and washing mode.

[0079] The cleaning instruction for heavy dirt on the surface to be cleaned can also be triggered passively. For example, the user finds that the area in front has heavy dirt, and can issue the cleaning instruction by touch key, voice or gesture action, so as to control the cleaning device to enter the scraping and washing mode.

[0080] In some optional embodiments, the power of the suction motor in the second stage is equal to the preset power, and the preset power is the power of the suction motor in the light dirt cleaning mode. The power of the suction motor in the second stage is substantially equal to the power in the conventional cleaning process for cleaning light dirt, so that energy waste can be reduced.

[0081] In some optional embodiments, the power of the suction motor in the first stage is 120-180w, and the power of the suction motor in the second stage is 70-110w.

[0082] For example, the power of the suction motor in the second stage is 70w, and the power of the suction motor in the first stage is 120w. For another example, the power of the suction motor in the second stage is 110w, and the power of the suction motor in the first stage is 180w. Alternatively, the power of the suction motor in the second stage is 90w, and the power of the suction motor in the first stage is 150w. Alternatively, the power of the suction motor in the second stage is 1090w, and the power of the suction motor in the first stage is 165w.

[0083] In some optional embodiments, in the first stage or the second stage, the duration of at least one reverse rotation is less than the duration of forward rotation after the reverse rotation ends. In this way, referring to Figure 3 , the first area (A) formed by the ground scrubbing of the roller brush in the reverse rotation is scrubbed again by the roller brush in the subsequent forward rotation, and the second area (B) scrubbed by the roller brush in the forward rotation is greater than or equal to the first area (A). In turn, the forward rotation can suck away all the garbage discharged in the reverse rotation, effectively ensuring that the discharged garbage is cleaned thoroughly, and improving the cleaning effect.

[0084] For example, the first stage includes three "reverse-rotation-rotation" cycle periods alternately performed, and the rotation time in the first "reverse-rotation-rotation" cycle period can be longer than the reverse rotation time, or the rotation time in any two "reverse-rotation-rotation" cycle periods can be longer than the reverse rotation time.

[0085] In some preferred embodiments, in the first stage and the second stage, the time length of at least one reverse rotation is less than the time length of the rotation after the reverse rotation ends. This setting of the second stage is also used to deal with the phenomenon of possible re-spitting of garbage, and the garbage spit out by the reverse rotation is cleaned by the longer rotation time, further improving the cleaning effect.

[0086] In some optional embodiments, in the first stage, the roller brush starts from the initial position to perform the alternating rotation and reverse rotation, and the roller brush returns to the initial position again after the roller brush performs the rotation and the reverse rotation for N times (here, the rotation and the reverse rotation are each counted as 1 time, instead of counting the alternating rotation and reverse rotation as 1 time in total), where N is a positive integer greater than or equal to 1.

[0087] The initial position is a more comfortable position of the cleaning device within the controllable range of the user's arm before the scraping and washing mode is performed. After the roller brush performs the rotation and the reverse rotation for multiple times, the roller brush still returns to the position, so that the user does not need to change the position and can continue the subsequent cleaning process while staying in place, and the use experience is better. Generally, in each rotation or each reverse rotation process, the movement distance of the cleaning device is also within the controllable range of the user, for example, by controlling the time of each rotation or each reverse rotation of the roller brush, so that the user does not need to move with the movement of the roller brush in the whole process of the first stage, and can stay in place.

[0088] In some optional embodiments, the time length of each rotation or each reverse rotation of the roller brush is 0.3-1.0s. This time length can effectively scrape and wash the stains, and also make the movement distance of the roller brush controllable, so that the user can cooperate with the scraping and washing mode while staying in place.

[0089] In some optional embodiments, in the first stage, the sum of the time lengths of all the rotations of the roller brush is equal to the sum of the time lengths of all the reverse rotations. The time length data of each rotation and each reverse rotation of the roller brush is easier to obtain. For example, the rotation and the reverse rotation of the roller brush are realized by the rotation and the reverse rotation of the roller brush motor respectively, and the time length of each rotation or each reverse rotation of the roller brush can be determined according to the pulse signal or the direction signal of the rotation or the reverse rotation of the roller brush motor. This is one of the implementation manners of the roller brush returning to the original position after the first stage ends. The premise is that the rotation speed of the roller brush in the rotation and the reverse rotation is substantially the same.

[0090] In another implementation manner, the sum of the distances passed by all the rotations of the roller brush in the first stage is equal to the sum of the distances passed by all the reverse rotations.

[0091] In some optional embodiments, the cleaning method further comprises: in the second stage, repeatedly performing the loop step in response to a loop end condition not being met; wherein the loop step comprises multiple forward rotations and reverse rotations of the roller brush alternately performed.

[0092] The loop end condition can be receiving a loop end instruction, or a certain number of loops, or a certain length of time of loops.

[0093] The second stage is mainly used for cleaning heavy dirt, and the number of loops can be determined according to the dirt cleaning condition. For example, if the heavy dirt can be cleaned completely after the loop step is repeated three times or before the loop step is repeated three times, the user can end the second stage and exit the scraping and washing mode.

[0094] In some optional embodiments, in the loop step, the roller brush starts from the initial position to perform the alternating forward rotation and reverse rotation, and the roller brush returns to the initial position again after the forward rotation and the reverse rotation are performed M times, wherein M is a positive integer greater than or equal to 1. After each loop step is performed, the roller brush can drive the brush body to return to the position, and the user does not need to change the position.

[0095] In some optional embodiments, in the loop step, the sum of the lengths of all forward rotations is equal to the sum of the lengths of all reverse rotations. The length data of each forward rotation and each reverse rotation of the roller brush is easier to obtain. By monitoring the length of the forward rotation or the reverse rotation of the roller brush, the roller brush is controlled to return to the initial position after each loop step is performed, which is more simple and convenient.

[0096] In some optional embodiments, the cleaning device further comprises a water distributor for spraying cleaning liquid to the roller brush; the water distributor sprays a water amount greater than a preset water amount in the first stage. The preset water amount is the water amount in the light dirt cleaning mode.

[0097] In some optional embodiments, the water distributor sprays a water amount greater than the preset water amount in the second stage.

[0098] In some optional embodiments, the water distributor sprays a water amount greater than the preset water amount in the first stage and the second stage.

[0099] The larger water amount can better wet the dirt and improve the cleaning effect.

[0100] Exemplarily, the preset water amount can be 30 ml / min, and the water amount in the entire scraping and washing mode can be greater than 30 ml / min, such as 40 ml / min, 50 ml / min or even more.

[0101] Reference is made to Figure 5In some optional embodiments, the cleaning device further comprises a squeegee assembly 180 arranged on the floor brush body, the squeegee assembly 180 is located at the front side of the rolling brush 121, and the squeegee assembly 180 is movably connected to the floor brush body 121 to switch between at least a cleaning position (the position of the squeegee assembly 180 shown by the solid line) and a suspended position (the position of the squeegee assembly 180 shown by the dashed line) relative to the surface to be cleaned, the squeegee assembly 180 is in contact with the surface to be cleaned in the cleaning position, and a gap is maintained between the squeegee assembly 180 and the surface to be cleaned in the suspended position; the cleaning method further comprises: Figure 5 Figure 5 When the rolling brush is reversed, the squeegee assembly is controlled to move to the cleaning position.

[0102] When the rolling brush is reversed, the squeegee assembly is controlled to move to the cleaning position.

[0103] The hardness of the squeegee is greater than that of the scraping strip, and when the squeegee moves to the cleaning position, the squeegee can rub the ground to help clean heavy dirt. The use of the squeegee can further improve the cleaning effect and efficiency of heavy dirt.

[0104] When the rolling brush is reversed, the squeegee assembly is controlled to move to the cleaning position.

[0105] Figure 5 In the implementation shown, the squeegee assembly 180 is further provided with a scraping strip assembly 190 in front of the squeegee assembly 180, and the scraping strip assembly 190 is used to improve the cleaning ability of the front edge of the floor brush and to scrape off water stains remaining on the ground. In other implementations, the scraping strip assembly 190 can be removed on the basis of the squeegee assembly 180. Figure 5

[0106] The cleaning process of the scraping and washing mode will be introduced below in combination with specific examples:

[0107] First, the first stage is executed, and the power of the suction motor in the first stage is about 150w, and the water spraying amount is greater than that when cleaning light dirt. The first stage includes the following steps: S1, the rolling brush is reversed for 0.5s,

[0108] S2, the rolling brush is reversed for 0.8s,

[0109] S3, the rolling brush is reversed for 0.6s,

[0110] S4, the rolling brush is reversed for 0.6s,

[0111] S5, the rolling brush is reversed for 0.3s.

[0112] ​​Wherein, the forward rotation time in step S2 is longer than the reverse rotation time in step S1, which can better suck the garbage out of the brush. And for the rotation time, step S1+S3+S5=step S2+S4, so that the brush can return to the initial position after the first stage is over.

[0113] In the first stage, the power of the suction motor returns to the normal value of the light dirt cleaning process, such as 90w, and the water spraying amount is still increasing. The second stage includes the following steps:

[0114] S7, forward rotation of the roller brush for 0.8s

[0115] S8, reverse rotation of the roller brush for 0.8s

[0116] S9, forward rotation of the roller brush for 0.8s

[0117] S10, reverse rotation of the roller brush for 0.8s

[0118] S11, forward rotation of the roller brush for 0.9s

[0119] S12, reverse rotation of the roller brush for 0.7s

[0120] S13, forward rotation of the roller brush for 0.7s

[0121] S14, reverse rotation of the roller brush for 0.9s.

[0122] After step S14 is executed, steps S7 to S14 are cycled again until a stop instruction is obtained. In the second stage, the forward rotation time in step S11 is longer than the reverse rotation time in step S10, which can better suck the garbage out of the brush. For the rotation time, step S7+S9+S11+S13=step S8+S10+S12+S14, so that the brush can return to the initial position after the second stage is over.

[0123] Embodiment 2

[0124] Referring to Figure 6 , the cleaning method of the cleaning device provided in embodiment 2 includes the following steps:

[0125] S210, in response to a cleaning instruction for heavy dirt on the surface to be cleaned, controlling the cleaning device to enter a scraping and washing mode;

[0126] S220, in the scraping and washing mode, controlling the roller brush to alternately perform forward rotation and reverse rotation, so that the roller brush repeatedly scrubs the heavy dirt while driving the brush body to reciprocate on the surface to be cleaned; and the path passed by the roller brush in at least one reverse rotation is covered by the path passed by the forward rotation after the reverse rotation is over.

[0127] The path of the roller brush on the ground is generally a substantially rectangular area. Referring to Figure 3The "path of the rolling brush in at least one reverse rotation is covered by the path of the forward rotation after the at least one reverse rotation" can be understood as the first area (A) formed by the ground scrubbing of the rolling brush in the reverse rotation is scrubbed again by the rolling brush in the forward rotation, and the second area (B) scrubbed by the rolling brush in the forward rotation is greater than or equal to the first area (A). In this way, the forward rotation can suck away all the garbage discharged in the reverse rotation, effectively ensuring that the discharged garbage is cleaned, and improving the cleaning effect.

[0128] In some optional embodiments, the duration of the at least one reverse rotation of the rolling brush is less than the duration of the forward rotation after the at least one reverse rotation. With respect to measuring the area of the first area (A) or the second area (B) of the rolling brush on the ground, the duration of the forward rotation or the reverse rotation of the rolling brush is easier to obtain.

[0129] In some embodiments, the distance of the at least one reverse rotation of the rolling brush is less than the distance of the forward rotation after the at least one reverse rotation.

[0130] The other processes of the cleaning method of the embodiment 2 can be the same as those of the embodiment 1, which will not be repeated here.

[0131] In addition, the application also provides a computer readable storage medium, and the computer readable storage medium stores computer execution instructions. When the processor executes the computer execution instructions, the cleaning method is realized.

[0132] The computer readable storage medium provided by the embodiment can execute the cleaning method of the above-mentioned embodiments, and the implementation principle and technical effects are similar, which will not be repeated here.

[0133] The computer readable storage medium described above can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0134] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium, and can write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a host device.

[0135] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program executes the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and various storage media that can store program codes.

[0136] The embodiments or implementations in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0137] In the description of the specification, the description of "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning method of a cleaning apparatus, characterized by, The cleaning device comprises a suction motor, a floor brush body and a roller brush arranged on the floor brush body, the suction motor is used to generate suction force capable of carrying away garbage at the roller brush, and the cleaning method comprises: In response to a cleaning instruction for heavy dirt on a to-be-cleaned surface, the cleaning device is controlled to enter a scraping and washing mode, the scraping and washing mode comprises a first stage and a second stage executed in sequence; In the first stage and the second stage, the roller brush is controlled to alternately rotate forward and reverse, so that the roller brush repeatedly wipes the heavy dirt while driving the floor brush body to reciprocate on the to-be-cleaned surface; The power of the suction motor in the first stage is greater than the power of the suction motor in the second stage.

2. The cleaning method according to claim 1, wherein, The power of the suction motor in the second stage is equal to a preset power, and the preset power is the power of the suction motor in a light dirt cleaning mode.

3. The cleaning method of claim 1, wherein, In the first stage and / or the second stage, the duration of at least one reverse rotation is less than the duration of forward rotation after the reverse rotation ends.

4. The cleaning method of claim 1, wherein, In the first stage, the roller brush starts from an initial position to alternately rotate forward and reverse, and after the roller brush rotates forward and reverse for N times, the roller brush returns to the initial position again, wherein N is a positive integer greater than or equal to 1.

5. The cleaning method of claim 4, wherein, In the first stage, the sum of the durations of all forward rotations is equal to the sum of the durations of all reverse rotations.

6. The cleaning method according to claim 1 or 4, characterized by, The method further comprises: In the second stage, in response to a loop end condition not being met, a loop step is repeatedly executed; wherein the loop step comprises multiple forward rotations and reverse rotations of the roller brush alternately performed.

7. The cleaning method of claim 6, wherein, In the loop step, the roller brush starts from an initial position to alternately rotate forward and reverse, and after the roller brush rotates forward and reverse for M times, the roller brush returns to the initial position again, wherein M is a positive integer greater than or equal to 1.

8. The cleaning method of claim 7, wherein, In the loop step, the sum of the durations of all forward rotations is equal to the sum of the durations of all reverse rotations.

9. The cleaning method of claim 1, wherein, The cleaning device further comprises a water distributor for spraying cleaning liquid to the roller brush; The water spraying amount of the water distributor in the first stage is greater than a preset water spraying amount, and / or the water spraying amount of the water distributor in the second stage is greater than the preset water spraying amount, and the preset water spraying amount is the water spraying amount in a light dirt cleaning mode.

10. The cleaning method of claim 1, wherein, The cleaning device further comprises a wiping plate assembly located on the front side of the roller brush, the wiping plate assembly is movably connected to the floor brush body to switch between at least a cleaning position and a suspended position relative to the to-be-cleaned surface, the wiping plate assembly is in contact with the to-be-cleaned surface in the cleaning position, and a gap is maintained between the wiping plate assembly and the to-be-cleaned surface in the suspended position. The cleaning method further comprises: When the roller brush reverses, the wiping plate assembly is controlled to move to the cleaning position.

11. The cleaning method of claim 2, wherein, The power of the suction motor in the first stage is 120-180w, and the power of the suction motor in the second stage is 70-110w.

12. The cleaning method of claim 1, wherein, The total cleaning time of the roller brush in the second stage is greater than the total cleaning time of the roller brush in the first stage.

13. The cleaning method of claim 1, wherein, The duration of each forward rotation or reverse rotation of the roller brush is 0.3-1.0s.

14. A cleaning method of a cleaning apparatus, characterized by, The cleaning device comprises a floor brush body and a rolling brush arranged on the floor brush body, and the cleaning method comprises: In response to a cleaning instruction for heavy dirt on a surface to be cleaned, the cleaning device is controlled to enter a scraping and washing mode; In the scraping and washing mode, the rolling brush is controlled to alternately rotate forward and reversely, so that the rolling brush repeatedly wipes the heavy dirt while driving the floor brush body to reciprocate on the surface to be cleaned; and the path covered by the rolling brush in at least one reverse rotation is covered by the path covered by the rolling brush in forward rotation after the at least one reverse rotation.

15. The cleaning method of claim 14, wherein, The duration of the at least one reverse rotation of the rolling brush is less than the duration of the forward rotation after the at least one reverse rotation; or the distance moved by the at least one reverse rotation of the rolling brush is less than the distance moved by the forward rotation after the at least one reverse rotation.

16. The cleaning method of claim 14, wherein, The cleaning device further comprises a suction motor for generating suction force capable of carrying away garbage at the rolling brush, and the scraping and washing mode comprises a first stage and a second stage executed in sequence, in both the first stage and the second stage, the rolling brush is controlled to alternately rotate forward and reversely, and the power of the suction motor in the first stage is greater than the power of the suction motor in the second stage.

17. The cleaning method of claim 16, wherein, The cleaning method comprises: In the first stage, the rolling brush starts from an initial position to alternately rotate forward and reversely, and after the rolling brush rotates forward and reversely N times, the rolling brush returns to the initial position again, where N is a positive integer greater than 1.

18. The cleaning method according to claim 16 or 17, characterized in that, The method further comprises: In the second stage, in response to a cycle end condition not being met, a cycle step is repeatedly executed; wherein the cycle step comprises multiple forward rotations and reverse rotations of the rolling brush.

19. The cleaning method of claim 18, wherein, In the cycle step, the rolling brush starts from an initial position to alternately rotate forward and reversely, and after the rolling brush rotates forward and reversely M times, the rolling brush returns to the initial position again, where M is a positive integer greater than or equal to 1.

20. The cleaning method of claim 16, wherein, The cleaning device further comprises a water distributor for spraying cleaning liquid to the rolling brush; The water spraying amount of the water distributor in the first stage is greater than a preset water spraying amount, and the water spraying amount of the water distributor in the second stage is greater than or equal to the water spraying amount in the first stage, wherein the preset water spraying amount is the water spraying amount in a light dirt cleaning mode.

21. The cleaning method of claim 16, wherein, The power of the suction motor in the first stage is 120-180w, and the power of the suction motor in the second stage is 70-110w.

22. The cleaning method of claim 14, wherein, The cleaning device further comprises a wiping plate assembly located on the front side of the rolling brush, the wiping plate assembly is movably connected to the floor brush body to switch between at least a cleaning position and a suspended position relative to the surface to be cleaned, the wiping plate assembly is in contact with the surface to be cleaned in the cleaning position, and a gap is maintained between the wiping plate assembly and the surface to be cleaned in the suspended position; The cleaning method further comprises: When the rolling brush reverses, the wiping plate assembly is controlled to move to the cleaning position.

23. The cleaning method of claim 14, wherein, The duration of each forward rotation or reverse rotation of the rolling brush is 0.3-1.0s.

24. A cleaning apparatus, characterized by The cleaning device comprises a controller for executing the cleaning method of the cleaning device according to any one of claims 1 to 23.

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