Cleaning equipment control method and device, controller and cleaning equipment

Abstract

The invention provides a control method and device for cleaning equipment, a controller and the cleaning equipment, and the control method comprises the steps that in response to the situation that the movement trend of the cleaning equipment is deceleration, a scraping strip is controlled to complete the state switching step before the cleaning equipment moves reversely; wherein the state switching step comprises switching of the scraping strip between a first state and a second state, the first state indicates that the scraping strip is in contact with a working surface, and the second state indicates that a gap exists between the scraping strip and the working surface. Through the application, the technical problems that a user has a resistance feeling when pushing the cleaning equipment forwards and has a cleaning blind area when pulling the cleaning equipment backwards in related technologies are solved, and the technical effects that the scraping strip can be accurately controlled to be in contact with or separated from the ground at proper time, and the cleaning effect is improved are achieved.

Description

TECHNICAL FIELD

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

[0002] At present, water residues exist on the ground during the use of the cleaning equipment. Generally, a downward scraping strip is added at the front end of a rolling brush. When the cleaning equipment is pushed forward, the scraping strip is lifted up, and when the cleaning equipment is pulled backward, the scraping strip is pressed down to scrape off water stains and other impurities remaining on the ground.

[0003] However, the existing cleaning equipment is slow in pressing down the scraping strip when starting to pull backward, resulting in a cleaning blind area during backward pulling. The scraping strip is slow in lifting up when starting to push forward, resulting in a resistance feeling during forward pushing.

[0004] For the above at least one technical problem, the related art has not yet proposed an effective solution. SUMMARY

[0005] The embodiments of the present application provide a control method and device of cleaning equipment, a controller and cleaning equipment to solve one or more technical problems.

[0006] In a first aspect, the embodiments of the present application provide a control method of cleaning equipment. The cleaning equipment at least includes a scraping strip, a driving mechanism and a cleaning piece. The scraping strip is arranged at the front side of the cleaning piece. The driving mechanism is configured to drive the scraping strip to move. The control method comprises: in response to the motion trend of the cleaning equipment being deceleration, controlling the scraping strip to complete a state switching step before the cleaning equipment reverses motion; wherein the state switching step comprises switching of the scraping strip between a first state and a second state. The first state indicates that the scraping strip is in contact with a working surface. The second state indicates that there is a gap between the scraping strip and the working surface.

[0007] In a second aspect, the embodiments of the present application provide a control method of cleaning equipment. The cleaning equipment at least includes a scraping strip, a driving mechanism and a cleaning piece. The scraping strip is arranged at the front side of the cleaning piece. The driving mechanism is configured to drive the scraping strip to move. The control method comprises: in response to the motion trend of the cleaning equipment being deceleration, acquiring a deceleration time length for indicating that the motion rate of the cleaning equipment is reduced to zero; in response to the deceleration time length being greater than zero and less than or equal to a response time length of the scraping strip completing a state switching step, controlling the scraping strip to execute the state switching step; wherein the state switching step comprises switching of the scraping strip between a first state and a second state. The first state indicates that the scraping strip is in contact with a working surface. The second state indicates that there is a gap between the scraping strip and the working surface.

[0008] In a third aspect, an embodiment of the present application provides a control device of a cleaning device, the cleaning device comprising at least a squeegee, a driving mechanism and a cleaning piece, the squeegee being arranged at a front side of the cleaning piece, the driving mechanism being configured to drive the squeegee to move, the control device comprising: a first control module configured to, in response to a motion trend of the cleaning device being deceleration, control the squeegee to complete a state switching step before the cleaning device reverses the motion, wherein the state switching step comprises switching of the squeegee between a first state and a second state, the first state indicating that the squeegee is in contact with a working surface, and the second state indicating that there is a gap between the squeegee and the working surface.

[0009] In a fourth aspect, an embodiment of the present application provides a control device of a cleaning device, the cleaning device comprising at least a squeegee, a driving mechanism and a cleaning piece, the squeegee being arranged at a front side of the cleaning piece, the driving mechanism being configured to drive the squeegee to move, the control device comprising: a first acquisition module configured to, in response to a motion trend of the cleaning device being deceleration, acquire a deceleration time length indicating that a motion rate of the cleaning device is reduced to zero; and a second control module configured to, in response to the deceleration time length being greater than zero and less than or equal to a response time length of the squeegee completing a state switching step, control the squeegee to perform the state switching step, wherein the state switching step comprises switching of the squeegee between a first state and a second state, the first state indicating that the squeegee is in contact with a working surface, and the second state indicating that there is a gap between the squeegee and the working surface.

[0010] In a fifth aspect, an embodiment of the present application provides a controller, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps of the control method of the cleaning device when running the computer program.

[0011] In a sixth aspect, an embodiment of the present application provides a cleaning device, characterized in that the cleaning device comprises a squeegee, a driving mechanism and a cleaning piece, the squeegee being arranged at a front side of the cleaning piece, the driving mechanism being configured to drive the squeegee to move, and the cleaning device further comprises the above-mentioned controller.

[0012] According to the embodiments of the present application, in response to the motion trend of the cleaning device being deceleration, the squeegee is controlled to complete a state switching step before the cleaning device reverses the motion, thereby solving the technical problems of related art, such as resistance when the user pushes the cleaning device forward, and a blind area when the user pulls the cleaning device backward, and achieving the technical effect of accurately controlling the squeegee to contact or separate from the ground at an appropriate time, thereby improving the cleaning effect.

[0013] The above description is only a summary of the technical solutions of the present application. In order to make the technical means of the present application more clearly understood, the present application can be implemented according to the content of the description, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described below. BRIEF DESCRIPTION OF DRAWINGS

[0014] In the drawings, like reference numerals refer to same or similar components throughout the several views, unless otherwise indicated. These drawings are not necessarily to scale. It should be understood that these drawings only depict certain embodiments in accordance with the present application and should not be considered limiting of the scope of the present application.

[0015] Figure 1 A structure schematic diagram of a cleaning equipment floor brush provided in an embodiment of the present application is shown;

[0016] Figure 2 An electrical connection relationship structure schematic diagram of a controller, a scraping strip and a driving mechanism provided in an embodiment of the present application is shown;

[0017] Figure 3 A control method flowchart of a cleaning equipment provided in an embodiment of the present application is shown;

[0018] Figure 4 Another structure schematic diagram of a cleaning equipment floor brush provided in an embodiment of the present application is shown;

[0019] Figure 5 Another control method flowchart of a cleaning equipment provided in an embodiment of the present application is shown;

[0020] Figure 6 A control device structure block diagram of a cleaning equipment provided in an embodiment of the present application is shown;

[0021] Figure 7 A control method flowchart of still another cleaning equipment provided in an embodiment of the present application is shown;

[0022] Figure 8 A control device structure block diagram of still another cleaning equipment provided in an embodiment of the present application is shown;

[0023] Figure 9 A structure block diagram of a controller used to implement an embodiment of the present application is shown;

[0024] Figure 10 A structure schematic diagram of a cleaning equipment provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] In the following, only certain exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the concept or scope of the present application. Therefore, the drawings and the description are considered to be exemplary in nature, rather than limiting.

[0026] In order to facilitate understanding of the technical solutions of the embodiments of the present application, the related technologies of the embodiments of the present application are described below. The following related technologies can be combined with the technical solutions of the embodiments of the present application in any manner, and all of them belong to the protection scope of the embodiments of the present application.

[0027] The cleaning device can be a scrubber, a vacuum cleaner or the like having a cleaning function, which can be pushed by a user to move on a surface to be cleaned, such as a floor, a surface of an object to be cleaned or the like, to clean the surface to be cleaned. The brush body of the cleaning device, as shown in Figure 1 The brush body of the cleaning device, as shown in Figure 2 The driving mechanism needs a certain time from receiving the down command sent by the controller to driving the scraper to complete the down action. In this case, assuming that the user switches the cleaning device from the rear pulling state to the forward movement, since the scraper needs a certain time to switch from the down to the up, there will be a resistance feeling when pushing forward at this time. When switching from pushing forward to pulling rearward, a certain distance needs to be moved backward to recognize the rearward pulling, which will cause a certain cleaning blind area.

[0028] In view of the above problems, the technical solutions of the present application and how the technical solutions of the present application solve the foregoing technical problems will be described in detail below with specific embodiments. The several specific embodiments listed can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described in detail below with reference to the drawings.

[0029] The embodiments of the present application provide a control method of a cleaning device, which can be executed by a controller (which can also be a control module or a main control board) of the cleaning device. The controller can be located inside the body of the cleaning device or inside a base station associated with the cleaning device.

[0030] Exemplarily, as shown in Figure 3 The flowchart of the control method of the cleaning device of an embodiment of the present application is shown in

[0031] S302, in response to the motion trend of the cleaning device being deceleration, controlling the squeegee to complete a state switching step before the cleaning device reverses the motion; wherein the state switching step comprises switching the squeegee between a first state and a second state, the first state indicating that the squeegee is in contact with the working surface, and the second state indicating that there is a gap between the squeegee and the working surface.

[0032] It can be understood that, if the cleaning device is currently in the forward pushing state, the reverse motion is backward pulling, and the squeegee is switched from the second state (i.e. the lifted state) to the first state (i.e. the depressed state); if the cleaning device is currently in the backward pulling state, the reverse motion is forward pushing, and the squeegee is switched from the first state to the second state.

[0033] In addition, the process that can be performed before the cleaning device reverses the motion includes but is not limited to: deceleration of the forward pushing to a speed of zero, deceleration of the forward pushing to a speed of zero and then acceleration of the forward pushing (which can be understood as continuous forward pushing), deceleration of the forward pushing to a speed of zero and keeping still for a certain period of time (which can be understood as keeping still after deceleration of the forward pushing), or deceleration of the backward pulling to a speed of zero, deceleration of the backward pulling to a speed of zero and then acceleration of the backward pulling (which can be understood as continuous backward pulling), deceleration of the backward pulling to a speed of zero and keeping still for a certain period of time (which can be understood as keeping still after deceleration of the backward pulling), etc. Wherein, the squeegee keeps in the second state during the continuous forward pushing, and keeps in the first state during the continuous backward pulling.

[0034] Through the above step S302, in response to the motion trend of the cleaning device being deceleration, the squeegee is controlled to complete a state switching step before the cleaning device reverses the motion, that is, the switching of the squeegee between the first state and the second state can be completed in time before the cleaning device reverses the motion, thereby solving the technical problems of related art, such as the user feeling resistance when pushing the cleaning device forward, and the existence of a cleaning blind area when pulling the cleaning device backward, and achieving the technical effect of accurately controlling the squeegee to contact or separate from the ground at an appropriate time, thereby improving the cleaning effect.

[0035] In one possible implementation, determining that the motion trend of the cleaning device is deceleration can include: S31, obtaining motion data of the cleaning device, wherein the motion data includes acceleration of the cleaning device; S32, in response to the acceleration indicating that the cleaning device is in a deceleration state, determining that the motion trend of the cleaning device is deceleration.

[0036] For example, if the acceleration is opposite to the current speed direction, it indicates that the cleaning device is in a deceleration state. Wherein, the way to obtain the acceleration of the cleaning device includes but is not limited to: obtaining the acceleration of the cleaning device along the running direction through the motion detector arranged on the cleaning device body assembly, calculating the acceleration through the speed value obtained within a preset sampling interval, or obtaining the acceleration through data fusion of multiple sensors arranged on the cleaning device body assembly.

[0037] By the above steps S31-S32, the motion trend of the cleaning device is determined to be deceleration by acceleration, the deceleration state of the cleaning device can be quickly and accurately identified during operation, and the state switching step of the wiper strip can be controlled to be performed before the motion rate of the cleaning device is reduced to the second target rate, the water wiping effect and the ground dryness are improved, and incomplete cleaning or water stains are avoided due to action lag. At the same time, the invalid friction between the wiper strip and the ground can be reduced, the service life of the components is prolonged, and the automation and intelligence level of the cleaning device controller is improved.

[0038] In one possible implementation, the control of the wiper strip to complete the state switching step before the reverse motion of the cleaning device includes: S81, controlling the wiper strip to perform the state switching step before the motion rate of the cleaning device is reduced to a first target rate, or synchronously performing the state switching step when the motion rate of the cleaning device is reduced to the first target rate; wherein the first target rate is less than or equal to the rate change value of the cleaning device within the response time of the wiper strip to complete the state switching step. When the first target rate is equal to the rate change value of the cleaning device within the response time of the wiper strip to complete the state switching step, the state switching step can be completed synchronously at the moment when the cleaning device is about to reverse motion; when the first target rate is less than the rate change value of the cleaning device within the response time of the wiper strip to complete the state switching step, the cleaning device can have a part of the pause time after deceleration to zero to make the user switch the force direction to change the motion direction of the cleaning device, so as to be more suitable for the actual use process of the cleaning device.

[0039] In one possible implementation, the motion data further includes the motion direction of the cleaning device, and the control of the wiper strip to complete the state switching step before the reverse motion of the cleaning device includes:

[0040] S811, in response to the motion direction indicating that the cleaning device is in a forward pushing state, controlling the wiper strip to switch from the second state to the first state before the motion state of the cleaning device changes to a rear pulling state; and,

[0041] S812, in response to the motion direction indicating that the cleaning device is in a rear pulling state, controlling the wiper strip to switch from the first state to the second state before the motion state of the cleaning device changes to a forward pushing state.

[0042] That is, when the cleaning device is in the front pushing state, the control is performed to switch the wiper strip from the lifted state to the depressed state before the motion state of the cleaning device is changed to the rear pulling state, so as to reduce the sweeping blind area and achieve the edge wiping and cleaning before the cleaning device is pushed to the edge or the corner, thereby improving the cleaning coverage and the cleaning effect of the edge area. When the cleaning device is in the rear pulling state, the control is performed to switch the wiper strip from the depressed state to the lifted state before the motion state of the cleaning device is changed to the front pushing state, so as to reduce the jerk when the cleaning device is pushed forward.

[0043] In a possible implementation, the method further includes: in response to the cleaning device being in the stationary state for a duration longer than a preset duration, controlling the wiper strip to switch from the first state to the second state or to remain in the second state. In this way, the cleaning device can return the wiper strip to the initial lifted state when the cleaning is completed, facilitating the next work. Optionally, the preset duration is greater than or equal to 1 s, for example, can be one of 1 s, 1.2 s, 1.8 s, and 2 s.

[0044] In a possible implementation, the control of the wiper strip to complete the state switching step before the reverse motion of the cleaning device includes: S11, acquiring trend data indicating the difference between the motion rate of the cleaning device and the second target rate.

[0045] Optionally, in the embodiments of the present application, the second target rate is a preset rate of the controller, which is used to indicate the rate at which the reverse motion of the cleaning device is expected to occur during the cleaning process. The second target rate can be in a preset range, which includes a value of zero speed. It should be noted that, in the specific implementation process, when the control method of the cleaning device is performed by using a non-zero value in the preset range, the user has no obvious perception of the difference in the rate in actual use. For example, when the second target rate is zero speed or lower than a preset low speed threshold, it is considered to reach the above-mentioned preset range.

[0046] The trend data can include but is not limited to: the deceleration duration of the motion rate of the cleaning device to the second target rate, the rate difference between the motion rate and the second target rate, the change rate of the rate difference between the motion rate of the cleaning device and the second target rate, the predicted remaining distance of the motion rate of the cleaning device to decelerate to the second target rate, the predicted remaining time, the difference between the current kinetic energy of the cleaning device and the target kinetic energy, etc. The trend data can also be obtained by combining a plurality of parameters.

[0047] Optionally, in the embodiments of the present application, the trend data is a deceleration duration during which the movement speed of the cleaning device is reduced to the second target speed and a speed difference between the movement speed of the cleaning device and the second target speed. The deceleration duration during which the movement speed of the cleaning device is reduced to the second target speed can be calculated by obtaining a difference between the current speed of the cleaning device and the second target speed and a deceleration duration calculated based on the current acceleration of the cleaning device, or by continuously collecting speed data in a preset sampling interval, determining a time point at which the speed first reaches or is lower than the second target speed, and calculating a difference between the time point and a deceleration start time point as the deceleration duration.

[0048] S12, in response to the trend data satisfying a preset condition, controlling the squeegee to perform a state switching step before the movement speed of the cleaning device is reduced to the second target speed.

[0049] It can be understood that controlling the squeegee to perform the state switching step before the movement speed of the cleaning device is reduced to the second target speed can include any one of the following cases: the squeegee completes the state switching step before the movement speed of the cleaning device is reduced to the second target speed, the squeegee synchronously completes the state switching step when the movement speed of the cleaning device is reduced to the second target speed, or the squeegee completes the state switching step after a period of time after the movement speed of the cleaning device is reduced to the second target speed. The switching time can be selected in a timely manner according to the scene principle and the user non-sensing principle.

[0050] Preferably, in the embodiments of the present application, the squeegee can be controlled to complete the state switching step before the movement speed of the cleaning device is reduced to the second target speed, or synchronously complete the state switching step when the movement speed of the cleaning device is reduced to the second target speed.

[0051] Optionally, in the embodiments of the present application, when the trend data is the deceleration duration during which the movement speed of the cleaning device is reduced to the second target speed, the method comprises: S21, in response to the deceleration duration being greater than zero and less than or equal to a response duration of the squeegee completing the state switching step, determining that the trend data satisfies the preset condition; and S22, controlling the squeegee to perform the state switching step.

[0052] It should be noted that the response duration of the squeegee completing the state switching step is usually the time required from the controller issuing a switching instruction to the squeegee actually completing the pressing or lifting operation. For example, assuming that the movement speed of the cleaning device is 0.8 m / s, the second target speed is 0 m / s, the current acceleration is -0.4 m / s², the squeegee response duration is 2.5 s, the deceleration duration is calculated to be 2 s, and 2 s is less than 2.5 s, in this case, the preset condition is satisfied, and the squeegee can be triggered to perform the state switching step.

[0053] Optionally, in the above trend data is a rate difference between the movement rate of the cleaning device and the second target rate, the above method comprises: S23, in response to the rate difference being greater than zero and less than or equal to a preset rate threshold, determining that the trend data meets the preset condition; S24, controlling the squeegee to perform the state switching step.

[0054] It should be noted that the rate threshold is less than or equal to the rate change value of the cleaning device within the response duration of the squeegee completing the state switching step.

[0055] For example, assuming that the current rate of the cleaning device is 0.3 m / s, the second target rate is 0 m / s, the preset rate threshold is 0.35 m / s, and the rate difference is 0.3 m / s obtained by calculation, which is less than 0.35 m / s. In this case, the above preset condition is met, and the squeegee can be triggered to perform the state switching step.

[0056] Through the above steps S21-S24, the squeegee state is switched in advance before the cleaning device slows down to the second target rate, so that the squeegee action can be accurately synchronized with the running state of the cleaning device, and further technical problems such as resistance when the user pushes the cleaning device forward and blind area when the user pulls the cleaning device backward in the related art are solved.

[0057] Optionally, in addition to acceleration, the movement data can also include the movement direction of the cleaning device. In this case, the above control of the squeegee to perform the state switching step before the movement rate of the cleaning device decreases to the second target rate comprises: S41, in response to the movement direction indicating that the cleaning device is in a forward pushing state, controlling the squeegee to switch from the second state to the first state before the forward pushing rate of the cleaning device decreases to the second target rate; and S42, in response to the movement direction indicating that the cleaning device is in a backward pulling state, controlling the squeegee to switch from the first state to the second state before the backward pulling rate of the cleaning device decreases to the second target rate.

[0058] That is, when the cleaning device is in a forward pushing state, the squeegee is controlled to switch from the raised state to the depressed state before the forward pushing rate of the cleaning device decreases to the second target rate, so as to ensure that the squeegee is in the depressed state before the cleaning device is pulled backward, reduce the blind area, and achieve edge wiping and cleaning before the cleaning device is pushed to the edge or corner, thereby improving the cleaning coverage and the cleaning effect of the edge area. When the cleaning device is in a backward pulling state, the squeegee is controlled to switch from the depressed state to the raised state before the backward pulling rate of the cleaning device decreases to the second target rate, so as to ensure that the squeegee is in the raised state before the cleaning device is pushed forward, thereby reducing the jerk.

[0059] Optionally, in the embodiment of the present application, the value of the second target speed is zero. That is, the starting action of switching is performed before the zero speed moment.

[0060] In view of the fact that the user does not completely push forward to zero speed and then directly pull backward, or pull backward to zero speed and then directly push forward during the actual operation of the cleaning device, the embodiment of the present application proposes that after the squeegee is switched from the second state to the first state, the method further comprises: S51, acquiring motion data of the cleaning device; S52, in response to the motion direction of the cleaning device indicating that the cleaning device is in a pushing state, controlling the squeegee to switch from the first state to the second state; S53, in response to the motion direction of the cleaning device indicating that the cleaning device is in a pulling state, controlling the squeegee to remain in the first state; and S54, in response to the motion speed of the cleaning device being zero and the duration exceeding a preset duration, controlling the squeegee to switch from the first state to the second state.

[0061] That is, in actual use, the cleaning device can appear a continuous pushing operation, in which case the squeegee can be controlled to switch from the down state to the up state, so that the user can continue to smoothly push the device for cleaning operation. When it is detected that the cleaning device is decelerated to zero speed and remains in the zero speed state for more than a preset duration, the squeegee is also controlled to switch from the down state to the up state, so as to adapt to the change of the running state of the cleaning device and avoid unnecessary ground friction.

[0062] It should be noted that in the embodiment of the present application, the preset duration can be greater than the squeegee state switching response duration and have a safety margin, or can be adjusted in combination with the speed sampling period, user pause habits and use scenarios, so as to avoid short pause false triggering and ensure timely completion of squeegee action switching when the cleaning device is stationary for more than the duration. Optionally, the preset duration is greater than or equal to 1s.

[0063] Correspondingly, after the squeegee is switched from the first state to the second state, the method further comprises: S61, acquiring motion data of the cleaning device; S62, in response to the motion direction of the cleaning device indicating that the cleaning device is in a pulling state, controlling the squeegee to switch from the second state to the first state; S63, in response to the motion direction of the cleaning device indicating that the cleaning device is in a pushing state, controlling the squeegee to remain in the second state; and S64, in response to the motion speed of the cleaning device being zero and the duration exceeding a preset duration, controlling the squeegee to remain in the second state.

[0064] That is to say, when the cleaning device is in a continuous rear-pulling operation state, the control wiper is switched from the raised state to the depressed state to realize continuous water wiping during rear-pulling travel, and when it is detected that the cleaning device is decelerated to zero speed and remains at zero speed for more than the above-mentioned preset time length, the control wiper is switched from the depressed state to the raised state. This way can maintain effective cleaning during rear-pulling, reduce ground residual water and wiper wear during long-time static state, and improve cleaning effect and component life.

[0065] Optionally, in the embodiment of the present application, the motion detector can be arranged on the walking wheel of the cleaning device body assembly, as shown in Figure 4 Further, the motion data of the cleaning device is obtained, including: S71, determining the rotating speed and rotating direction of the walking wheel based on the detection data of the motion detector; S72, determining the motion data of the cleaning device based on the rotating speed and rotating direction of the walking wheel.

[0066] The motion detector can be an optical encoder, a Hall sensor, a magnetoresistance sensor, a magnetic encoder, etc., and the output detection data includes the number of pulses per unit time (corresponding to the rotating speed of the walking wheel) and the rotating direction information (forward rotation indicating forward pushing and reverse rotation indicating rear pulling), and then the rotating speed and rotating direction of the walking wheel are calculated based on the detection data, wherein the rotating speed is the ratio of the number of encoder pulses detected in the sampling time to the sampling period, and then multiplied by the product of the number of pulses and the coefficient corresponding to the rotating speed of the walking wheel per rotation. The signal phase or Hall signal polarity output by the motion detector is used to judge the forward and reverse rotation, wherein the forward rotation corresponds to the forward pushing and the reverse rotation corresponds to the rear pulling. The linear speed of the cleaning device can be obtained by multiplying the rotating speed of the walking wheel by the circumference of the walking wheel, and then the speed vector, i.e. the motion rate and the motion direction, is obtained by adding the direction information.

[0067] Through the above steps S71-S72, the current speed and direction of the cleaning device can be accurately obtained by detecting the rotating speed and rotating direction of the walking wheel, and it is not dependent on external positioning systems. The motion detector has a short data acquisition period (tens of milliseconds), which ensures real-time updating of the motion state data, so that the controller can respond immediately. In addition, the encoder / Hall sensor has simple structure, low cost and high reliability, and is suitable for long-term operation of the cleaning device.

[0068] Considering that the cleaning device usually works in a repeated forward pushing and repeated rear pulling state, the second target speed is 0 and the above-mentioned preset time length is greater than 1s, and the embodiment of the present application is exemplified.

[0069] As shown in Figure 5As shown, in the judgment of the cleaning device is in the front push state, keep the squeegee up, detected the trend of the cleaning device is deceleration, then control the squeegee down at the second target rate is 0 (i.e. static) to complete the synchronization, and then continue to judge whether the static time is greater than 1s, if greater than 1s, then control the squeegee up. As shown, in the judgment of the cleaning device is in the rear pull state, keep the squeegee down, detected the trend of the cleaning device is deceleration, then control the squeegee up at the second target rate is 0 (i.e. static) to complete the synchronization, and then continue to judge whether the static time is greater than 1s, if greater than 1s, then control the squeegee keep up state, see steps S501-S514.

[0070] In summary, through the present application, the cleaning device keeps down during the rear pull process, and the squeegee is lifted before the rear pull stops, eliminating the sense of frustration when the user next time pushes forward. The squeegee is kept up during the front push process, and is down before the front push stops, eliminating the cleaning blind area when the user next time pulls rear.

[0071] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation portal for user to choose authorization or refusal.

[0072] Corresponding to the application scenario of the control method of the cleaning device provided by the embodiment of the present application, the embodiment of the present application also provides a control device of a cleaning device, which at least includes a squeegee, a driving mechanism and a cleaning piece, the squeegee is arranged on the front side of the cleaning piece, and the driving mechanism is configured to drive the squeegee to move. The following will be described in combination with Figure 6 The software part of the embodiment of the present application is described in detail.

[0073] As shown in the above, the control device of the cleaning device can include: Figure 6 As shown in the above, the control device of the cleaning device can include:

[0074] The first control module 62 is configured to control the squeegee to complete a state switching step before the cleaning device reverses its movement in response to the trend of the cleaning device being deceleration; wherein the state switching step includes switching of the squeegee between a first state and a second state, the first state indicating that the squeegee is in contact with the working surface, and the second state indicating that there is a gap between the squeegee and the working surface.

[0075] It can be understood that if the cleaning device is currently in the forward pushing state, the reverse movement is backward pulling, and the squeegee is switched from the second state (i.e., the lifted state) to the first state (i.e., the depressed state), and if the cleaning device is currently in the backward pulling state, the reverse movement is forward pushing, and the squeegee is switched from the first state to the second state.

[0076] In addition, the process that can be performed before the reverse movement of the cleaning device includes but is not limited to: forward pushing deceleration to a speed of zero, forward pushing deceleration to a speed of zero and then forward pushing acceleration (which can be understood as continuous forward pushing), forward pushing deceleration to a speed of zero and lasting for a preset time length (which can be understood as keeping still after forward pushing deceleration), or backward pulling deceleration to a speed of zero, backward pulling deceleration to a speed of zero and then backward pulling acceleration (which can be understood as continuous backward pulling), backward pulling deceleration to a speed of zero and lasting for a preset time length (which can be understood as keeping still after backward pulling deceleration), and the like. In the continuous forward pushing, the squeegee is kept in the second state, and in the continuous backward pulling, the squeegee is kept in the first state.

[0077] By Figure 6 The device shown in the figure, in response to the movement trend of the cleaning device being deceleration, controls the squeegee to complete the state switching step before the reverse movement of the cleaning device, that is, the squeegee can be timely controlled to switch between the first state and the second state, thereby solving the technical problems of the related art that the user feels resistance when pushing the cleaning device forward and that there is a blind area when pulling the cleaning device backward, and achieving the technical effect of accurately controlling the squeegee to contact or separate from the ground at an appropriate time, thereby improving the cleaning effect.

[0078] Optionally, the device further includes a first processing module configured to obtain movement data of the cleaning device, wherein the movement data includes acceleration of the cleaning device; and in response to the acceleration indicating that the cleaning device is in a deceleration state, determine that the movement trend of the cleaning device is deceleration.

[0079] It should be noted that the movement data at least includes the acceleration of the cleaning device. If the acceleration is opposite to the direction of the current speed, it indicates that the cleaning device is in a deceleration state. The acceleration of the cleaning device can be obtained in various ways, including but not limited to: obtaining the acceleration of the cleaning device along the running direction through a motion detector arranged on the body assembly of the cleaning device, calculating the acceleration through the speed values obtained in a preset sampling interval, or obtaining the acceleration through data fusion of multiple sensors arranged on the body assembly of the cleaning device.

[0080] By the first processing module, the motion trend of the cleaning device is determined as deceleration by acceleration, so that the deceleration state of the cleaning device can be quickly and accurately identified during operation, and the state switching step of the squeegee can be controlled to be performed before the motion rate of the cleaning device decreases to the second target rate, so as to improve the squeegeeing effect and the ground dryness, and avoid incomplete cleaning or water stains caused by action lag. At the same time, the invalid friction between the squeegee and the ground can be reduced, the service life of the components can be prolonged, and the automation and intelligence level of the cleaning device controller can be improved.

[0081] In one possible implementation, the first control module 62 includes a first control unit configured to control the squeegee to perform the state switching step before the motion rate of the cleaning device decreases to a first target rate, or to perform the state switching step synchronously when the motion rate of the cleaning device decreases to the first target rate; wherein the first target rate is less than or equal to the rate change value of the cleaning device within the response duration of the squeegee to complete the state switching step. When the first target rate is equal to the rate change value of the cleaning device within the response duration of the squeegee to complete the state switching step, the state switching step can be completed synchronously when the cleaning device is about to reverse the motion; when the first target rate is less than the rate change value of the cleaning device within the response duration of the squeegee to complete the state switching step, the cleaning device can have a partial pause time after deceleration to zero to enable the user to switch the force direction to change the motion direction of the cleaning device, so as to be more consistent with the actual use process of the cleaning device.

[0082] In one possible implementation, the motion data further includes the motion direction of the cleaning device, and the first control module 62 further includes a second control unit configured to, in response to the motion direction indicating that the cleaning device is in the forward pushing state, control the squeegee to switch from the second state to the first state before the motion state of the cleaning device changes to the backward pulling state; and in response to the motion direction indicating that the cleaning device is in the backward pulling state, control the squeegee to switch from the first state to the second state before the motion state of the cleaning device changes to the forward pushing state.

[0083] That is, when the cleaning device is in the forward pushing state, the squeegee is controlled to switch from the lifting state to the pressing state before the motion state of the cleaning device changes to the backward pulling state, so as to reduce the blind area and achieve edge wiping and cleaning before pushing to the edge or corner, and improve the cleaning coverage and the cleaning effect of the edge area. When the cleaning device is in the backward pulling state, the squeegee is controlled to switch from the pressing state to the lifting state before the motion state of the cleaning device changes to the forward pushing state, so as to reduce the jerk when pushing forward.

[0084] In a possible implementation, the second control unit is further configured to control the squeegee to switch from the first state to the second state or remain in the second state in response to the cleaning device being in a stationary state for a duration longer than a preset duration. In this way, the cleaning device can return the squeegee to the initial state of being lifted when the cleaning is completed, facilitating the next work. Optionally, the preset duration is greater than or equal to 1 s, for example, one of 1 s, 1.2 s, 1.8 s, and 2 s.

[0085] In a possible implementation, the first control module 62 includes a first acquisition unit configured to acquire trend data indicating a degree of difference between the motion rate of the cleaning device and the second target rate, and a third control unit configured to control the squeegee to perform the state switching step before the motion rate of the cleaning device decreases to the second target rate in response to the trend data satisfying a preset condition.

[0086] Optionally, in the embodiments of the present application, the second target rate is a preset rate of the controller, which is used to indicate the rate at which the cleaning device is expected to move reversely during the cleaning process. The second target rate can be in a preset interval, which includes a value of zero speed. It should be noted that, in the specific implementation process, when the cleaning device control method is performed using a non-zero value in the preset interval, the user has no obvious perception of the difference in the rate in actual use. For example, when the second target rate is zero speed or lower than a preset low speed threshold, it is considered to reach the above-mentioned preset interval range.

[0087] The trend data can include but is not limited to the deceleration duration of the motion rate of the cleaning device decreasing to the second target rate, the rate difference between the motion rate of the cleaning device and the second target rate, the change rate of the rate difference between the motion rate of the cleaning device and the second target rate, the predicted remaining distance of the motion rate of the cleaning device decreasing to the second target rate, the predicted remaining time, the difference between the current kinetic energy of the cleaning device and the target kinetic energy, and the like. The trend data can also be obtained by combining a plurality of parameters.

[0088] Optionally, in the embodiments of the present application, the trend data is the deceleration duration of the motion rate of the cleaning device decreasing to the second target rate and the rate difference between the motion rate of the cleaning device and the second target rate. The deceleration duration of the motion rate of the cleaning device decreasing to the second target rate can be calculated by obtaining the difference between the current rate of the cleaning device and the second target rate, and the deceleration duration calculated by the current acceleration of the cleaning device, or by continuously collecting rate data in a preset sampling interval, determining the time point at which the rate first reaches or is lower than the second target rate, and calculating the difference between the time point and the deceleration start time point as the deceleration duration.

[0089] It can be understood that the control of the squeegee to perform the state switching step before the movement rate of the cleaning device is reduced to the second target rate can include any one of the following cases: the squeegee completes the state switching step before the movement rate of the cleaning device is reduced to the second target rate, the squeegee completes the state switching step at the same time when the movement rate of the cleaning device is reduced to the second target rate, or the squeegee completes the state switching step after a period of time when the movement rate of the cleaning device is reduced to the second target rate. The switching time can be selected in time according to the scene principle and the user's non-sensing principle.

[0090] Preferably, in the embodiments of the present application, the squeegee can be controlled to complete the state switching step before the movement rate of the cleaning device is reduced to the second target rate, or to complete the state switching step at the same time when the movement rate of the cleaning device is reduced to the second target rate.

[0091] In the trend data includes the deceleration time length of the movement rate of the cleaning device being reduced to the second target rate, the third control unit is further configured to determine that the trend data meets the preset condition in response to the deceleration time length being greater than zero and less than or equal to a response time length of the squeegee completing the state switching step, and control the squeegee to perform the state switching step.

[0092] It should be noted that the response time length of the squeegee completing the state switching step is usually the time required from the controller issuing the switching instruction to the squeegee actually completing the pressing down or lifting up operation. For example, assuming that the movement rate of the cleaning device is 0.8 m / s, the second target rate is 0 m / s, the current acceleration is -0.4 m / s², the squeegee response time length is 2.5 s, and the deceleration time length is calculated to be 2 s, which is less than 2.5 s. In this case, the above-mentioned preset condition is met, and the control of the squeegee to perform the state switching step can be triggered.

[0093] In the trend data includes the rate difference between the movement rate of the cleaning device and the second target rate, the third control unit is further configured to determine that the trend data meets the preset condition in response to the rate difference being greater than zero and less than or equal to a preset rate threshold, and control the squeegee to perform the state switching step; wherein the rate threshold is less than or equal to a rate change value of the cleaning device within a response time length of the squeegee completing the state switching step.

[0094] It should be noted that the rate threshold is less than or equal to the rate change value of the cleaning device within the response time length of the squeegee completing the state switching step.

[0095] For example, assuming that the current speed of the cleaning device is 0.3 m / s, the second target speed is 0 m / s, the preset speed threshold is 0.35 m / s, the speed difference is 0.3 m / s, and 0.3 m / s is less than 0.35 m / s, in this case, the preset condition is met, and the state switching step of the squeegee can be triggered.

[0096] By the third control unit, the state switching of the squeegee is controlled in advance before the cleaning device is decelerated to the second target speed, so that the action of the squeegee is accurately synchronized with the running state of the cleaning device, and the technical problems of the related art, such as the resistance when the user pushes the cleaning device forward and the blind area when the user pulls the cleaning device backward, are further solved.

[0097] Optionally, the motion data can include the motion direction of the cleaning device in addition to the acceleration, in which case, the third control unit is further configured to control the squeegee to switch from the second state to the first state before the forward pushing speed of the cleaning device is reduced to the second target speed in response to the motion direction indicating that the cleaning device is in a forward pushing state, and to control the squeegee to switch from the first state to the second state before the backward pulling speed of the cleaning device is reduced to the second target speed in response to the motion direction indicating that the cleaning device is in a backward pulling state.

[0098] That is, when the cleaning device is in a forward pushing state, the squeegee is controlled to switch from the raised state to the pressed state before the forward pushing speed of the cleaning device is reduced to the second target speed, so that the squeegee is in the pressed state before the cleaning device is pulled backward, the blind area is reduced, and the edge wiping and cleaning before the cleaning device is pushed to the edge or corner are realized, and the cleaning coverage and the cleaning effect of the edge area are improved. When the cleaning device is in a backward pulling state, the squeegee is controlled to switch from the pressed state to the raised state before the backward pulling speed of the cleaning device is reduced to the second target speed, so that the squeegee is in the raised state before the cleaning device is pushed forward, and the jerk is reduced.

[0099] Optionally, in the embodiments of the present application, the value of the second target speed is zero. That is, the start action of the switching is performed before the zero speed moment.

[0100] In view of the actual operation of the cleaning device, the cleaning device does not completely decelerate to zero and then directly pull backward, or decelerate to zero and then directly push forward. Embodiments of the present application propose that after the squeegee is switched from the second state to the first state, the device further comprises: a second processing module configured to acquire motion data of the cleaning device; in response to the motion direction of the cleaning device indicating that the cleaning device is in a pushing state, control the squeegee to switch from the first state to the second state; in response to the motion direction of the cleaning device indicating that the cleaning device is in a pulling state, control the squeegee to remain in the first state; and in response to the motion rate of the cleaning device being zero and the duration exceeding a preset duration, control the squeegee to switch from the first state to the second state.

[0101] That is, in actual use, the cleaning device may be in a continuous pushing state, in which case the squeegee can be controlled to switch from the down state to the up state, so that the user can continue to smoothly push the device for cleaning. When the cleaning device is detected to decelerate to zero speed and remain in the zero speed state for more than a preset duration, the squeegee is also controlled to switch from the down state to the up state, so as to adapt to the change of the running state of the cleaning device and avoid unnecessary friction with the ground.

[0102] It should be noted that in the embodiments of the present application, the above-mentioned preset duration can be greater than the squeegee state switching response duration and have a safety margin, or can be adjusted in combination with the speed sampling period, user pause habits and use scenarios, so as to avoid false triggering caused by short pauses and ensure that the squeegee action switching is completed in time when the cleaning device is stationary for more than the duration. Preferably, the above-mentioned preset duration is greater than or equal to 1s.

[0103] After the squeegee is switched from the first state to the second state, the device further comprises: a third processing module configured to acquire motion data of the cleaning device; in response to the motion direction of the cleaning device indicating that the cleaning device is in a pulling state, control the squeegee to switch from the second state to the first state; in response to the motion direction of the cleaning device indicating that the cleaning device is in a pushing state, control the squeegee to remain in the second state; and in response to the motion rate of the cleaning device being zero and the duration exceeding a preset duration, control the squeegee to remain in the second state.

[0104] That is, when the cleaning device is in a continuous pulling state, the squeegee is controlled to switch from the up state to the down state to realize continuous water scraping during the pulling process. When the cleaning device is detected to decelerate to zero speed and remain in the zero speed state for more than the above-mentioned preset duration, the squeegee is controlled to switch from the down state to the up state. This mode can maintain effective cleaning during pulling and reduce the wear of the squeegee caused by residual water on the ground during long-term stationary, thereby improving the cleaning effect and the service life of the components.

[0105] The cleaning device further comprises a machine body assembly and a motion detector arranged on a walking wheel of the machine body assembly, and the first processing module is further configured to determine a rotating speed and a rotating direction of the walking wheel based on detection data of the motion detector, and determine motion data of the cleaning device based on the rotating speed and the rotating direction of the walking wheel.

[0106] The motion detector can be an optical encoder, a Hall sensor, a magnetoresistance sensor, a magnetic encoder, etc., and the output detection data includes the number of pulses per unit time (corresponding to the rotating speed of the walking wheel) and the rotating direction information (forward rotation indicating forward pushing and reverse rotation indicating backward pulling), and then the rotating speed and the rotating direction of the walking wheel are calculated based on the detection data, wherein the rotating speed is the ratio of the number of encoder pulses detected in the sampling time to the sampling period, and then multiplied by the product of the number of pulses and the coefficient corresponding to the rotating speed of the walking wheel per rotation. The signal phase or the Hall signal polarity output by the motion detector is used to determine the forward and reverse rotation, wherein the forward rotation corresponds to the forward pushing and the reverse rotation corresponds to the backward pulling. The linear speed of the cleaning device can be obtained by multiplying the rotating speed of the walking wheel by the circumference of the walking wheel, and then the speed vector, i.e., the motion speed and the motion direction, is obtained by adding the direction information.

[0107] The first processing module can accurately obtain the current speed and direction of the cleaning device by detecting the rotating speed and the rotating direction of the walking wheel, and does not depend on an external positioning system. The motion detector has a short data acquisition period (tens of milliseconds), which ensures real-time updating of the motion state data and enables the controller to respond immediately. In addition, the encoder / Hall sensor has a simple structure, low cost and high reliability, and is suitable for long-term operation of the cleaning device.

[0108] The functions of each module in each device of the embodiments of the present application can be referred to the corresponding description in the above method, and has the corresponding beneficial effects, which will not be described here.

[0109] Corresponding to the application scenario of the control method of the cleaning device provided in the embodiments of the present application, another control method of a cleaning device is provided, the cleaning device at least comprising a scraping strip, a driving mechanism and a cleaning piece, the scraping strip being arranged on the front side of the cleaning piece, the driving mechanism being configured to drive the scraping strip to move, as shown in Figure 7 The control method comprises the following steps.

[0110] S702, in response to the motion trend of the cleaning device being deceleration, obtaining a deceleration time length for indicating that the motion speed of the cleaning device is reduced to zero.

[0111] It should be noted that the optional implementation manner of determining that the motion trend of the cleaning device is deceleration in the above step S702, and the optional implementation manner of determining the deceleration time length can be referred to the control method of the cleaning device provided in the above embodiments, which will not be described here.

[0112] S704, in response to the deceleration duration being greater than zero and less than or equal to the response duration of the wiper completing the state switching step, controlling the wiper to perform the state switching step; wherein the state switching step includes switching of the wiper between a first state and a second state, the first state indicating that the wiper is in contact with the working surface, and the second state indicating that there is a gap between the wiper and the working surface.

[0113] Through steps S702-S704 described above, after determining that the motion trend of the cleaning device is deceleration, the deceleration duration for indicating that the motion rate of the cleaning device is reduced to zero is obtained, and in the case that the deceleration duration is greater than zero and less than or equal to the response duration of the wiper completing the state switching step, the wiper is controlled to perform the state switching step. That is, the deceleration duration for reducing the current motion rate of the cleaning device to zero is used as a prediction time, and based on the comparison result of the prediction time and the response duration of the wiper completing the state switching step, the state switching is realized after reaching the stationary state or just before the stationary state, further realizing that the wiper can be timely controlled to switch between the first state and the second state, thereby solving the technical problems of user feeling resistance when pushing the cleaning device forward and cleaning blind area when pulling the cleaning device backward in the related art, and realizing the technical effect of accurately controlling the wiper to contact or separate from the ground at an appropriate time, improving the cleaning effect.

[0114] Corresponding to the application scenario of the control method of the cleaning device provided in the embodiments of the present application, another control device of a cleaning device is also provided in the embodiments of the present application, the cleaning device at least including a wiper, a driving mechanism and a cleaning piece, the wiper being arranged at the front side of the cleaning piece, the driving mechanism being configured to drive the wiper to move, as shown in Figure 8 The control device includes:

[0115] A first obtaining module 82 is configured to, in response to the motion trend of the cleaning device being deceleration, obtain a deceleration duration for indicating that the motion rate of the cleaning device is reduced to zero;

[0116] A second control module 84 is configured to, in response to the deceleration duration being greater than zero and less than or equal to the response duration of the wiper completing the state switching step, control the wiper to perform the state switching step; wherein the state switching step includes switching of the wiper between a first state and a second state, the first state indicating that the wiper is in contact with the working surface, and the second state indicating that there is a gap between the wiper and the working surface.

[0117] Through Figure 8In the device shown, after determining that the movement trend of the cleaning device is deceleration, a deceleration time length for indicating that the movement rate of the cleaning device is reduced to zero is acquired, and the squeegee is controlled to perform the state switching step when the deceleration time length is greater than zero and less than or equal to the response time length of the squeegee completion state switching step. That is, the deceleration time length for reducing the current movement rate of the cleaning device to zero is used as a prediction time, and based on a comparison result of the prediction time and the response time length of the squeegee completion state switching step, the state switching after reaching the stationary state is implemented or the state switching is implemented just before the stationary state, further realizing that the squeegee can be timely controlled to switch between the first state and the second state in advance, thereby solving the technical problems in the related art that the user feels resistance when pushing the cleaning device forward and feels that there is a blind area when pulling the cleaning device backward, and realizing the technical effect that the squeegee can be accurately controlled to contact or separate from the ground at an appropriate time, thereby improving the cleaning effect.

[0118] The embodiments of the present application also provide a controller, as shown in the figure, the controller 90 includes a memory 901 and a processor 902, and the memory 901 stores a computer program capable of running on the processor 902. The processor 902 implements the method in the above embodiments when executing the computer program. The number of the memory 901 and the processor 902 can be one or more. Figure 9 The processor 902 implements the method in the above embodiments when executing the computer program. The number of the memory 901 and the processor 902 can be one or more.

[0119] The controller also includes:

[0120] The communication interface 903 is used for communication with external devices and data interaction transmission.

[0121] If the memory 901, the processor 902 and the communication interface 903 are independently implemented, the memory 901, the processor 902 and the communication interface 903 can be connected with each other through a bus and complete communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 9 Only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus.

[0122] Optionally, in specific implementation, if the memory 901, the processor 902 and the communication interface 903 are integrated on a chip, the memory 901, the processor 902 and the communication interface 903 can complete communication between each other through an internal interface.

[0123] The cleaning device provided by the embodiment of the present application comprises a cleaning member, a driving mechanism and a scraping strip, the scraping strip is arranged on the front side of the cleaning member, the driving mechanism is configured to drive the scraping strip to move, as shown in Figure 10 The cleaning device further comprises the controller 90.

[0124] In a possible implementation, the cleaning device further comprises a machine body assembly and a motion detector, the motion detector is arranged on the walking wheel of the machine body assembly, and is configured to acquire motion data of the cleaning device.

[0125] The computer readable storage medium provided by the embodiment of the present application stores a computer program, and the program is executed by a processor to implement the method provided by the embodiment of the present application.

[0126] The embodiment of the present application further provides a chip, which comprises a processor, is used for calling and running instructions stored in a memory, and makes a communication device installed with the chip execute the method provided by the embodiment of the present application.

[0127] The embodiment of the present application further provides a chip, which comprises an input interface, an output interface, a processor and a memory, the input interface, the output interface, the processor and the memory are connected through an internal connection path, and the processor is used for executing code in the memory, when the code is executed, the processor is used for executing the method provided by the embodiment of the present application.

[0128] It should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. It should be noted that the processor can be a processor supporting an advanced RISC machine (ARM) architecture.

[0129] Further, the memory can optionally include a read-only memory and a random access memory. The memory can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. The non-volatile memory can include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM), or a flash memory. The volatile memory can include a random access memory (RAM) used as an external cache memory. By way of example, but not limitation, many forms of RAM are available. For example, a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate SDRAM (DDR SDRAM), an enhanced SDRAM (ESDRAM), a Sync link DRAM (SLDRAM), and a direct Rambus RAM (DR RAM) can be used.

[0130] In the above-described embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the present disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium.

[0131] In the description of the application, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. 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 application. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In addition, different embodiments or examples described in the specification and characteristics of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0132] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0133] Any process or method described in the flowchart or otherwise described herein can be understood as representing a module, segment, or portion of code that includes one or more executable instructions for implementing specific logical functions or steps. And the scope of the preferred embodiments of the application includes additional implementations, in which the functions can be performed in an order other than that shown or discussed, including in a substantially simultaneous manner or in reverse order, according to the functions involved.

[0134] The logic and / or steps described in the flowchart or otherwise described herein, for example, can be considered as a list of executable instructions for implementing the logic function, which can be embodied in any computer-readable medium for use by an instruction execution system, apparatus or device, such as a computer-based system, a system including a processor, or other system that can fetch instructions from the instruction execution system, apparatus or device and execute the instructions, or in conjunction with these instructions execution system, apparatus or device.

[0135] It should be understood that parts of the application can be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. All or part of the steps of the above-described embodiment method can be instructed by the relevant hardware through a program, which can be stored in a computer-readable storage medium, and the program includes one or a combination of steps of the method embodiment when executed.

[0136] In addition, each of the function units in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. The storage medium can be a read-only memory, a magnetic disk or an optical disk, etc.

[0137] The above is only exemplary embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning device at least includes a squeegee, a driving mechanism and a cleaning element, the squeegee is arranged at the front side of the cleaning element, the driving mechanism is configured to drive the squeegee to move, and the control method comprises: In response to the motion trend of the cleaning device being deceleration, the squeegee is controlled to complete a state switching step before the cleaning device reverses motion; The state switching step includes switching of the squeegee between a first state and a second state, the first state indicating that the squeegee is in contact with a working surface, and the second state indicating that there is a gap between the squeegee and the working surface.

2. The method of claim 1, wherein, The method comprises: Obtaining motion data of the cleaning device; wherein the motion data comprises acceleration of the cleaning device; In response to the acceleration indicating that the cleaning device is in a deceleration state, determining that the motion trend of the cleaning device is deceleration.

3. The method according to claim 1 or 2, characterized in that, The control of the squeegee to complete the state switching step before the cleaning device reverses motion comprises: Controlling the squeegee to perform the state switching step before the motion rate of the cleaning device decreases to a first target rate, or synchronously performing the state switching step when the motion rate of the cleaning device decreases to the first target rate; The first target rate is less than or equal to a rate change value of the cleaning device within a response duration of the squeegee completing the state switching step.

4. The method of claim 2, wherein, The motion data further comprises a motion direction of the cleaning device, and the control of the squeegee to complete the state switching step before the cleaning device reverses motion comprises: In response to the motion direction indicating that the cleaning device is in a forward pushing state, controlling the squeegee to switch from the second state to the first state before the motion state of the cleaning device changes to a backward pulling state; and In response to the motion direction indicating that the cleaning device is in a backward pulling state, controlling the squeegee to switch from the first state to the second state before the motion state of the cleaning device changes to a forward pushing state.

5. The method of claim 4, wherein, The method further comprises: in response to the cleaning device being in a stationary state and a duration exceeding a preset duration, controlling the squeegee to switch from the first state to the second state or to remain in the second state.

6. The method of claim 1 or 2, wherein, The control of the squeegee to complete the state switching step before the cleaning device reverses motion comprises: Obtaining trend data indicating a degree of difference between a motion rate of the cleaning device and a second target rate; wherein the second target rate is used to indicate a rate at which the cleaning device is expected to reverse motion during cleaning; In response to the trend data satisfying a preset condition, controlling the squeegee to perform the state switching step before the motion rate of the cleaning device decreases to the second target rate.

7. The method of claim 6, wherein, The trend data comprises a deceleration duration of the motion rate of the cleaning device decreasing to the second target rate, and the method comprises: In response to the deceleration duration being greater than zero and less than or equal to a response duration of the squeegee completing the state switching step, determining that the trend data satisfies the preset condition; Controlling the squeegee to perform the state switching step.

8. The method of claim 6, wherein, The trend data includes a rate difference of a movement rate of the cleaning device decreasing to the second target rate, and the method includes: in response to the rate difference being greater than zero and less than or equal to a preset rate threshold, determining that the trend data satisfies the preset condition; wherein the rate threshold is less than or equal to a rate change value of the cleaning device within a response duration of the squeegee completing the state switching step; controlling the squeegee to perform the state switching step.

9. The method according to any one of claims 6 to 8, characterized in that, The movement data further includes a movement direction of the cleaning device, and the control of the squeegee to perform the state switching step before the movement rate of the cleaning device decreases to the second target rate includes: in response to the movement direction indicating that the cleaning device is in a forward pushing state, controlling the squeegee to switch from the second state to the first state before a forward pushing rate of the cleaning device decreases to the second target rate; and in response to the movement direction indicating that the cleaning device is in a backward pulling state, controlling the squeegee to switch from the first state to the second state before a backward pulling rate of the cleaning device decreases to the second target rate.

10. The method of claim 9, wherein, The numerical value of the second target rate is zero.

11. The method of claim 10, wherein, After controlling the squeegee to switch from the second state to the first state, the method further includes: obtaining movement data of the cleaning device; in response to the movement direction of the cleaning device indicating that the cleaning device is in a forward pushing state, controlling the squeegee to switch from the first state to the second state; in response to the movement direction of the cleaning device indicating that the cleaning device is in a backward pulling state, controlling the squeegee to remain in the first state; and in response to the movement rate of the cleaning device being zero and a duration exceeding a preset duration, controlling the squeegee to switch from the first state to the second state.

12. The method of claim 10, wherein, After controlling the squeegee to switch from the first state to the second state, the method further includes: obtaining movement data of the cleaning device; in response to the movement direction of the cleaning device indicating that the cleaning device is in a backward pulling state, controlling the squeegee to switch from the second state to the first state; in response to the movement direction of the cleaning device indicating that the cleaning device is in a forward pushing state, controlling the squeegee to remain in the second state; in response to the movement rate of the cleaning device being zero and a duration exceeding a preset duration, controlling the squeegee to remain in the second state.

13. The method according to claim 5 or 11 or 12, characterized in that, The preset duration is greater than or equal to 1s.

14. The method of claim 6, wherein, The method includes: in response to the trend data satisfying a preset condition, controlling the squeegee to complete the state switching step before the movement rate of the cleaning device decreases to the second target rate, or to complete the state switching step simultaneously when the movement rate of the cleaning device decreases to the second target rate.

15. A control method of a cleaning apparatus, characterized by, The cleaning device at least includes a squeegee, a driving mechanism, and a cleaning piece, the squeegee is arranged on a front side of the cleaning piece, and the driving mechanism is configured to drive the squeegee to move, and the control method includes: in response to the movement trend of the cleaning device being deceleration, obtaining a deceleration duration for indicating that the movement rate of the cleaning device decreases to zero; in response to the deceleration duration being greater than zero and less than or equal to a response duration of the squeegee to complete the state switching step, controlling the squeegee to perform the state switching step; wherein the state switching step comprises switching of the squeegee between a first state and a second state, the first state indicating that the squeegee is in contact with a working surface, and the second state indicating that there is a gap between the squeegee and the working surface.

16. A control device for a cleaning apparatus, characterized in that The cleaning device at least comprises a squeegee, a driving mechanism and a cleaning member, the squeegee is arranged at a front side of the cleaning member, the driving mechanism is configured to drive the squeegee to move, and the control device comprises: The first control module is configured to, in response to the motion trend of the cleaning device being deceleration, control the squeegee to complete a state switching step before the cleaning device reverses its motion; wherein the state switching step comprises switching of the squeegee between a first state and a second state, the first state indicating that the squeegee is in contact with a working surface, and the second state indicating that there is a gap between the squeegee and the working surface.

17. A control device for a cleaning apparatus, characterized in that The cleaning device at least comprises a squeegee, a driving mechanism and a cleaning member, the squeegee is arranged at a front side of the cleaning member, the driving mechanism is configured to drive the squeegee to move, and the control device comprises: The first acquisition module is configured to, in response to the motion trend of the cleaning device being deceleration, acquire a deceleration duration indicating that the motion rate of the cleaning device is reduced to zero; The second control module is configured to, in response to the deceleration duration being greater than zero and less than or equal to a response duration of the squeegee to complete the state switching step, control the squeegee to perform the state switching step; wherein the state switching step comprises switching of the squeegee between a first state and a second state, the first state indicating that the squeegee is in contact with a working surface, and the second state indicating that there is a gap between the squeegee and the working surface.

18. A controller characterized by comprising: The computer program comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 15.

19. A cleaning apparatus, characterized by The cleaning device comprises a squeegee, a driving mechanism and a cleaning member, the squeegee is arranged at a front side of the cleaning member, the driving mechanism is configured to drive the squeegee to move, and the cleaning device further comprises the controller according to claim 18.

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