Cleaning control method of cleaning equipment and cleaning equipment

Abstract

The invention discloses a cleaning control method of cleaning equipment and the cleaning equipment. The cleaning equipment comprises a main machine, a cleaning assembly, a motor and a transmission assembly, the cleaning assembly is located at the bottom of the main machine and connected with the transmission assembly, the transmission assembly is connected with the motor and driven by the motor to ascend, descend and rotate, and the cleaning equipment has a mopping mode. The motor is at least used for driving the cleaning assembly to descend in the height direction of the host. The cleaning control method comprises the steps that when the cleaning equipment is in a mopping mode, the current of a motor is obtained; when the current of the motor is smaller than the first threshold value, the motor is controlled to increase the rotating speed so that the transmission assembly can drive the cleaning assembly to continuously descend in the height direction of the main machine to clean the to-be-cleaned face. The problem that in the prior art, when a limiting piece is abraded to a certain degree, a transmission mechanism cannot descend to a preset position, and consequently the mop cannot clean the face to be cleaned can be solved.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and more specifically, to a cleaning control method and a cleaning device. Background Technology

[0002] Cleaning equipment includes robotic vacuum cleaners, robotic mops, and robotic vacuum and mop combos. These devices typically have a mop at the bottom to clean the surface, and to prevent the wet mop from soiling the carpet, it moves back and forth along the vertical axis of the device.

[0003] Existing cleaning equipment includes a drive mechanism and a transmission mechanism. The transmission mechanism is connected to the mop, and the drive mechanism drives the transmission mechanism to rotate and move up and down, thereby causing the mop to rotate and move up and down. When the mop descends, the drive mechanism first drives the transmission mechanism to rotate so that the transmission mechanism abuts against a limiting element on the drive mechanism. Then, the drive mechanism drives the transmission mechanism to descend so that the mop contacts the surface to be cleaned and cleans the surface. However, when the limiting element wears down to a certain extent, the transmission mechanism may fail to descend to the predetermined position, thus preventing the mop from cleaning the surface. Summary of the Invention

[0004] The main objective of this application is to provide a cleaning control method and a cleaning device for a cleaning equipment, in order to solve the problem in the prior art that when the limiting component wears to a certain extent, the transmission mechanism cannot descend to the predetermined position, thereby preventing the mop from cleaning the surface to be cleaned.

[0005] According to one aspect of this application, a cleaning control method for a cleaning device is provided. The cleaning device includes a main unit, a cleaning component, a motor, and a transmission component. The cleaning component is located at the bottom of the main unit and connected to the transmission component. The transmission component is connected to the motor and is lifted, lowered, and rotated under the drive of the motor. The cleaning device has a mopping mode. When the cleaning device is in the mopping mode, the motor is used to drive the cleaning component to descend along the height direction of the main unit. The cleaning control method of the cleaning device includes:

[0006] When the cleaning device is in the mopping mode, the current of the motor is obtained;

[0007] When the current of the motor is less than the first threshold, the motor is controlled to increase its speed so that the transmission component drives the cleaning component to continue to descend along the height direction of the host to clean the surface to be cleaned.

[0008] Furthermore, when the current of the motor is greater than or equal to the first threshold and less than the second threshold, the motor is controlled to run at the current speed so that the cleaning component cleans the surface to be cleaned, wherein the second threshold is an overcurrent threshold.

[0009] Furthermore, controlling the motor to increase its speed includes:

[0010] Obtain the current of the motor during a first preset time period after the speed is increased;

[0011] When the current of the motor is greater than or equal to the first threshold, the motor is controlled to reduce its speed to the first speed and then controlled to run at the first speed.

[0012] When the motor increases its speed to the second speed, and the current of the motor is less than the first threshold, the motor is controlled to run at the second speed for a preset time, and the current of the motor is acquired within the preset time.

[0013] The second speed is greater than the first speed.

[0014] Furthermore, controlling the motor to reduce its speed to a first speed and controlling the motor to operate at the first speed includes:

[0015] Obtain the current of the motor during a second preset time period after the speed is reduced;

[0016] When the current of the motor is greater than or equal to the first threshold, the motor is controlled to run at the current speed;

[0017] When the current of the motor is less than the first threshold, the motor is controlled to increase its speed.

[0018] Furthermore, controlling the motor to reduce its speed to a first speed and controlling the motor to operate at the first speed includes:

[0019] Obtain the current of the motor after the speed is reduced;

[0020] When the current of the motor is less than the second threshold, the motor is controlled to run at the first speed;

[0021] When the current of the motor is greater than or equal to the second threshold, the cleaning equipment is controlled to stop working; and / or, the cleaning equipment is controlled to issue a warning signal; and / or, the motor (30) is controlled.

[0022] Wherein, the second threshold is greater than the first threshold, and the second threshold is the overcurrent protection threshold of the motor.

[0023] Further, controlling the motor to run at the second speed for a preset time, and acquiring the motor current within the preset time, includes:

[0024] If the motor operates at the second speed for a period of time that is greater than or equal to the preset time, and the current of the motor is less than the first threshold, the motor is controlled to restart, or the motor is controlled to increase its speed.

[0025] Furthermore, the control of restarting the motor includes:

[0026] Step S1: Control the motor to reduce its speed to zero and then increase its speed back to the second speed, and obtain the current of the motor;

[0027] If the current of the motor is greater than or equal to the first threshold, the motor is controlled to run at the current speed;

[0028] If the current of the motor is less than the first threshold, return to step S1 until the number of times step S1 is executed reaches N.

[0029] If N is greater than a predetermined number of times A, the cleaning equipment is controlled to stop working, and / or the cleaning equipment is controlled to issue a warning signal.

[0030] Furthermore, the predetermined number of times A satisfies the relationship: 3 times ≤ A ≤ 5 times.

[0031] Furthermore, controlling the motor to increase its speed includes:

[0032] Control the motor to increase its speed to a third speed and run at the third speed, and obtain the current of the motor;

[0033] If the current of the motor is greater than or equal to the first threshold, the motor is controlled to run at the current speed;

[0034] If the current of the motor is less than the first threshold, control the cleaning equipment to stop working, and / or control the cleaning equipment to issue a warning signal;

[0035] The third speed is greater than the second speed.

[0036] On the other hand, this application also provides a cleaning device for performing the cleaning control method described above. The cleaning device includes the main unit, the cleaning component, the motor, and the transmission component, wherein the transmission component includes:

[0037] The system includes a gearbox, a first transmission component, and a second transmission component. The gearbox is driven by the motor. The first transmission component is rotatably connected between the output shaft of the gearbox and the second transmission component. The second transmission component is connected to the cleaning assembly.

[0038] The cleaning component has a first position that moves with the second transmission member to separate from the surface to be cleaned, and a second position that moves with the second transmission member to contact the surface to be cleaned. The motor drives the gearbox to rotate, thereby causing the first transmission member to rotate along a first direction or along a second direction opposite to the first direction, so that the first transmission member moves in at least a portion of the area of ​​the second transmission member, thereby causing the cleaning component to switch between the first position and the second position along the height direction of the host, and to rotate along the first direction or the second direction.

[0039] A processor is disposed in the host and connected to the motor. The processor is used to monitor the current of the motor and control the speed of the motor according to the magnitude of the current. When the current of the motor is less than the first threshold, the processor controls the motor to increase its speed so that the transmission component descends along the height direction of the host and drives the cleaning component to the second position.

[0040] Furthermore, the cleaning component has a third position that extends outward to protrude beyond the outer edge of the host and a fourth position that retracts inward to near the inner side of the host;

[0041] Wherein, when the cleaning component is in the second position, the motor drives the gearbox to rotate, thereby causing the first transmission member to rotate along the first direction or the second direction, and thus causing the cleaning component to switch between the third position and the fourth position; and / or,

[0042] The cleaning assembly includes a disc mop connected to the second transmission member, and the axis of rotation of the disc mop is perpendicular to the surface to be cleaned.

[0043] This application determines the position of the cleaning component by detecting the motor current, thus ensuring stable contact between the cleaning component and the surface to be cleaned. When the limiting component wears down, as long as the motor current has not reached the first threshold, the motor will increase its speed to drive the transmission component to continue descending until the current reaches the threshold, ensuring reliable contact between the cleaning component and the surface to be cleaned for cleaning. Simultaneously, this dynamic adjustment mechanism based on current feedback can adapt to limiting components that have experienced a certain degree of wear, reducing cleaning interruptions caused by limiting component failure, improving the stability and cleaning efficiency of the cleaning equipment during long-term use, reducing the probability of failures caused by limiting component wear, and extending the trouble-free operating time of the cleaning equipment. Attached Figure Description

[0044] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0045] Figure 1 This is a schematic diagram of the structure of the cleaning equipment disclosed in the embodiments of this application;

[0046] Figure 2 This is a partial structural diagram of the cleaning equipment disclosed in an embodiment of this application;

[0047] Figure 3 This is a schematic diagram of the structure of the motor and transmission assembly disclosed in the embodiments of this application;

[0048] Figure 4 This is a cross-sectional view of the motor, transmission assembly, and cleaning assembly disclosed in the embodiments of this application;

[0049] Figure 5 This is a summary flowchart of the cleaning control method for the cleaning equipment disclosed in the embodiments of this application;

[0050] Figure 6 This is a schematic diagram showing the connection relationship between the processor, motor, and transmission components disclosed in an embodiment of this application.

[0051] Figure 7 This is a control logic diagram of the cleaning control method for the cleaning equipment disclosed in the embodiments of this application.

[0052] The above figures include the following reference numerals:

[0053] 10. Main unit; 20. Cleaning component; 30. Motor; 40. Transmission component; 41. Gearbox; 411. Output shaft; 42. First transmission component; 43. Second transmission component; 431. Track surface; 44. Elastic component; 45. Support block; 50. Processor. Detailed Implementation

[0054] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0055] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0056] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0057] As mentioned in the background section, existing cleaning equipment includes a drive mechanism and a transmission mechanism. The transmission mechanism is connected to the mop, and the drive mechanism drives the transmission mechanism to rotate and move up and down, thereby driving the mop to rotate and move up and down. When the mop descends, the drive mechanism first drives the transmission mechanism to rotate so that the transmission mechanism abuts against a limiting member on the drive mechanism. Then, the drive mechanism drives the transmission mechanism to descend so that the mop contacts the surface to be cleaned and cleans the surface. However, when the limiting member wears down to a certain extent, the transmission mechanism may not be able to descend to the predetermined position, thus preventing the mop from cleaning the surface. To address this, the inventors of this application have designed a new cleaning control method for a cleaning device. This cleaning control method can at least solve the problem in the prior art where wear of the limiting member to a certain extent prevents the transmission mechanism from descending to the predetermined position, thus preventing the mop from cleaning the surface. The cleaning control method of the cleaning device of this application will be described in detail below with reference to the accompanying drawings.

[0058] It should be noted that in this application, "the height direction of the host 10" refers to... Figure 2 The direction indicated by the middle arrow X.

[0059] See Figures 1 to 4 As shown, according to an embodiment of this application, a cleaning device is provided, which includes a main unit 10, a cleaning component 20, a motor 30, a transmission component 40, and a processor 50.

[0060] Specifically, the cleaning component 20 is located at the bottom of the main unit 10 and connected to the transmission component 40. The transmission component 40 is connected to the motor 30 and is lifted, lowered, and rotated under the drive of the motor 30. The cleaning device has a mopping mode. When the cleaning device is in mopping mode, the motor 30 is used to drive the cleaning component 20 to descend along the height direction of the main unit 10. The transmission component 40 includes a gearbox 41, a first transmission member 42, and a second transmission member 43. The gearbox 41 is driven and connected to the motor 30. The first transmission member 42 is rotatably connected between the output shaft 411 of the gearbox 41 and the second transmission member 43. The second transmission member 43 is connected to the cleaning component 20. The cleaning component 20 has a first position that moves with the second transmission member 43 to separate from the surface to be cleaned, and a second position that moves with the second transmission member 43 to separate from the surface to be cleaned. In the second position of contact with the cleaning surface, the motor 30 drives the gearbox 41 to rotate, thereby causing the first transmission member 42 to rotate along a first direction or along a second direction opposite to the first direction. This allows the first transmission member 42 to move over at least a portion of the second transmission member 43, causing the cleaning component 20 to switch between the first and second positions along the height direction of the host 10, and to rotate along the first or second direction. The processor 50 is located in the host 10 and connected to the motor 30. The processor 50 monitors the current of the motor 30 and controls the rotation speed of the motor 30 based on the current magnitude. When the current of the motor 30 is less than a first threshold, the processor 50 increases its rotation speed to cause the transmission component 40 to descend along the height direction of the host 10, thereby moving the cleaning component 20 to the second position. It is understood that the processor 50 and the motor 30 in this application can be connected wirelessly or via a wired connection; this application does not impose specific limitations, as long as data transmission between them is guaranteed.

[0061] Specifically, in this embodiment, the cleaning equipment can be a sweeping robot, a floor scrubber, a sweeping and mopping robot, or a multi-functional cleaning station; the first transmission component 42 includes a push rod, and the second transmission component 43 includes a transmission wheel. It is understood that the motor 30 and the transmission component 40 in this application can be mounted on the main unit 10, or they can be mounted on the swing arm of the main unit 10 and swing synchronously with the cleaning component 20.

[0062] When the cleaning device is in non-mopping mode, the cleaning component 20 is in a higher position on the main unit 10, i.e., the cleaning component 20 is away from the surface to be cleaned and is in the first position. When the cleaning device is in mopping mode, the motor 30 drives the gearbox 41 to rotate, thereby driving the first transmission member 42 to rotate in a first direction. The first transmission member 42 abuts against the second transmission member 43 and moves along the track surface 431 on the second transmission member 43. During the process of the first transmission member 42 moving from the low position to the high position on the track surface 431, the first transmission member 42 applies a resisting force to the second transmission member 43, pushing the second transmission member 43 to move towards the surface to be cleaned, thus switching from the first position to the second position. This allows the cleaning component 20 connected to the second transmission member 43 to move towards the surface to be cleaned and make contact with it. During the process of the cleaning component 20 moving towards the surface to be cleaned, the processor 50 detects the current of the motor 30 to determine whether the cleaning component 20 has reached the second position of contact with the surface to be cleaned. Of course, in this application, the first transmission member 42 can also rotate in the second direction to drive the cleaning component 20 to move to the second position along with the second transmission member 43.

[0063] Specifically, when the processor 50 detects that the current of the motor 30 is greater than or equal to the first threshold, it indicates that the cleaning component 20 has reached the second position, and thus the surface to be cleaned can be cleaned; when the processor 50 detects that the current of the motor 30 is less than the first threshold, it indicates that the cleaning component 20 has not yet reached the second position. At this time, the processor controls the motor 30 to increase its speed so that the first transmission component 42 and the second transmission component 43 have a speed difference, so that the first transmission component moves quickly to the highest position of the track surface 431, so as to continue to drive the second transmission component 43 to descend along the height direction of the host 10, thereby driving the cleaning component 20 to the second position to clean the surface to be cleaned.

[0064] After the cleaning component 20 is in the second position, the motor 30 drives the gearbox 41 to continue rotating, thereby driving the first transmission component 42 to rotate in the first direction, and then driving the cleaning component 20 to rotate in the first direction through the second transmission component 43, so as to achieve cleaning of the surface to be cleaned.

[0065] Furthermore, the cleaning component 20 in this embodiment has a third position that extends outward to protrude from the outer edge of the host 10 and a fourth position that retracts inward to be close to the inner side of the host 10; wherein, when the cleaning component 20 is in the second position, the motor 30 drives the gearbox 41 to rotate, thereby driving the first transmission member 42 to rotate along the first direction or the second direction, thereby driving the cleaning component 20 to switch between the third position and the fourth position.

[0066] Specifically, when the cleaning component 20 is in the second position, the motor 30 drives the gearbox 41 to rotate, thereby causing the first transmission component to rotate in the first or second direction, and thus causing the cleaning component 20 to rotate along the first or second direction with the second transmission component 43. When the cleaning component 20 rotates in the first direction, friction is generated between the cleaning component 20 and the ground or countertop, causing the cleaning component 20 to swing relative to the main unit 10 in the second direction to a third position. At this position, the cleaning component can avoid interference between the main unit 10 and obstacles such as furniture or walls, and can clean the edges of the walls or furniture. When the cleaning component rotates in the second direction, friction is generated between the cleaning component 20 and the ground or countertop, causing the cleaning component 20 to swing relative to the main unit in the first direction to a fourth position. At this position, it is convenient to raise and lower the cleaning component 20.

[0067] Further, see Figures 2 to 3 As shown, the cleaning component 20 in this embodiment includes a disc mop, which is connected to the second transmission member 43, and the rotation axis of the disc mop is perpendicular to the surface to be cleaned. It can be understood that the rotation axis of the disc mop in this embodiment is coaxially arranged with the output shaft 411.

[0068] Specifically, when the gearbox 41 drives the output shaft 411 to rotate under the drive of the motor 30, the first transmission member 42 rotates with the output shaft 411 to move on at least a portion of the trajectory surface 431, thereby driving the second transmission member 43 to rise and fall, and further driving the disc mop to rise and fall. Meanwhile, since the axis of rotation of the disc mop in this embodiment is perpendicular to the surface to be cleaned, the rotation trajectory of the disc mop is more closely aligned with the surface to be cleaned, allowing for even application of wiping force and reducing cleaning dead zones. Simultaneously, the disc structure itself has a large coverage area, which, combined with the rotational motion, improves cleaning efficiency.

[0069] Further, see Figure 4 As shown, the transmission assembly 40 in this embodiment also includes an elastic element 44, which is sleeved on the output shaft 411. A support block 45 is provided at the bottom end of the output shaft. The two ends of the elastic element 44 abut against the second transmission member 43 and the support block 45, respectively. When the elastic element 44 is compressed by the second transmission member 43, the elastic element 44 has elastic potential energy. After the force of compression on the elastic element 44 disappears, it can recover its elastic deformation, causing the elastic element 44 to stretch and push the second transmission member 43 to move upward along the output shaft 411.

[0070] Specifically, during the process of the first transmission member 42 applying a resisting force to the second transmission member 43 to make the second transmission member 43 move away from the first transmission member 42, the elastic member 44 will be compressed by the resisting force of the second transmission member 43; when the resisting force applied by the first transmission member 42 to the second transmission member 43 disappears, the second transmission member 43 will move upward along the output shaft 411 under the action of the elastic member 44, thereby driving the cleaning component 20 to move upward.

[0071] See Figures 5 to 7 As shown in the embodiments of this application, a cleaning control method for a cleaning device is also provided, the cleaning control method comprising:

[0072] When the cleaning device is in mopping mode, the current of the motor 30 is obtained; when the current of the motor 30 is less than the first threshold, the motor 30 is controlled to increase its speed so that the transmission component 40 drives the cleaning component 20 to continue to descend along the height direction of the main unit 10 to clean the surface to be cleaned.

[0073] In this embodiment, when the current of the motor 30 is less than the first threshold, it indicates that the cleaning component 20 has not reached the second position of contact with the surface to be cleaned. At this time, the motor 30 is controlled to increase its speed, causing a speed difference between the components of the transmission component 40, thereby driving the cleaning component 20 to continue descending along the height direction of the main unit 10, so that the cleaning component 20 reaches the second position. The cleaning control method in this application can accurately determine whether the cleaning component 20 is in position through the current signal, ensuring that the cleaning component and the surface to be cleaned form an effective fit to improve the cleaning effect. It can also adjust the position of the cleaning component 20 by means of dynamic speed adjustment, effectively ensuring the cleaning efficiency of the cleaning component 20.

[0074] In other words, this embodiment can determine the position of the cleaning component 20 by detecting the current of the motor 30, thereby ensuring stable contact between the cleaning component and the surface to be cleaned. When the limiting component wears down, as long as the current of the motor 30 does not reach the first threshold, the motor 30 will increase its speed to drive the transmission component 40 to continue descending until the current reaches the threshold, ensuring reliable contact between the cleaning component 20 and the surface to be cleaned for cleaning. At the same time, this dynamic adjustment mechanism based on current feedback can adapt to the limiting component that has a certain degree of wear, reduce cleaning interruptions caused by the failure of the limiting component, improve the stability and cleaning efficiency of the cleaning equipment during long-term use, reduce the probability of failure caused by the wear of the limiting component, and extend the trouble-free operation time of the cleaning equipment.

[0075] Of course, in other embodiments of this application, the position of the cleaning component 20 can also be detected by photoelectric sensors, pressure sensors, etc. Any other modifications under the concept of this application are within the protection scope of this application.

[0076] For example, the first threshold is determined based on the parameters of the motor 30, the weight of the cleaning component 20, and the resistance characteristics of the surface to be cleaned, and can be set to 100mA to 200mA, such as 100mA, 110mA, 120mA, 130mA, 140mA, 150mA, 160mA, 170mA, 180mA, 190mA, 200mA, etc.

[0077] It should be noted that the first speed, second speed and third speed in this application can be set according to actual operating requirements, and this application does not make specific limitations; the current detection of the motor 30 in this application can be real-time detection or periodic detection.

[0078] Furthermore, when the current of the motor 30 is greater than or equal to the first threshold and less than the second threshold, the motor 30 is controlled to run at the current speed so that the cleaning component 20 cleans the surface to be cleaned, wherein the second threshold is an overcurrent threshold.

[0079] Specifically, when the motor current is greater than or equal to the first threshold, it indicates that the cleaning component 20 has reached the cleaning position in contact with the surface to be cleaned. At this time, controlling the motor to run at the current speed ensures that the cleaning component 20 applies a stable force to the surface to be cleaned, avoiding unnecessary energy consumption and component wear due to excessive speed, and ensuring the uniformity of the cleaning effect. When the motor current is less than the second threshold, it ensures that the motor 30 runs stably at the current speed, effectively guaranteeing the continuity and efficiency of the cleaning operation.

[0080] Further, see Figure 7 As shown, controlling the motor 30 to increase its speed includes: acquiring the current of the motor 30 within a first preset time period after increasing the speed; when the current of the motor 30 is greater than or equal to a first threshold, controlling the motor 30 to decrease its speed to a first speed and controlling the motor 30 to run at the first speed; when the motor 30 increases its speed to a second speed and the current of the motor 30 is less than the first threshold, controlling the motor 30 to run at the second speed for a preset time, and acquiring the current of the motor 30 within the preset time; wherein, the second speed is greater than the first speed.

[0081] Specifically, this embodiment detects the current of the motor 30 after increasing its speed and takes different measures based on the relationship between the current and a first threshold: when the current is greater than or equal to the first threshold, i.e., when the cleaning component 20 reaches the second position to clean the surface to be cleaned, the motor 30 is controlled to reduce its speed to the first speed. This ensures that the cleaning component 20 operates in a stable contact with the cleaning surface, avoiding energy waste and component wear caused by continuous high-speed operation. When the current is still less than the first threshold after the motor 30 increases its speed to the second speed, i.e., when the cleaning component 20 has not reached the second position, the motor 30 is controlled to run at the second speed for a preset time, and the current of the motor 30 is acquired within this preset time. This allows for timely response to abnormal situations where the cleaning component 20 cannot reach the second position, preventing ineffective operation of the cleaning equipment. In other words, this embodiment, through dynamic / graded speed adjustment and abnormal response mechanisms, balances the stability of the cleaning process with reasonable energy consumption, while enhancing the fault detection and self-protection capabilities of the cleaning equipment, further improving operational reliability, reducing damage to the cleaning equipment or incomplete cleaning caused by abnormal situations, and extending the service life of the cleaning equipment.

[0082] Further, see Figure 7 As shown, controlling the motor 30 to reduce its speed to a first speed and then controlling the motor 30 to run at the first speed includes: acquiring the current of the motor 30 during a second preset time period after the speed reduction; when the current of the motor 30 is greater than or equal to a first threshold, controlling the motor 30 to run at the current speed; and when the current of the motor 30 is less than the first threshold, controlling the motor 30 to increase its speed. That is to say, during the operation of the motor 30 at the first speed in this embodiment, the current of the motor 30 needs to be continuously monitored to ensure that the cleaning component 20 is always in the second position to achieve cleaning of the surface to be cleaned.

[0083] Specifically, after the motor 30 reduces its speed to the first speed, the current of the motor 30 needs to be detected to determine whether the cleaning component 20 remains in the second position. Specifically, when the current of the motor 30 is greater than or equal to the first threshold, the motor 30 is controlled to operate at the current speed until the cleaning equipment completes the cleaning work; when the current of the motor 30 is less than the first threshold, the speed of the motor 30 needs to be increased again to ensure that the cleaning component 20 is in the second position.

[0084] Further, see Figure 7As shown, controlling the motor 30 to reduce its speed to a first speed and controlling the motor 30 to run at the first speed includes: acquiring the current of the motor 30 after reducing its speed; controlling the motor 30 to run at the first speed when the current of the motor 30 is less than a second threshold; controlling the cleaning equipment to stop working when the current of the motor 30 is greater than or equal to the second threshold; and / or controlling the cleaning equipment to issue a warning signal; and / or controlling the motor 30 to reduce its speed; wherein the second threshold is greater than the first threshold, and the second threshold is an overcurrent protection threshold for the motor 30.

[0085] Specifically, this embodiment reduces the speed of the motor 30 to a first speed and obtains the current at this time. It can use the current data under stable operating conditions as the basis for judgment and avoid interference caused by instantaneous speed changes. Using the second threshold as the judgment standard, it can ensure that the motor 30 runs stably at the set first speed when the current is less than the second threshold, ensuring the continuity and efficiency of the cleaning operation. It can also trigger a shutdown or warning when the current reaches or exceeds the threshold, fundamentally preventing the motor 30 from burning out due to long-term overcurrent. At the same time, it avoids mechanical failures caused by overload, such as component wear caused by jamming.

[0086] It is understood that the second threshold in this embodiment is the set value for the overcurrent protection of motor 30. By preset a current threshold, it is determined whether motor 30 is in an overload state. When the current of motor 30 during operation exceeds the second threshold, it indicates that motor 30 may be bearing a load beyond the normal range. At this time, the overcurrent protection mechanism is triggered to control the cleaning equipment to stop working and / or issue a warning signal and / or control the motor 30 to reduce its speed. This can promptly cut off abnormal operating conditions or issue warnings, avoiding problems such as coil overheating and insulation damage caused by prolonged overload of motor 30. This ensures the safe and stable operation of motor 30 and reduces the risk of overall failure of cleaning equipment due to motor 30 failure, providing important parameter support for the long-term reliable operation of the equipment.

[0087] It is worth mentioning that when the current of motor 30 is greater than or equal to the second threshold, the cleaning equipment can be controlled to stop working, issue a warning signal, or reduce the speed of motor 30. Alternatively, the cleaning equipment can be controlled to stop working and issue a warning signal simultaneously, while the speed of motor 30 can be reduced. This application does not make specific limitations. In this embodiment, by controlling the cleaning equipment to stop working, when the current of motor 30 is greater than or equal to the second threshold while motor 30 is running at the first speed, it indicates that the load on motor 30 has exceeded the normal operating range and is in an overload state. This allows for timely interruption of the cleaning equipment's operation, preventing motor 30 from burning out due to continuous overload. It also prevents the cleaning component 20 from continuing to operate under abnormal resistance, which could lead to component damage. At the same time, stopping work reduces the risk of secondary contamination of the cleaned area or scratching of the surface to be cleaned due to abnormal cleaning equipment. Meanwhile, in this embodiment, the cleaning equipment issues a warning signal. When the motor 30 is running at the first speed and the motor current is greater than or equal to the second threshold, it indicates that the load on the motor 30 has exceeded its normal operating range and is in an overload state. This timely signal transmits equipment malfunction information to the user, informing them that the motor 30 has overloaded during the cleaning process, facilitating quick fault location and resolution. Furthermore, issuing a warning signal prevents the problem from persisting due to the user's lack of awareness of the malfunction, reducing wear and tear on the motor 30 and related components caused by prolonged abnormal operation. It also prevents the equipment from continuing to operate in an abnormal state, which could lead to decreased cleaning effectiveness or damage to the surface being cleaned. This ensures the orderly progress of the cleaning work, enhances the user's sense of control over the equipment's operating status, and improves the user experience.

[0088] For example, the second threshold in this embodiment can be set to 750mA to 850mA, such as 750mA, 760mA, 770mA, 780mA, 790mA, 800mA, 810mA, 820mA, 830mA, 840mA, 850mA, etc.

[0089] Further, see Figure 7 As shown, in this embodiment, controlling the motor 30 to run at the second speed for a preset time and obtaining the current of the motor 30 within the preset time includes: if the running time of the motor 30 at the second speed is greater than or equal to the preset time, and the current of the motor 30 is less than the first threshold, controlling the motor 30 to restart, or controlling the motor 30 to increase its speed.

[0090] Understandably, the cleaning component 20 will not take more than a preset time to descend to the second position under the drive of the motor 30. If the time for the cleaning component 20 to descend exceeds the preset time and the current of the motor 30 is still less than the first threshold, it means that the cleaning component 20 has not reached the second position. In this case, it is necessary to control the motor 30 to restart or control the motor 30 to increase its speed.

[0091] For example, the preset time in this embodiment can be set to 3 seconds, 4 seconds, 5 seconds, 6 seconds, etc.

[0092] Specifically, this embodiment controls the motor 30 to run at a second speed for a preset time and detects the current. If the running time exceeds the preset time and the current is still less than the first threshold, the motor 30 is restarted or its speed is increased. This allows for further attempts before the cleaning component 20 reaches the second position, providing the device with some self-adjustment space and avoiding misjudgments caused by temporary anomalies. This design reduces unnecessary interruptions in the cleaning process. When the motor 30 continues to run at a higher second speed but still cannot bring the current to the first threshold, specific instructions can be executed to allow the user to understand the device status in a timely manner or for the device to take autonomous countermeasures, preventing energy waste caused by ineffective operation. It also reduces incomplete cleaning caused by components not reaching their designated positions for extended periods, improving the intelligence and practicality of the device.

[0093] Further, see Figure 7 As shown, restarting the motor 30 in this embodiment includes: Step S1: Controlling the motor 30 to reduce its speed to zero and then increase its speed back to the second speed, and acquiring the current of the motor 30; if the current of the motor 30 is greater than or equal to a first threshold, controlling the motor 30 to run at the current speed; if the current of the motor 30 is less than the first threshold, returning to step S1, until the number of times step S1 is executed reaches N; wherein, if N is greater than a predetermined number A, controlling the cleaning equipment to stop working, and / or controlling the cleaning equipment to issue a warning signal.

[0094] In other words, if the current of motor 30 is still less than the first threshold after the motor 30 has been running at the second speed for a period of time greater than or equal to a preset time, then motor 30 needs to be restarted for the first time. First, control motor 30 to decrease from the second speed to zero, and then increase it back to the second speed. During this process, the current of motor 30 needs to be detected. If the current of motor 30 is greater than or equal to the first threshold, it means that cleaning component 20 has reached the second position. If the current of motor 30 is less than the first threshold, it means that after the first restart, motor 30 has still not moved cleaning component 20 to the second position, and step S1 needs to be executed again to restart motor 30 for the second time. If the current of motor 30 is still less than the first threshold after the second restart, step S1 needs to be executed again to restart motor 30 for the third time. This process continues until the current of motor 30 is greater than or equal to the first threshold.

[0095] Specifically, in this embodiment, by controlling the restart of motor 30, the cleaning component 20 can attempt to overcome resistance through multiple start-stop speed adjustments when it fails to reach the second position. This provides more opportunities to resolve issues such as the cleaning component 20 not being in place due to brief jamming or slight positional deviation. This cyclical attempt design avoids judging the equipment as abnormal due to a single failed speed increase, reducing unnecessary downtime or alarms. During multiple attempts, if the motor 30 current reaches the first threshold, the cleaning component 20 can be put into working state in a timely manner, ensuring the continuity of cleaning work. At the same time, the setting of the number of cycles N prevents excessive energy consumption and motor 30 wear caused by unlimited attempts, balancing the operating efficiency and service life of the equipment and enhancing the equipment's ability to cope with complex working conditions.

[0096] It is understood that in this embodiment, if N is greater than the predetermined number of times A, the cleaning equipment can be controlled to stop working or issue a warning signal, or the cleaning equipment can be controlled to stop working and issue a warning signal at the same time.

[0097] Specifically, when the number of restarts N exceeds the predetermined number A, the cleaning equipment is controlled to stop working and / or issue a warning signal. This prevents excessive wear and tear on the motor 30 due to continuous ineffective operation when multiple attempts fail to bring the cleaning component 20 to the second position, and prevents the equipment from continuing to operate in a faulty state, which could lead to further problems. Simultaneously, stopping operation reduces unnecessary energy consumption, and issuing a warning signal promptly informs the user of equipment abnormalities, facilitating quick troubleshooting, shortening equipment maintenance cycles, ensuring subsequent cleaning work can proceed normally, and improving the safety and reliability of equipment use.

[0098] Furthermore, in this embodiment, the predetermined number of times A satisfies the relationship: 3 times ≤ A ≤ 5 times, for example, 3 times, 4 times, 5 times.

[0099] Specifically, when A is less than 3 times, minor abnormalities may not be resolved due to insufficient attempts, leading to frequent equipment shutdowns or alarms, affecting cleaning progress and potentially causing unnecessary trouble for users. When A is greater than 5 times, motor 30 will suffer excessive wear and tear from continuous ineffective operation, increasing the risk of equipment failure and prolonging the operating time under abnormal conditions, resulting in energy waste. It may also increase maintenance costs as the problem continues to escalate. In other words, this embodiment ensures that the predetermined number of attempts A satisfies the relationship: 3 times ≤ A ≤ 5 times. This provides sufficient opportunities for the cleaning equipment to respond to recoverable abnormalities such as minor jams and brief resistance fluctuations, reducing premature shutdowns or alarms caused by accidental factors and ensuring the continuity of the cleaning process. At the same time, it avoids ineffective wear and tear on motor 30 and energy waste due to excessive attempts, achieving a balance between efficiency and protection.

[0100] It is understood that the warning signal in this application may be sound, warning light, or fault notification via the Internet on the terminal device.

[0101] Further, see Figure 7 As shown, controlling the motor 30 to increase its speed in this embodiment includes: controlling the motor 30 to increase its speed to a third speed and running at the third speed, and obtaining the current of the motor 30; if the current of the motor 30 is greater than or equal to a first threshold, controlling the motor 30 to run at the current speed; if the current of the motor 30 is less than the first threshold, controlling the cleaning equipment to stop working, and / or controlling the cleaning equipment to issue a warning signal; wherein, the third speed is greater than the second speed.

[0102] In other words, if the current of the motor 30 is still less than the first threshold after the running time of the motor 30 is greater than or equal to the preset time, the motor 30 needs to be controlled to increase its speed to the third speed so that the cleaning component 20 can reach the second position under the drive of the high-speed motor 30.

[0103] Specifically, if the current is greater than or equal to the first threshold, the current speed is maintained. This allows the higher speed to overcome greater resistance than at the second speed, giving the cleaning component 20 a chance to reach the second position to continue cleaning. If the current is still less than the first threshold, the device stops working and / or issues a warning signal. This allows for timely termination of ineffective operation when higher speed attempts fail, preventing severe wear and tear on the motor 30 due to continuous ultra-high-speed operation. Simultaneously, the shutdown and warning signals inform the user of a serious equipment malfunction for timely intervention. The setting of a third speed greater than the second speed provides stronger power support for overcoming stubborn resistance, while the combination of shutdown and warnings ensures equipment safety while improving the timeliness of fault handling.

[0104] Specifically, see Figure 7 As shown, the overall control logic of the cleaning control method for the cleaning equipment in this application is as follows:

[0105] First, the motor 30 drives the transmission assembly 40 to lower and rotate the cleaning assembly 20, thereby cleaning the surface to be cleaned. During the descent of the cleaning assembly 20, the current of the motor 30 needs to be detected to determine whether the cleaning assembly 20 has reached the second position. When the current of the motor 30 is greater than or equal to the first threshold, it indicates that the cleaning assembly 20 has reached the second position. At this time, the motor 30 is controlled to run at the current speed so that the cleaning assembly 20 can clean the surface to be cleaned until the work is completed. When the current of the motor 30 is less than the first threshold, it indicates that the cleaning assembly 20 has not reached the second position. At this time, the motor 30 is controlled to increase its speed to achieve a rapid descent of the cleaning assembly 20. For example, the motor 30 is controlled to drive the cleaning assembly 20 to move at 72% of the PWM value.

[0106] Subsequently, the current of the motor 30 after the speed is increased is detected. When the current of the motor 30 is greater than or equal to the first threshold, it indicates that the cleaning component 20 has reached the second position. At this time, the motor 30 is controlled to decrease from the current speed to the first speed and run at the first speed. For example, the motor 30 is controlled to decrease from the speed of 72% of the PWM value to the speed of 65% of the PWM value, thereby achieving stable cleaning of the cleaning component 20 at a low speed. When the current of the motor 30 is still less than the first threshold after the speed of the motor 30 is increased to the second speed, it indicates that the cleaning component 20 has not reached the second position. At this time, the motor 30 is controlled to run at the second speed for a preset time, and the current of the motor 30 is obtained within the preset time.

[0107] It is worth mentioning that during the process of motor 30 reducing its speed to the first speed, the current of motor 30 needs to be detected to determine whether motor 30 is in overcurrent protection mode. Specifically, when the current of motor 30 is less than the second threshold, it indicates that motor 30 is in normal operation. In this case, motor 30 continues to run at the first speed until cleaning component 20 completes the cleaning operation. When the current of motor 30 is greater than or equal to the second threshold, it indicates that motor 30 is in an abnormal state, and overcurrent protection needs to be triggered. At this time, the cleaning equipment stops working and issues a warning signal to remind the user that the cleaning equipment has malfunctioned.

[0108] Next, during the preset time when the motor 30 runs at the second speed, if the running time of the motor 30 exceeds the preset time and the current of the motor 30 is still less than the first threshold, it indicates that the cleaning component 20 has not yet reached the second position. At this time, the speed of the motor 30 can be adjusted in two ways: the first is to control the motor 30 to reduce its speed to zero and then increase its speed back to the second speed, and continuously monitor the current to determine whether the second position has been reached. If it has not been reached, the process is repeated N times. The second is to control the motor 30 to further increase its speed to the third speed. Since the third speed is greater than the second speed, a stronger driving force is used to try to make the cleaning component 20 reach the second position, while monitoring the current to determine the subsequent operation.

[0109] It is worth mentioning that when adjusting the speed of motor 30 using the first method, the number of cycles needs to be controlled. Usually, a maximum number of cycles is preset. Each cycle will check whether the current of motor 30 reaches the first threshold. If the current meets the standard within the number of cycles, the cycle will stop and motor 30 will maintain the corresponding speed for cleaning. If the current still does not meet the standard after the number of cycles reaches the preset maximum value, a corresponding instruction will be triggered to avoid unnecessary wear and tear on motor 30 due to unlimited cycles. At the same time, it can also promptly remind the user that there is an abnormality in the equipment.

[0110] On the other hand, this application also provides a cleaning device for performing the cleaning control method of the aforementioned cleaning device. Therefore, this cleaning device includes all the technical effects of the cleaning control method of the aforementioned cleaning device. Since the technical effects of the cleaning control method of the cleaning device have been described in detail above, they will not be repeated here.

[0111] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0112] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0113] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning control method for cleaning equipment, characterized in that, The cleaning device includes a main unit (10), a cleaning component (20), a motor (30), and a transmission component (40). The cleaning component (20) is located at the bottom of the main unit (10) and is connected to the transmission component (40). The transmission component (40) is connected to the motor (30) and is lifted, lowered, and rotated under the drive of the motor (30). The cleaning device has a mopping mode. When the cleaning device is in the mopping mode, the motor (30) is used to drive the cleaning component (20) to descend along the height direction of the main unit (10). The cleaning control method for the cleaning equipment includes: When the cleaning device is in the mopping mode, the current of the motor (30) is obtained; When the current of the motor (30) is less than the first threshold, the motor (30) is controlled to increase its speed so that the transmission component (40) drives the cleaning component (20) to continue to descend along the height direction of the host (10) to clean the surface to be cleaned.

2. The cleaning control method for the cleaning equipment according to claim 1, characterized in that, When the current of the motor (30) is greater than or equal to the first threshold and less than the second threshold, the motor (30) is controlled to run at the current speed so that the cleaning component (20) cleans the surface to be cleaned, wherein the second threshold is an overcurrent threshold.

3. The cleaning control method for the cleaning equipment according to claim 1, characterized in that, The control of the motor (30) to increase its speed includes: Obtain the current of the motor (30) during the first preset time period after the speed is increased; When the current of the motor (30) is greater than or equal to the first threshold, the motor (30) is controlled to reduce its speed to the first speed and the motor (30) is controlled to run at the first speed; When the motor (30) increases its speed to the second speed, and the current of the motor (30) is less than the first threshold, the motor (30) is controlled to run at the second speed for a preset time, and the current of the motor (30) is obtained within the preset time. The second speed is greater than the first speed.

4. The cleaning control method for the cleaning equipment according to claim 3, characterized in that, The control of the motor (30) to reduce its rotational speed to a first speed and to operate the motor (30) at the first speed includes: Obtain the current of the motor (30) during a second preset time period after the speed is reduced; When the current of the motor (30) is greater than or equal to the first threshold, the motor (30) is controlled to run at the current speed; When the current of the motor (30) is less than the first threshold, the motor (30) is controlled to increase its speed.

5. The cleaning control method for the cleaning equipment according to claim 3, characterized in that, The control of the motor (30) to reduce its rotational speed to a first speed and to operate the motor (30) at the first speed includes: Obtain the current of the motor (30) after the speed is reduced; When the current of the motor (30) is less than the second threshold, the motor (30) is controlled to run at the first speed; When the current of the motor (30) is greater than or equal to the second threshold, the cleaning equipment is controlled to stop working; and / or, the cleaning equipment is controlled to issue a warning signal; and / or, the motor (30) is controlled to reduce its speed. Wherein, the second threshold is greater than the first threshold, and the second threshold is the overcurrent protection threshold of the motor (30).

6. The cleaning control method for the cleaning equipment according to claim 3, characterized in that, The step of controlling the motor (30) to run at the second speed for a preset time, and acquiring the current of the motor (30) within the preset time includes: If the running time of the motor (30) at the second speed is greater than or equal to the preset time, and the current of the motor (30) is less than the first threshold, the motor (30) is controlled to restart, or the motor (30) is controlled to increase its speed.

7. The cleaning control method for the cleaning equipment according to claim 6, characterized in that, The control of restarting the motor (30) includes: Step S1: Control the motor (30) to reduce its speed to zero and then increase its speed back to the second speed, and obtain the current of the motor (30); If the current of the motor (30) is greater than or equal to the first threshold, the motor (30) is controlled to run at the current speed; If the current of the motor (30) is less than the first threshold, return to step S1 until the number of times step S1 is executed reaches N; If N is greater than a predetermined number of times A, the cleaning equipment is controlled to stop working, and / or the cleaning equipment is controlled to issue a warning signal.

8. The cleaning control method for the cleaning equipment according to claim 7, characterized in that, The predetermined number of times A satisfies the following relationship: 3 times ≤ A ≤ 5 times.

9. The cleaning control method for the cleaning equipment according to claim 6, characterized in that, The control of the motor (30) to increase its speed includes: Control the motor (30) to increase its speed to a third speed and run at the third speed, and obtain the current of the motor (30); If the current of the motor (30) is greater than or equal to the first threshold, the motor (30) is controlled to run at the current speed; If the current of the motor (30) is less than the first threshold, control the cleaning equipment to stop working, and / or control the cleaning equipment to issue a warning signal; The third speed is greater than the second speed.

10. A cleaning device, characterized in that, The cleaning device is used to perform the cleaning control method of the cleaning device according to any one of claims 1 to 9, the cleaning device comprising the main unit (10), the cleaning component (20), the motor (30) and the transmission component (40), the transmission component (40) comprising: The gearbox (41), the first transmission member (42), and the second transmission member (43) are connected to the motor (30). The first transmission member (42) is rotatably connected between the output shaft (411) of the gearbox (41) and the second transmission member (43). The second transmission member (43) is connected to the cleaning assembly (20). The cleaning component (20) has a first position that moves with the second transmission member (43) to separate from the surface to be cleaned, and a second position that moves with the second transmission member (43) to contact the surface to be cleaned. The motor (30) drives the gearbox (41) to rotate, thereby causing the first transmission member (42) to rotate in a first direction or in a second direction opposite to the first direction, so that the first transmission member (42) moves in at least a portion of the area of ​​the second transmission member (43), thereby causing the cleaning component (20) to switch between the first position and the second position along the height direction of the host (10), and to rotate along the first direction or the second direction. A processor (50) is disposed in the host (10) and connected to the motor (30). The processor (50) is used to monitor the current of the motor (30) and control the speed of the motor (30) according to the magnitude of the current of the motor (30). When the current of the motor (30) is less than the first threshold, the processor (50) controls the motor (30) to increase its speed so that the transmission component (40) descends along the height direction of the host (10) and drives the cleaning component (20) to the second position.

11. The cleaning equipment according to claim 10, characterized in that, The cleaning component (20) has a third position that extends outward to protrude from the outer edge of the host (10) and a fourth position that retracts inward to the inner side of the host (10); When the cleaning component (20) is in the second position, the motor (30) drives the gearbox (41) to rotate, thereby causing the first transmission member (42) to rotate along the first direction or the second direction, and thus causing the cleaning component (20) to switch between the third position and the fourth position; and / or, The cleaning component (20) includes a disc mop connected to the second transmission member (43), and the axis of rotation of the disc mop is perpendicular to the surface to be cleaned.

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