Cleaning equipment, control method thereof and data processing equipment

Abstract

The invention relates to cleaning equipment, a control method thereof and data processing equipment. The cleaning equipment comprises a floor brush shell, a base, a disc brush module, a driving device, a first detection device, a second detection device and a detected end. The disc brush module is arranged on the bottom face of one side of the floor brush, and the disc brush module can stretch out by a certain distance to clean the area beside the floor brush. The distance sensor is arranged on the outer side wall of the side, provided with the disc brush module, of the floor brush and used for detecting the horizontal distance between the floor brush and an obstacle outside the floor brush in real time, and therefore the disc brush module is controlled to automatically start rotating. A correlation type sensor is adopted as a second detection device to be matched with the detected end, the position of the disc brush module is obtained in real time by obtaining a detection signal, and therefore the disc brush module is controlled to stop at different positions and complete a cleaning task or enter a standby mode.

Description

Technical Field

[0001] This invention relates to the technical field of cleaning equipment, and more particularly to a cleaning device and its control method and data processing device. Background Technology

[0002] In recent years, fully automatic or semi-automatic cleaning equipment has become increasingly widely used in people's lives. For example, vacuum cleaners or floor scrubbers can assist people in cleaning floors while being held by hand, thus reducing their workload. More intelligent robotic vacuum cleaners, robotic mops, or robotic vacuum and mop combos can automatically clean areas designated by the user according to the user's instructions, thereby freeing up the user's hands to a certain extent and providing greater convenience to their lives.

[0003] Floor brushes, as cleaning components of floor scrubbers, are typically used to clean surfaces. However, they are less effective at cleaning corners and low-ceilinged spaces. Current technology primarily uses roller brushes to clean floors, utilizing the protruding sides of the brush bristles to reach corners. However, because the roller brush requires structural support, a certain thickness of material exists between the brush side and the corner, preventing absolute contact and creating cleaning blind spots. Furthermore, existing floor brushes are limited in height and cannot reach low-ceilinged areas, also creating cleaning blind spots and affecting overall cleaning effectiveness. Summary of the Invention

[0004] To address the technical challenge of cleaning corners and low-ceilinged spaces, the applicant has designed a solution involving a disc brush module mounted on the bottom of the floor brush. This disc brush module can rotate at a certain angle relative to the floor brush housing, extending a certain distance from the side of the brush. The rotation angle and extension distance of the disc brush module vary depending on the application scenario. Therefore, the cleaning equipment needs to acquire the rotation angle and / or position of the disc brush module in real time to control it to stop at different positions as needed, complete the cleaning task, or return to standby mode.

[0005] The purpose of this invention is to provide a cleaning device and its control method and data processing device to solve the technical problem of how to obtain the horizontal distance between the sidewall of the disc brush and the obstacle in real time, and to solve the technical problem of how to obtain the movement position of the disc brush module in real time.

[0006] The technical solution of this invention is implemented as follows: This invention provides a control method for a cleaning device, the cleaning device including a floor brush, the floor brush comprising: a floor brush housing; a disc brush module capable of being horizontally rotated out from one side of the floor brush housing; the disc brush module including a self-rotating disc brush for cleaning a surface to be cleaned; a driving device capable of driving the disc brush module to switch between at least a first movement position and a second movement position; the first movement position being the initial position of the disc brush module in standby mode, and the second movement position being the position of the disc brush module during cleaning operations in a first working mode; and a first detection device disposed on a surface of one side of the floor brush housing for real-time detection of the distance between one side wall of the floor brush housing and an obstacle. The control method includes the following steps: a first distance detection step, which detects whether the interval distance is within a first preset distance range; and a first start command issued if so; and a first start command, which controls the brush to start rotating and controls the brush module to rotate from the first movement position to the second movement position according to the first start command.

[0007] The disc brush module can rotate at two positions via a bidirectional motor, allowing it to extend out of the floor brush housing to different degrees. This achieves retractable extension, with the two positions corresponding to standby mode and first working mode, respectively. It combines concealed storage with flexible extension, adapting to various cleaning scenarios such as corners and low spaces, without affecting other cleaning functions of the floor brush.

[0008] Furthermore, after the first startup step, the control method further includes the following steps: a first object detection step, detecting whether the second detection object is located in the detection channel, and if so, issuing a first delayed shutdown command; and a first delayed shutdown step, controlling the brush module to stop rotating after continuing to rotate for a preset period of time according to the first delayed shutdown command.

[0009] Furthermore, after the first delayed shutdown step, the control method further includes the following steps: a second distance detection step, detecting whether the interval distance is within a third preset distance range (>10cm), and if so, issuing a second start command; and a second start step, controlling the brush module to rotate from the second movement position to the first movement position according to the second start command.

[0010] Furthermore, after the second startup step, the control method includes the following steps: a second object detection step, detecting whether the first detection object is located in the detection channel, and if so, issuing a second delayed shutdown command; and a second delayed shutdown step, according to the second delayed shutdown command, controlling the brush module to stop rotating after continuing to rotate for a preset period of time, and simultaneously controlling the brush to stop rotating.

[0011] Furthermore, the driving device can drive the disc brush module to switch between a first movement position, a second movement position, and a third movement position; the third movement position is the position where the disc brush module performs cleaning operations in the second working mode; the detected end also includes a third detection object, which corresponds to the third movement position; after the first delayed shutdown step, the control method further includes the following steps: an instruction acquisition step, acquiring a user-inputted work request instruction; a third distance detection step, detecting whether the interval distance is within a second preset distance range (6~14cm), and if so, issuing a third start instruction; and a third start step, controlling the disc brush module to rotate from the second movement position to the third movement position according to the third start instruction.

[0012] The disc brush module has three movement positions, and the rotation angle of the disc brush module is controlled by a bidirectional motor, so that the degree to which it extends out of the floor brush housing is different, realizing a retractable extension. The three movement positions correspond to standby mode, first working mode and second working mode, respectively. It combines invisible storage with flexible extension, and can adapt to various cleaning scenarios such as corners and low spaces, without affecting other cleaning functions of the floor brush.

[0013] Furthermore, after the third startup step, the control method includes the following steps: a third object detection step, detecting whether a third detection object is located within the detection channel; if so, issuing a third delayed shutdown command; and a third delayed shutdown step, controlling the brush module to stop rotating after continuing to rotate for a preset period of time according to the third delayed shutdown command.

[0014] Furthermore, after the third delayed shutdown step, the control method further includes the following steps: a fourth distance detection step, detecting whether the interval distance is within the third preset distance range, and if so, issuing a fourth start command; and a fourth start step, controlling the brush module to rotate from the third movement position to the first movement position according to the fourth start command.

[0015] Further, after the fourth startup step, the control method includes the following steps: a fourth object detection step, detecting whether the first detection object is located in the detection channel, and if so, issuing a fourth delayed shutdown command; and a fourth delayed shutdown step, controlling the brush module to stop rotating after continuing to rotate for a preset period of time according to the fourth delayed shutdown command, and simultaneously controlling the brush to stop rotating.

[0016] Furthermore, the first detection device is a ranging sensor, including any one of a laser ranging sensor, an ultrasonic ranging sensor, and an infrared ranging sensor. The second detection device is a through-beam sensor, including any one of a photoelectric detection sensor, an ultrasonic detection sensor, and an infrared detection sensor.

[0017] Furthermore, in the delayed shutdown step, the preset time period is 0.5 to 1.5 seconds.

[0018] Furthermore, when the disc brush module is in the first moving position, the entire disc brush module is covered by the floor brush housing. When the disc brush module is in the second moving position, a portion of the disc brush module is rotated out of the coverage area of ​​the floor brush housing. When the disc brush module is in the third moving position, the entire disc brush module is rotated out of the coverage area of ​​the floor brush housing.

[0019] Further, the first detection object is a first baffle, and the second detection object is a second baffle; in the standby mode of the disk brush module, the first baffle is located within the detection channel; in the first operating mode of the disk brush module, the second baffle is located within the detection channel. The third detection object is a third baffle, and the third baffle corresponds to the third movement position; in the second operating mode of the disk brush module, the third baffle is located within the detection channel.

[0020] The detected end consists of three independent baffles, each corresponding to a position of the brush module. When the brush module rotates to the i-th position, the i-th baffle enters the detection channel. The baffles rotate with the brush module and enter the detection channel sequentially. After the detection device detects the obstruction signal, it determines the position and controls the bidirectional motor to stop or continue running.

[0021] Furthermore, the end to be detected includes a long baffle with at least two baffle notches spaced apart; the first detection object is the first baffle notch, and the second detection object is the second baffle notch; in the standby mode of the disc brush module, the first baffle notch is located within the detection channel; in the first operating mode of the disc brush module, the second baffle notch is located within the detection channel. The end to be detected also includes a third baffle notch, which corresponds to the third movement position; in the second operating mode of the disc brush module, the third baffle notch is located within the detection channel.

[0022] The long baffle rotates with the disc brush module, and the three baffle notches can pass through the detection channel in sequence to realize the signal detection of the three movement positions of the disc brush module; the detection device receives the signal at the baffle notch and determines the movement position of the disc brush module.

[0023] The present invention also provides a data processing apparatus, comprising: a memory for storing executable program code; and a processor for reading the executable program code to run a computer program corresponding to the executable program code to perform at least one step in the control method described above.

[0024] The present invention also provides a cleaning device, including the data processing device described above.

[0025] The technical advantage of this invention lies in that a disc brush module is installed on the bottom surface of one side of the floor brush. This disc brush module can extend a certain distance to clean the area next to the floor brush. A distance sensor is installed on the outer wall of the side of the floor brush where the disc brush module is located, serving as the first detection device. This sensor detects the horizontal distance between the floor brush and external obstacles in real time, and controls the disc brush module to automatically start rotating accordingly. A through-beam sensor is used as the second detection device, working in conjunction with the detected end. The position of the disc brush module is obtained in real time by acquiring detection signals, and this position is used to control the disc brush module to stop at different positions to complete the cleaning task or enter standby mode.

[0026] Furthermore, by acquiring the distance between the floor brush and obstacles and the position of the disc brush module in real time, this invention can precisely control the disc brush module to switch between three working modes: standby mode, first working mode, and second working mode. It can clean the wall edges effectively and also reach into low spaces to effectively clean them, solving the technical problem of blind spots in cleaning room corners and low spaces that exist in the prior art. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of the floor brush according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the structure of the disc brush module in the first moving position according to Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the structure of the disc brush module in the second moving position according to Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the structure of the brush module in the third movement position according to Embodiment 1 of the present invention; Figure 5 This is a three-dimensional structural diagram of the detected end in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the structure of the disc brush module in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the planar structure of the detected end according to another embodiment of the present invention; Figure 8 This is a flowchart of the first control method for the cleaning equipment according to Embodiment 1 of the present invention; Figure 9 This is a flowchart of the second control method for the cleaning equipment according to Embodiment 2 of the present invention; Figure 10 This is a flowchart of the third control method for the cleaning equipment in Embodiment 3 of the present invention.

[0029] Explanation of reference numerals in the attached figures: 10. Floor brush housing; 20. Base; 21. Mounting shaft; 30. Disc brush module; 31. Disc brush housing; 32. Disc brush drive motor; 33. Transmission mechanism; 34. Disc brush assembly; 40. Bidirectional motor; 41. Gear; 50. Second detection device; 51. Detection channel; 60. The end being tested; 61. Baffle; 62. Long baffle; 63. Turntable; 611. First baffle; 612. Second baffle; 613. Third baffle; 621. First baffle notch; 622. Second baffle notch; 623. Third baffle notch; 631. Arc-shaped rack; 70. First detection device. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] Figure 1 This is a three-dimensional structural diagram of a floor brush in this embodiment, for reference. Figure 1 It should be noted that the cleaning equipment in this embodiment is preferably a floor scrubber. The figure only shows the floor brush of the cleaning equipment. The floor brush is a component at the bottom of the floor scrubber and directly contacts the surface to be cleaned. The cleaning equipment cleans the surface to be cleaned through the floor brush.

[0032] In this embodiment, the cleaning equipment is preferably a floor scrubber, including a floor brush, a body (not shown in the figure), and a handle. The body is the main support structure of the cleaning equipment and is connected to the top of the floor brush body, or in other words, the floor brush body is connected to the bottom of the body. The components inside the body and the components inside the floor brush body together form a cleaning liquid supply system and a dirt recovery system to realize the cleaning function of the cleaning equipment. The handle is connected to the upper part of the body and is, for example, integrally formed into the housing. The handle is used for the user to hold so that the user can control the forward direction of the cleaning equipment. In addition, the body is provided with a structural component that generates vacuum suction. Under the action of suction, the dirt on the surface to be cleaned is sucked away to realize the cleaning function of the cleaning equipment.

[0033] Currently, when cleaning surfaces, floor brushes use the sides of the roller brush to clean corners and low-ceilinged areas. During cleaning, the protruding bristles on the side of the roller brush are primarily used to remove debris. However, because the roller brush requires structural support, such as a 2-3mm thick partition, there is a certain thickness barrier between the side of the roller brush and the corner, preventing it from adhering to the edge at zero distance. Furthermore, floor brushes cannot currently access low-ceilinged areas (below 80mm) such as the bottom of cabinets or sofas, creating cleaning blind spots and affecting the cleaning effect.

[0034] When using the cleaning equipment of the present invention for cleaning operations, users can issue different operation commands to the cleaning equipment according to the specific needs of the work scenario. When the disc brush module 30 receives different movement commands, it can enter different working modes. In other embodiments, the data processing device of the cleaning equipment can acquire environmental data through various sensors. For example, it can use the distance sensor on the side wall of the floor brush housing 10 to obtain the distance between the obstacle and the floor brush housing 10, thereby determining the next stage of the working mode of the disc brush module 30 and automatically generating movement commands for the disc brush module 30 to control the disc brush module 30 to adjust its movement position.

[0035] In this application, part or all of the disc brush module 30 can extend out of the ground brush housing 10; the disc brush module 30 has three working modes, namely standby mode, first working mode and second working mode.

[0036] In standby mode, the disc brush module 30 is in the first moving position, and the disc brush module 30 is completely covered by the floor brush housing 10. The drive motor inside the disc brush module 30 does not start, and does not affect the normal use of other functions of the floor scrubber.

[0037] In the first working mode, the entire disc brush module 30 is rotated outward by 0°~20° relative to its standby mode. When it stops at the second movement position, the rotation angle of the disc brush module 30 is the largest, which is 20°. A part of the disc brush module 30 extends beyond the coverage area of ​​the floor brush housing 10. The maximum horizontal distance between the extended part of the disc brush module 30 and the floor brush housing 10 is about 3 cm, which can be used to achieve wall cleaning.

[0038] In the second working mode, the entire disc brush module 30 is rotated outward by 75°~90° relative to its standby mode. When it stops at the third movement position, the disc brush module 30 extends completely beyond the coverage area of ​​the floor brush housing 10. The maximum horizontal distance from the extended part of the disc brush module 30 to the floor brush housing 10 is about 10 cm. It can be used to clean low spaces (such as under beds and under cabinets) and can also be used to clean along walls.

[0039] The present invention also provides a data processing device disposed in a floor brush, including a memory and a processor. The processor is used to store executable program code. The processor is connected to the memory and runs a computer program corresponding to the executable program code by reading the executable program code to execute the floor brush control method. The processor reads the program code in the memory to realize the control and status judgment of the disk brush module, thereby realizing the hardware support for the control method.

[0040] Example 1 like Figures 1-7 As shown, the present invention provides a floor brush, including: a floor brush housing 10, a base 20, a disc brush module 30, a drive device (bidirectional motor) 40, a first detection device 70, a second detection device 50, and a detection end 60.

[0041] like Figures 2-4As shown, the base 20 is fixed to the bottom surface inside the brush housing 10, and the base 20 includes a mounting shaft 21; the disc brush module 30 is rotatably mounted to the mounting shaft 21, and a turntable 63 is rotatably mounted on the mounting shaft 21. In this embodiment, the disc brush module 30 is mounted to the right side of the brush housing 10, and after being rotated, the disc brush module 30 extends a certain distance from the right side of the brush housing 10. In other embodiments, the disc brush module 30 can also be mounted to the left side of the brush housing 10.

[0042] like Figures 2-4 As shown, the disc brush module 30 includes a disc brush housing 31 and a disc brush drive motor 32, a transmission mechanism 33 and a disc brush assembly 34 installed in the disc brush housing 31. When the user starts the first working mode and the second working mode, the disc brush drive motor 32 drives the disc brush to rotate and perform cleaning operations. During the mode switching process, the disc brush drive motor 32 can continue to work until the user switches again.

[0043] like Figures 2-4 As shown, the driving device is preferably a bidirectional motor 40, which includes a power output shaft. A gear 41 is mounted on the power output shaft, and an arc-shaped rack 631 is provided on the side wall of the turntable 63, which meshes with the gear 41. The power output shaft of the bidirectional motor 40 can drive the gear 41 to mesh with the rack, so that the brush module 30 rotates to three movement positions and stays in one of them.

[0044] like Figure 1 As shown, the first detection device 70 is disposed on one side of the surface of the floor brush housing 10, and is located on the same side of the floor brush housing 10 as the disc brush module 30. The first detection device 70 is used to collect the distance between one side wall of the floor brush housing 10 and an obstacle (such as a wall) in real time. The first detection device is a distance measuring sensor, including any one of a laser distance measuring sensor, an ultrasonic distance measuring sensor, and an infrared distance measuring sensor.

[0045] In this embodiment, a laser rangefinder is preferred, which includes a light-emitting surface and a light-sensitive surface. The central axes of the light-emitting surface and the light-sensitive surface are both located on a horizontal plane, and the light-emitting surface and the light-sensitive surface face the right side of the brush module 30. When an obstacle (such as a wall) appears within the sensing distance of the laser rangefinder, the laser rangefinder collects the distance between the right side wall of the brush housing 10 and the obstacle (such as a wall) and transmits it to the data processing device.

[0046] like Figures 2-4As shown, the second detection device 50 includes a transmitter and a receiver, forming a detection channel 51 between the transmitter and receiver. The detected end 60 is connected to the brush module 30 and includes three detection objects, each corresponding to a movement position of the brush module 30. When the brush module 30 is rotated to any movement position, the detection object corresponding to that movement position is located within the detection channel 51. In this embodiment, the first detection object corresponds to the first movement position, the second detection object corresponds to the second movement position, and the third detection object corresponds to the third movement position.

[0047] To enable users to conveniently clean surfaces in corners and low-ceilinged spaces, this invention features a precisely controllable disc brush module 30. The disc brush module 30 is mounted on a base 20 via a mounting shaft 21 and is powered by a bidirectional motor 40 to rotate around the shaft, switching between three movement positions. Position feedback is achieved through a second detection device 50 that detects a monitored end 60 that rotates along with the disc brush module 30. The monitored end 60 is designed with multiple detection objects, each uniquely corresponding to the disc brush module 30. The bidirectional motor 40 drives the disc brush module 30 to rotate, and the detected end 60 moves synchronously. Once the disc brush module 30 reaches the target position, the object to be detected at that position will enter the detection channel 51 formed by the second detection device 50 and trigger the detection signal. Based on this signal, it can be determined that the disc brush module 30 has reached the target position, and the bidirectional motor 40 is controlled to hold or run the disc brush module 30 again, so as to achieve precise positioning of the disc brush module 30 at multiple angles, so that the floor brush can adapt to multiple cleaning scenarios and improve the user experience.

[0048] It should be noted that the disc brush module 30 has three movement positions, and the rotation angle of the disc brush module 30 is controlled by the bidirectional motor 40, so that the degree to which it extends out of the floor brush housing 10 is different, realizing the retractable extension. The three positions correspond to the standby mode, the first working mode and the second working mode, respectively. It combines invisible storage with flexible extension, and can adapt to various cleaning scenarios such as corners and low spaces, without affecting other cleaning functions of the floor brush.

[0049] like Figures 2-6 As shown, in this embodiment, the detection object includes three baffles 61; the three baffles 61 are respectively connected to the side wall of the turntable 63, forming three movement positions. When the brush module 30 is in the first movement position, the first baffle 611 is located in the detection channel 51; when the brush module 30 is in the second movement position, the second baffle 612 is located in the detection channel 51; when the brush module 30 is in the third movement position, the third baffle 613 is located in the detection channel 51.

[0050] It should be noted that the detected end 60 consists of three independent baffles 61, each baffle 61 corresponding to a position of the disc brush module 30; the baffles 61 rotate with the disc brush module 30 and enter the detection channel 51 in sequence; after the second detection device 50 detects the obstruction signal, it determines its position and controls the bidirectional motor 40 to stop or continue running.

[0051] like Figure 7 As shown, in another embodiment of the present invention, the detected end 60 includes a long baffle 62, which is connected to the side wall of the turntable 63. Three baffle notches are provided at intervals on the long baffle 62. The detection object includes the three baffle notches. When the brush module 30 is in the first movement position, the first baffle notch 621 is located in the detection channel 51. When the brush module 30 is in the second movement position, the second baffle notch 622 is located in the detection channel 51. When the brush module 30 is in the third movement position, the third baffle notch 623 is located in the detection channel 51.

[0052] It should be noted that the long baffle 62 rotates with the disc brush module 30, and the three baffle notches can pass through the detection channel 51 in sequence to realize the signal detection of the three movement positions of the disc brush module 30; the second detection device 50 receives the signal at the notch and determines the movement position of the disc brush module 30.

[0053] More specifically, the second detection device 50 is a through-beam sensor, including a photoelectric sensor, which acquires light signals through the detection baffle 61 to determine the movement position. It offers design flexibility, allowing for the selection of a suitable second detection device 50 based on different needs such as cost and environmental adaptability. The second detection device 50 can also be an ultrasonic sensor or an infrared sensor. In the first application scenario, the user moves the floor scrubber's brush to the wall for cleaning.

[0054] The data processing device can identify the disk brush start command from the control commands entered by the user, and control the disk brush drive motor 32 of the disk brush module 30 to start, driving the disk brush to rotate for floor cleaning. The disk brush drive motor 32 and the bidirectional motor 40 used to change the movement position of the disk brush module 30 are driven separately and do not interfere with each other.

[0055] like Figure 8 As shown, the data processing device of the cleaning equipment can generate motion commands for the disc brush module 30 by collecting environmental data through the first detection device and the second detection device, or identify the motion commands for the disc brush module 30 from the control commands (mode switching commands of the disc brush module 30) entered by the user, and execute a control method for the cleaning equipment, including the following steps S101~S108.

[0056] In the first application scenario, the user moves the floor brush of the cleaning equipment (such as a floor scrubber) to a wall and pushes the brush along the wall so that the right side of the brush moves in a straight line along the wall, so as to effectively clean the area along the wall.

[0057] like Figure 8 As shown, the data processing device of the cleaning equipment executes a control method for the cleaning equipment, including the following steps S101 to S108.

[0058] Step S101) First distance detection step: The data processing device collects the distance S between an obstacle on the right side of the disc brush and the ground brush in real time through the first detection device, and detects whether the distance S is within the first preset distance range. If so, a first start command is issued. In this embodiment, the first preset distance is 0~6cm.

[0059] When the user moves the floor brush of the cleaning device to a wall, and the distance S between the floor brush and the wall on its right is ≤3cm, the data processing device issues the first start command, preparing to switch the working mode from standby mode to the first working mode.

[0060] Step S102) First start-up step: According to the first start-up command, the data processing device controls the start of the disc brush drive motor in the disc brush module, which drives the disc brush to start rotating and clean the surface to be cleaned; at the same time, the bidirectional motor is started, and the power output axis of the bidirectional motor is controlled to rotate in the first direction (clockwise direction), controlling the disc brush module to rotate from the first movement position to the second movement position.

[0061] Step S103) First object detection step: During the rotation of the brush module, the second detection device detects in real time whether the second detection object is located in the detection channel. If so, a first delayed stop command is issued. Step S103) First object detection step specifically includes the following steps S1031) to S1033).

[0062] Step S1031) When the brush module is rotated, the detection signal is collected in real time by the second detection device; Step S1032) A counter is used to record the number of times the detection signal is acquired; whenever the brush module starts to rotate, the counter starts counting; whenever the detection device continuously acquires a set of uninterrupted detection signals, the counter counts by one; whenever the brush module stops rotating, the counter counts are reset to zero; Step S1033) When the counter counts 2, it is determined that the second detection object is located in the detection channel.

[0063] When the bidirectional motor is first started, the brush module is in the first moving position, and the second detection device acquires the position signal for the first time. When the second detection device acquires the position signal for the second time, it means that the brush module has been rotated to the second moving position. The brush module needs to stay in the second moving position to continue cleaning, so a delayed stop command is generated at this time.

[0064] Step S104) First delayed shutdown step: According to the first delayed shutdown command, control the bidirectional motor to stop after a preset time period (e.g., 0.5~1.5s), and control the disc brush module to stop rotating after continuing to rotate for a preset time period (e.g., 0.5~1.5s), so that the disc brush module stops rotating in the second movement position, and the working mode of the disc brush module is switched to the first working mode. In this mode, the disc brush in the disc brush module 30 will continue to rotate and continue to clean the surface to be cleaned.

[0065] Users can push the floor brush along the wall, allowing the right side of the brush to move in a straight line along the wall for effective cleaning of the wall area. In the first working mode, the disc brush module 30 is rotated outward by 30° relative to its standby mode. For the user, when the distance S between the floor brush and the right wall is ≤ 3cm, the disc brush module can be seen slowly extending a small distance, such as 3cm, from the floor brush housing.

[0066] In this embodiment, when the brush module 30 is in the first moving position, the first baffle 611 is located in the detection channel 51; when the brush module 30 is in the second moving position, the second baffle 612 is located in the detection channel 51. Since both the first baffle 611 and the second baffle 612 have a certain width, if the second detection device immediately controls the brush module to stop rotating after acquiring a detection signal for the first time, the stopping position of the brush module will be relatively biased relative to the second moving position. Therefore, it is necessary to control the brush module to continue rotating for 0.5 to 1.5 seconds before stopping the rotation.

[0067] Step S105) Second distance detection step: The data processing device collects the distance S between an obstacle on the right side of the disc brush and the ground brush in real time through the first detection device, and detects whether the distance S is within the third preset distance range. If so, a second start command is issued. In this embodiment, the third preset distance is 14cm or more.

[0068] After cleaning a section of the wall, the user can rotate the floor brush 90 degrees to the left or right, or move the brush to the next area to be cleaned, away from the wall. When the distance S between the floor brush and the wall to its right is greater than 10cm, the data processing device issues a second start command, preparing to switch the working mode from the first working mode to standby mode.

[0069] Step S106) Second start-up step: The data processing device starts the bidirectional motor according to the second start-up command, controls the power output axis of the bidirectional motor to rotate in the second direction (counterclockwise direction), and controls the brush module to rotate from the second movement position to the first movement position.

[0070] Step S107) Second object detection step: During the rotation of the brush module, the second detection device detects in real time whether the first detection object is located in the detection channel. If so, a second delayed stop command is issued. The specific steps of step S107) second object detection step are basically the same as those of step S103) first object detection step, and will not be repeated here. However, the difference is that when the counter records 2 times, it is determined that the first detection object is located in the detection channel.

[0071] When the bidirectional motor is first started, the brush module is in the second movement position, and the second detection device acquires the position signal for the first time. When the second detection device acquires the position signal for the second time, it indicates that the brush module has been rotated to the first movement position. The brush module needs to stay in the first movement position, so a delayed stop command is generated at this time.

[0072] Step S108) Second delayed shutdown step: According to the second delayed shutdown command, control the bidirectional motor to stop after a preset time period (e.g., 0.5~1.5s), control the brush module to continue rotating for a preset time period (e.g., 0.5~1.5s) and then stop rotating, so that the brush module stays in the first moving position. At the same time, control the brush drive motor in the brush module to turn off, control the brush to stop rotating, and switch the working mode of the brush module to standby mode.

[0073] In this embodiment, the technical effect of steps S101-S108 is that when the user moves the floor brush of the cleaning device (such as a floor scrubber) to a wall (within 3cm), the disc brush module on the right side of the floor brush can automatically extend a certain distance. When the user pushes the floor brush forward along the wall, the rotation of the disc brush can effectively clean the wall area. After the user has finished cleaning a section of the wall area, the floor brush can be moved to the next area to be cleaned away from the wall, and the disc brush module on the right side of the floor brush can automatically rotate back to the bottom of the floor brush housing, returning to standby mode.

[0074] Example 2 In this embodiment, the brush structure of the cleaning equipment (floor scrubber) is the same as in Embodiment 1, but the control method of the cleaning equipment is different from that in Embodiment 1.

[0075] In the second application scenario, the user moves the floor scrubber's brush to the wall for the first stage of cleaning along the wall. After cleaning the wall, the brush moves to the cabinet for the second stage of cleaning under the cabinet. In other scenarios, the floor scrubber's brush can also be used to clean low spaces (spaces less than 10cm high) under sofas and beds. The disc brush module of the floor scrubber is approximately 4-8cm high, allowing it to access low spaces for cleaning.

[0076] like Figure 9 As shown, in this embodiment, the data processing device of the cleaning equipment can collect environmental data through the first detection device and the second detection device to generate motion commands for the disc brush module 30, or identify the motion commands for the disc brush module 30 from the control commands (mode switching commands for the disc brush module 30) entered by the user, and execute a control method for the cleaning equipment, including the following steps S201~S213.

[0077] Step S201) First distance detection step: The data processing device collects the distance S between an obstacle on the right side of the disc brush and the ground brush in real time through the first detection device, and detects whether the distance S is within the first preset distance range. If so, a first start command is issued. In this embodiment, the first preset distance is 0~6cm.

[0078] When the user moves the floor brush of the cleaning device to a wall, and the distance S between the floor brush and the wall on its right is ≤3cm, the data processing device issues the first start command, preparing to switch the working mode from standby mode to the first working mode.

[0079] Step S202) First start-up step: According to the first start-up command, the data processing device controls the start of the disc brush drive motor in the disc brush module, which drives the disc brush to start rotating and clean the surface to be cleaned; at the same time, the bidirectional motor is started, and the power output axis of the bidirectional motor is controlled to rotate in the first direction (clockwise direction), controlling the disc brush module to rotate from the first movement position to the second movement position.

[0080] Step S203) First object detection step: During the rotation of the brush module, the second detection device detects in real time whether the second detection object is located in the detection channel. If so, a first delayed stop command is issued. The specific steps of step S203) First object detection step are exactly the same as those of step S103) First object detection step, and will not be described again here.

[0081] When the bidirectional motor is first started, the brush module is in the first moving position, and the second detection device acquires the position signal for the first time. When the second detection device acquires the position signal for the second time, it means that the brush module has been rotated to the second moving position. The brush module needs to stay in the second moving position to continue cleaning, so a delayed stop command is generated at this time.

[0082] Step S204) First delayed shutdown step: According to the first delayed shutdown command, control the bidirectional motor to stop after a preset time period (e.g., 0.5~1.5s), and control the disc brush module to stop rotating after continuing to rotate for a preset time period (e.g., 0.5~1.5s), so that the disc brush module stops rotating in the second movement position, and the working mode of the disc brush module is switched to the first working mode. In this mode, the disc brush in the disc brush module 30 will continue to rotate and continue to clean the surface to be cleaned.

[0083] Users can push the floor brush along the wall, allowing the right side of the brush to move in a straight line along the wall for effective cleaning of the wall area. In the first working mode, the disc brush module 30 is rotated outward by 30° relative to its standby mode. For the user, when the distance S between the floor brush and the right wall is ≤ 3cm, the disc brush module can be seen slowly extending a small distance, such as 3cm, from the floor brush housing.

[0084] Since both the first baffle 611 and the second baffle 612 have a certain width, if the second detection device immediately stops rotating the brush module after acquiring a detection signal for the first time, the stopping position of the brush module will be relatively off relative to the second moving position. Therefore, it is necessary to control the brush module to continue rotating for 0.5 to 1.5 seconds before stopping it.

[0085] Step S205) In the instruction acquisition step, when the user needs the disc brush module to perform cleaning operations in the second working mode, the user needs to actively input a work request instruction. The data processing device acquires the work request instruction input by the user and sends it to the data processing device. In this embodiment, the disc brush module needs the user to actively issue a work request instruction to switch the working mode in the second working mode.

[0086] Step S206) Third distance detection step: The data processing device collects the distance S between an obstacle on the right side of the disc brush and the ground brush in real time through the first detection device, and detects whether the distance S is within the second preset distance range. If so, a third start command is issued. In this embodiment, the second preset distance is 6~14cm.

[0087] After the first stage of wall cleaning is completed, if the floor brush has just moved to the edge of the cabinet, the user will see that the distance S between the floor brush and the obstacle on its right has increased. The user can then send a work request command to the cleaning equipment via the control panel or voice input module to switch the working mode to the second working mode. However, the cleaning equipment cannot immediately control the disc brush module to extend; it needs to assess whether the distance between the floor brush and the obstacle is appropriate, ideally between 3 and 10 cm. If the distance is within this range, a third start command is issued. If the distance is too small, the disc brush module will not have enough space to extend. If the distance is too large, it indicates that the area is spacious enough, and the disc brush module does not need to extend.

[0088] Step S207) Third start-up step: The data processing device starts the bidirectional motor according to the third start-up command, controls the power output axis of the bidirectional motor to rotate in the first direction (clockwise direction), and controls the brush module to rotate from the second movement position to the third movement position.

[0089] Step S208) Third Object Detection Step: During the rotation of the brush module, the second detection device continuously detects whether the third detection object is located within the detection channel. If so, a third delayed stop command is issued. The specific steps of Step S208) Third Object Detection Step are basically the same as those of Step S103) First Object Detection Step, and will not be repeated here. However, the difference is that when the counter records 2 times, it is determined that the third detection object is located within the detection channel. When the bidirectional motor is just started, the brush module is in the second movement position, and the second detection device acquires the position signal for the first time. When the second detection device acquires the position signal for the second time, it indicates that the brush module has been rotated to the third movement position. The brush module needs to stay in the third movement position to continue cleaning, so a delayed stop command is generated at this time.

[0090] Step S209) Third delayed shutdown step: According to the third delayed shutdown command, the bidirectional motor is controlled to stop after a preset time period (e.g., 0.5~1.5s), and the disc brush module is controlled to continue rotating for another preset time period (e.g., 0.5~1.5s) before stopping, so that the disc brush module stops at the third movement position, and the working mode of the disc brush module is switched to the second working mode. In this mode, the disc brush in the disc brush module 30 will continue to rotate and continue to clean the surface to be cleaned.

[0091] If the distance S between the ground brush and the obstacle on its right increases, and the distance S meets the condition of 3cm < S ≤ 10cm, the user can enter a second working mode switching command. During the extension of the disc brush assembly, the distance S between the ground brush and the obstacle on its right can be adjusted appropriately so that the disc brush assembly can be fully extended and reach the third movement position.

[0092] In the second working mode, the entire disc brush module 30 can be rotated outward by up to 90° relative to its standby mode. For the user, when the distance between the floor brush and the right wall is 3cm < S ≤ 10cm, the disc brush module can be seen extending fully from the floor brush housing, up to a maximum of 10cm.

[0093] Step S210) Fourth distance detection step: The data processing device collects the distance S between an obstacle on the right side of the disc brush and the ground brush in real time through the first detection device, and detects whether the distance is within the third preset distance range. If so, a fourth start command is issued. In this embodiment, the third preset distance is 14cm or more.

[0094] After cleaning the area under the cabinet is complete, the user can rotate the floor brush 90 degrees to the left or right, or move the floor brush to the next area to be cleaned, away from the wall. When the distance S between the floor brush and the wall on its right side is greater than 10cm, the data processing device issues a fourth start command, preparing to switch the working mode from the second working mode to standby mode.

[0095] Step S211) Fourth starting step: According to the fourth starting command, start the bidirectional motor, control the power output axis of the bidirectional motor to rotate in the second direction (counterclockwise direction), and control the brush module to rotate from the third movement position to the first movement position.

[0096] Step S212) Fourth object detection step: During the rotation of the brush module, the second detection device detects in real time whether the first detection object is located in the detection channel. If so, a fourth delayed stop command is issued. The specific steps of step S212) Fourth object detection step are basically the same as those of step S103) First object detection step, and will not be repeated here. However, the difference is that when the counter records 3 times, it is determined that the first detection object is located in the detection channel.

[0097] When the bidirectional motor is first started, the brush module is in the third movement position, and the second detection device acquires the position signal for the first time. When the second detection device acquires the position signal for the second time, it means that the brush module has been rotated to the second movement position. When the second detection device acquires the position signal for the third time, it means that the brush module has been rotated to the first movement position. The brush module needs to stay in the first movement position, so a delayed stop command is generated at this time.

[0098] Step S213) Fourth delayed shutdown step: According to the fourth delayed shutdown command, control the bidirectional motor to stop after a preset time period (e.g., 0.5~1.5s), control the brush module to continue rotating for a preset time period (e.g., 0.5~1.5s) and then stop rotating, so that the brush module stays in the first moving position. At the same time, control the brush drive motor in the brush module to turn off, control the brush to stop rotating, so that the working mode of the brush module is switched to standby mode.

[0099] In this embodiment, the technical effect of steps S201-S213 is that when the user moves the floor brush of the cleaning device (such as a floor scrubber) to a wall (within 3cm), the cleaning device automatically enters the first working mode. The disc brush module on the right side of the floor brush automatically extends a certain distance, allowing the user to push the floor brush forward in a straight line along the wall, effectively cleaning the wall area by utilizing the rotation of the disc brush. After cleaning a section of the wall area is completed, if the floor brush has just moved to the side of a cabinet, the user can control the cleaning device to switch from the first working mode to the second working mode to clean the low space under the cabinet. After cleaning the low space is completed, the floor brush can be moved to the next area to be cleaned away from the wall, and the disc brush module on the right side of the floor brush can automatically rotate back to the bottom of the floor brush housing, returning to standby mode.

[0100] Example 3 In this embodiment, the structure of the floor brush of the floor scrubber is the same as that in Embodiment 1, but the control method of the floor brush is different from that in Embodiment 1.

[0101] In the third application scenario, users can directly move the floor scrubber's brush to the side of a cabinet to clean underneath it. In other scenarios, the floor scrubber's brush can also be used to clean low spaces (spaces less than 10cm in height) under sofas and beds.

[0102] like Figure 10 As shown, the data processing device of the cleaning equipment can collect environmental data through the first detection device and the second detection device to generate motion commands for the disc brush module 30, or identify the motion commands for the disc brush module 30 from the control commands (mode switching commands for the disc brush module 30) entered by the user, and execute the control method for the floor brush, including the following steps S301~S309.

[0103] Step S301) Instruction Acquisition Step: Acquire the user-entered job request instruction. In this embodiment, when the user needs the brush module to perform cleaning operations in the second working mode, the user needs to actively enter a job request instruction. The data processing device acquires the user-entered job request instruction and sends it to the data processing device.

[0104] Step S302) Fifth distance detection step: The data processing device collects the distance S between an obstacle on the right side of the disc brush and the ground brush in real time through the first detection device, and detects whether the distance S is within the second preset distance range. If so, a fifth start command is issued. In this embodiment, the second preset distance is 6~14cm.

[0105] The user moves the floor brush to the side of the cabinet and sends a work request command to the cleaning equipment via the control panel or voice input module. This switches the roller brush module from standby mode to the second working mode. However, the cleaning equipment cannot immediately extend the roller brush module; it needs to assess whether the distance between the floor brush and the obstacle is appropriate, ideally between 3 and 10 cm. If the distance is within this range, the fifth start command is issued. If the distance is too small, the roller brush module will not have enough space and will not be able to extend. If the distance is too large, it means the area is spacious enough, and cleaning with the roller brush is sufficient; there is no need for the roller brush module to extend. If the distance is not within the second preset distance range, no command needs to be executed.

[0106] Step S303) Fifth start-up step: According to the fifth start-up command, the data processing device controls the start of the disc brush drive motor in the disc brush module, which drives the disc brush to start rotating and clean the surface to be cleaned; at the same time, the bidirectional motor is started, and the power output axis of the bidirectional motor is controlled to rotate in the first direction (clockwise direction), controlling the disc brush module to rotate from the first movement position to the third movement position.

[0107] Step S304) Fifth object detection step: During the rotation of the brush module, the second detection device detects in real time whether the third detection object is located in the detection channel. If so, a fifth delayed stop command is issued. The specific steps of step S304) fifth object detection step are basically the same as those of step S103) first object detection step, and will not be repeated here. However, the difference is that when the counter records 3 times, it is determined that the third detection object is located in the detection channel.

[0108] When the bidirectional motor is first started, the brush module is in the first moving position, and the second detection device acquires the position signal for the first time. When the second detection device acquires the position signal for the second time, it means that the brush module has been rotated to the second moving position. When the second detection device acquires the position signal for the third time, it means that the brush module has been rotated to the third moving position. The brush module needs to stay in the third moving position, so a delayed stop command is generated at this time.

[0109] Step S305) Fifth delayed shutdown step: According to the fourth delayed shutdown command, control the bidirectional motor to stop after a preset time period (e.g., 0.5~1.5s), control the brush module to continue rotating for a preset time period (e.g., 0.5~1.5s) and then stop rotating, so that the brush module stays in the third movement position, and switch the working mode of the brush module to the second working mode.

[0110] Users can push the floor brush into low spaces such as under cabinets, and use the extended disc brush on the right side of the floor brush to expand the cleaning area of ​​the device for effective cleaning of these spaces. In the second working mode, the disc brush module 30 is rotated outward by 90° relative to its standby mode. For the user, when the distance between the floor brush and the right wall is 3cm < S ≤ 10cm, the disc brush module can be seen extending a considerable distance from the floor brush housing, such as 10cm.

[0111] In the second working mode, the disc brush drive motor 32 continues to rotate to complete the cleaning task under the cabinet. After cleaning the bottom of the cabinet, the user can rotate the floor brush 90 degrees to the left or right, or move the floor brush to the next area to be cleaned, away from obstacles. The user can also actively switch the second working mode of the disc brush module 30 to standby mode by inputting control commands through the control panel. The data processing device generates the next stage motion command for the disc brush module 30 based on the significantly increased interval distance, or identifies the next stage motion command for the disc brush module 30 from the control commands (mode switching commands for the disc brush module 30) entered by the user, and executes the following steps S306-S309 according to these motion commands.

[0112] Step S306) The sixth distance detection step: The data processing device collects the distance S between an obstacle on the right side of the disc brush and the ground brush in real time through the first detection device, and detects whether the distance S is within the third preset distance range. If so, a sixth start command is issued. In this embodiment, the third preset distance is 14cm or more.

[0113] After cleaning the low-ceilinged space, the user can rotate the floor brush 90 degrees to the left or right, or move the floor brush to the next area to be cleaned, away from the wall. When the distance S between the floor brush and the wall on its right side is greater than 10cm, the data processing device issues the sixth start command, preparing to switch the working mode from the second working mode to standby mode.

[0114] Step S307) Sixth start-up step: The data processing device starts the bidirectional motor according to the sixth start-up command, controls the power output axis of the bidirectional motor to rotate in the second direction (counterclockwise direction), and controls the brush module to rotate from the third movement position to the first movement position.

[0115] Step S308) The sixth object detection step: During the rotation of the brush module, the second detection device detects in real time whether the first detection object is located in the detection channel. If so, a second delayed stop command is issued. Step S107) The specific steps of the second object detection step are basically the same as those of the first object detection step in step S103, and will not be described in detail here. However, the difference is that when the counter records 2 times, it is determined that the first detection object is located in the detection channel.

[0116] When the bidirectional motor is first started, the brush module is in the third movement position, and the second detection device acquires the position signal for the first time. When the second detection device acquires the position signal for the second time, it means that the brush module has been rotated to the second movement position. When the second detection device acquires the position signal for the third time, it means that the brush module has been rotated to the first movement position. The brush module needs to stay in the first movement position, so a delayed stop command is generated at this time.

[0117] Step S309) The sixth delayed shutdown step: according to the second delayed shutdown command, the bidirectional motor is controlled to stop after a preset time period (e.g., 0.5~1.5s), and the brush module is controlled to stop rotating after continuing to rotate for a preset time period (e.g., 0.5~1.5s), so that the brush module stays in the first moving position. At the same time, the brush drive motor in the brush module is controlled to turn off, and the brush is controlled to stop rotating, so that the working mode of the brush module is switched to standby mode.

[0118] In this embodiment, the technical advantage of the floor brush control method is that the user moves the floor brush of the floor scrubber to the side of the cabinet, starts the roller brush module, controls the disc brush to rotate, switches the roller brush module 30 from standby mode to the second working mode to clean the bottom of the cabinet, and after cleaning the bottom of the cabinet, switches the roller brush module 30 from the second working mode back to standby mode. In this embodiment, the command to control the disc brush module 30 to enter the second working mode can only be entered by the user; other commands can be automatically generated by the data processing device after collecting environmental data through sensors. The delayed stop command for the bidirectional motor to be stopped twice is automatically generated by the data processing device based on the real-time position of the disc brush module 30.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a floor brush, and the floor brush includes: Floor brush housing; The disc brush module is capable of being horizontally rotated out from one side of the floor brush housing; the disc brush module includes a self-rotating disc brush for cleaning the surface to be cleaned; The driving device is capable of driving the disc brush module to switch between at least a first movement position and a second movement position; the first movement position is the initial position of the disc brush module in standby mode, and the second movement position is the position of the disc brush module during cleaning operations in the first working mode; The first detection device is disposed on the surface of one side of the floor brush housing, and is used to detect in real time the distance between one side wall of the floor brush housing and an obstacle. A second detection device includes a transmitter and a receiver, wherein a detection channel is formed between the transmitter and the receiver; and The detected end is connected to the disk brush module; the detected end includes at least a first detection object and a second detection object; the first detection object corresponds to the first movement position, and the second detection object corresponds to the second movement position. The control method includes the following steps: The first distance detection step involves detecting whether the interval distance is within a first preset distance range; if so, issuing a first start command. In the first startup step, according to the first startup command, the brush is controlled to start rotating, and the brush module is controlled to rotate from the first movement position to the second movement position.

2. The control method according to claim 1, characterized in that, Following the first startup step, the control method further includes the following steps: The first object detection step involves detecting whether the second detection object is located within the detection channel; if so, issuing a first delayed shutdown command. The first delayed shutdown step involves controlling the brush module to stop rotating after a preset period of time (0.5~1.5s) according to the first delayed shutdown command.

3. The control method according to claim 2, characterized in that, After the first delayed shutdown step, the control method further includes the following steps: The second distance detection step involves detecting whether the interval distance is within a third preset distance range; if so, issuing a second start command. The second startup step involves controlling the brush module to rotate from the second movement position to the first movement position according to the second startup command.

4. The control method according to claim 3, characterized in that, Following the second startup step, the control method includes the following steps: The second object detection step involves detecting whether the first detection object is located within the detection channel; if so, issuing a second delayed shutdown command. The second delayed shutdown step involves controlling the brush module to stop rotating after a preset period of time, according to the second delayed shutdown command, and simultaneously controlling the brush to stop rotating.

5. The control method according to claim 2, characterized in that, The driving device can drive the disc brush module to switch between a first movement position, a second movement position, and a third movement position; the third movement position is the position where the disc brush module performs cleaning operations in the second working mode; the detected end also includes a third detection object, which corresponds to the third movement position; Following the first delayed shutdown step, the control method further includes the following steps: The instruction retrieval step involves obtaining the job request instruction entered by the user. The third distance detection step involves detecting whether the interval distance is within the second preset distance range; if so, a third start command is issued. as well as The third startup step involves controlling the brush module to rotate from the second movement position to the third movement position according to the third startup command.

6. The control method according to claim 5, characterized in that, Following the third startup step, the control method includes the following steps: The third object detection step involves detecting whether the third object is located within the detection channel; if so, issuing a third delayed shutdown command. The third delayed shutdown step involves controlling the brush module to stop rotating after a preset period of time, according to the third delayed shutdown command.

7. The control method according to claim 6, characterized in that, After the third delayed shutdown step, the control method further includes the following steps: The fourth distance detection step involves detecting whether the interval distance is within the third preset distance range; if so, issuing a fourth start command. The fourth startup step involves controlling the brush module to rotate from the third movement position to the first movement position according to the fourth startup command.

8. The control method according to claim 7, characterized in that, Following the fourth startup step, the control method includes the following steps: The fourth object detection step involves detecting whether the first detection object is located within the detection channel; if so, issuing a fourth delayed shutdown command. The fourth delayed shutdown step involves controlling the brush module to stop rotating after a preset period of time, according to the fourth delayed shutdown command, and simultaneously controlling the brush to stop rotating.

9. The control method according to claim 1, characterized in that, The first detection device is a ranging sensor, including any one of a laser ranging sensor, an ultrasonic ranging sensor, and an infrared ranging sensor; The second detection device is a through-beam sensor, including any one of a photoelectric detection sensor, an ultrasonic detection sensor, and an infrared detection sensor.

10. The control method according to claim 2, 4, 6, or 8, characterized in that, In the delayed shutdown step, the preset time period is 0.5 to 1.5 seconds.

11. The control method as described in claim 1, characterized in that, When the disc brush module is in the first moving position, the disc brush module is completely covered by the floor brush housing; When the disc brush module is in the second movement position, a portion of the disc brush module is rotated out of the coverage area of ​​the floor brush housing.

12. The control method as described in claim 5, characterized in that, When the disc brush module is in the third movement position, the entire disc brush module is rotated outside the coverage area of ​​the floor brush housing.

13. The control method as described in claim 1, characterized in that, The first detection object is the first baffle, and the second detection object is the second baffle; In the standby mode of the brush module, the first baffle is located within the detection channel; In the first operating mode of the disk brush module, the second baffle is located within the detection channel.

14. The control method as described in claim 5, characterized in that, The detected end also includes a third detection object, which is a third baffle, and the third baffle corresponds to the third movement position; In the second working mode of the disk brush module, the third baffle is located within the detection channel.

15. The control method as described in claim 1, characterized in that, The detected end includes a long baffle, and at least two baffle notches are provided at intervals on the long baffle. The first detection object is the first baffle notch, and the second detection object is the second baffle notch; In the standby mode of the brush module, the first baffle notch is located within the detection channel; In the first operating mode of the disc brush module, the second baffle notch is located within the detection channel.

16. The control method as described in claim 15, characterized in that, The detected end also includes a third baffle notch, which corresponds to the third movement position; In the second working mode of the disk brush module, the third baffle notch is located within the detection channel.

17. A data processing device, characterized in that, include: Memory, used to store executable program code; as well as The processor reads the executable program code to run a computer program corresponding to the executable program code, in order to perform at least one step of the control method according to any one of claims 1-16.

18. A cleaning device, characterized in that, Includes the data processing device as described in claim 17.

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