Cleaning equipment control method and device and cleaning equipment

Abstract

The invention provides a control method and device of cleaning equipment and the cleaning equipment, and relates to the technical field of cleaning equipment. The cleaning equipment comprises a main machine body, a ground brush assembly, an image recognition device, a water pump assembly and a main draught fan. The floor brush assembly is rotationally connected with the main machine body; the image recognition device is arranged on the floor brush assembly, and the floor brush assembly comprises a rolling brush; the method comprises the steps that in the process that cleaning equipment executes a cleaning task, image information of a to-be-cleaned area is collected based on an image recognition device; under the condition that it is determined that easy-to-wind garbage exists in front of the cleaning equipment based on the image information, the water pump assembly is controlled to be in a closed state, the main fan is controlled to run based on the first suction force, and the rolling brush is controlled to run based on the first rotating speed to clean the easy-to-wind garbage, so that efficient cleaning is achieved, and hair winding is effectively prevented; wherein the first suction is larger than the second suction, the first rotating speed is larger than the second rotating speed, the second suction is the suction in the conventional cleaning mode, and the second rotating speed is the rotating speed in the conventional cleaning mode.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method, apparatus and cleaning equipment for cleaning equipment. Background Technology

[0002] As an automated cleaning device, the floor scrubber's brush assembly, as the core component that contacts the surface to be cleaned, typically performs cleaning tasks such as vacuuming, scraping, and mopping through a high-speed rotating roller brush. With the diversification of household cleaning scenarios, users are placing higher demands on the ability of cleaning equipment to handle complex waste.

[0003] In related technologies, floor scrubbers mainly rely on the mechanical friction generated by the rotation of the roller brush, and work in conjunction with the airflow generated by the main fan to achieve the simultaneous removal of dry and wet waste.

[0004] However, with the increasing prevalence of pet ownership in households, pet hair is flexible and easily gets tangled. Cleaning it using the above methods can easily cause hair to get tangled at both ends of the roller brush or between the bristles, and may even clog the suction port and pipes. This not only seriously affects cleaning efficiency, but may also interrupt the cleaning process and require manual cleaning, which greatly affects the user experience and the convenience of using the equipment. Summary of the Invention

[0005] This application provides a control method, device, and cleaning equipment for cleaning equipment. By using image recognition to predict easily tangled debris, the cleaning equipment is linked to shut off the water outlet function, increase suction and brush speed, thereby achieving efficient cleaning and effectively preventing hair tangling.

[0006] In a first aspect, this application provides a control method for a cleaning device, the cleaning device comprising: a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main fan; the floor brush assembly is rotatably connected to the main body; the image recognition device is disposed on the floor brush assembly, the floor brush assembly comprising a roller brush; the method includes:

[0007] During the cleaning process, the cleaning equipment collects image information of the area to be cleaned based on the image recognition device.

[0008] If it is determined from image information that there is easily tangled debris in front of the cleaning equipment, the water pump assembly is controlled to be turned off, and the main fan is controlled to run based on the first suction force and the roller brush is controlled to run based on the first rotation speed to clean the easily tangled debris;

[0009] Among them, the first suction power is greater than the second suction power, the first rotation speed is greater than the second rotation speed, the second suction power is the suction power in the normal cleaning mode, and the second rotation speed is the rotation speed in the normal cleaning mode.

[0010] In this way, this application uses image recognition technology to pre-detect easily tangled debris, such as pet hair, and proactively switches to a targeted cleaning mode of "dry state, strong suction, high speed" before contacting such debris. This cleaning mode prevents hair from adhering to the water pump by turning off the water pump component, while simultaneously increasing suction power and roller brush speed, making it easier for hair to be directly sucked into the air duct rather than tangled on the roller brush, thus significantly reducing the risk of tangling and clogging. Furthermore, it can reduce the need for mid-cleaning stops due to hair tangling, allowing cleaning tasks to be carried out continuously. At the same time, this cleaning mode can remove hair more quickly, shortening the overall cleaning time and thus improving overall cleaning efficiency.

[0011] Furthermore, compared to existing technologies that require frequent manual intervention from users to clean the roller brush or unclog pipes, this application dynamically adjusts suction, speed, and water pump start / stop, enabling the cleaning equipment to flexibly handle easily tangled debris. It is especially suitable for scenarios with a lot of hair, such as pet households, reducing maintenance burden, improving intelligence, making the cleaning process more worry-free and smooth, and enhancing user experience and convenience.

[0012] Understandably, reducing hair entanglement lowers the extra load and wear on components such as the roller brush and motor, while also preventing increased fan load due to clogging, thus helping to extend the service life of the cleaning equipment and improve its overall reliability. In summary, this application, through an intelligent control strategy of intelligent identification and targeted control, effectively solves the problem of hair entanglement faced by existing floor scrubbers in pet-filled households and other scenarios, achieving a comprehensive improvement in cleaning effect, user experience, and equipment durability.

[0013] Optionally, the floor brush assembly also includes comb teeth disposed behind the roller brush; the method further includes:

[0014] Control the movement of the roller brush and the comb teeth so that the comb teeth can clean the easily tangled debris on the roller brush;

[0015] And control the main fan to suck away the cleaned garbage based on the first suction force.

[0016] As a physical intervention device, the comb teeth actively break up the tangled state of hair on the roller brush, effectively supplementing and reinforcing the high-speed, high-suction cleaning mode. Especially for partially tangled hair, it provides a direct mechanical solution, further reducing the possibility of hair residue. Thus, through the dual action of mechanical stripping and powerful airflow suction, the debris removed from the roller brush is ensured to be quickly and thoroughly collected, preventing it from falling back onto the cleaning surface or being re-entered by the roller brush. This improves cleaning efficiency per cycle and reduces the risk of malfunction due to the accumulation of individual hair residue. Furthermore, the comb teeth also indirectly achieve real-time cleaning of the roller brush during the cleaning process, helping to maintain the roller brush's working condition and ensure its long-term stable cleaning performance.

[0017] Optionally, the floor brush assembly also includes a cutting device, and the method further includes:

[0018] The cutting device and the roller brush are controlled to move in coordination, and the easily tangled waste on the roller brush is cut off.

[0019] And control the main fan to suck away the cut waste based on the first suction force.

[0020] In this way, the cutting device physically breaks down the continuous fiber structure of hair, transforming long, tangled strands that are difficult to suction into easily manageable fragments. These fragments are significantly smaller and less tangled, making them easier to pass through narrow channels such as suction inlets and pipes, thus reducing the likelihood of clogging and effectively solving the hair entanglement problem. Furthermore, the cutting process removes stubborn tangles that might otherwise require repeated cleaning or manual intervention, improving cleaning efficiency. In addition, for highly tangled and severely knotted hair clumps, simply increasing suction or using comb-like teeth may have limited effect; therefore, the cutting device provides an effective solution, enhancing the cleaning equipment's ability to handle extreme conditions.

[0021] Optionally, the roller brush has a first position that contacts the surface to be cleaned and a second position that is spaced at a preset distance from the surface to be cleaned; the method further includes:

[0022] During the cleaning task performed by the roller brush based on the first position, the roller brush is controlled to switch from the first position to the second position.

[0023] Therefore, by lifting the roller brush away from the surface to be cleaned, the risk of hair and other debris being caught and tangled on the roller brush through mechanical friction between the brush and the surface is reduced. With the roller brush lifted, the airflow channel in the suction area below the brush assembly is generally more unobstructed and resistance is reduced. This allows the enhanced initial suction force generated by the main fan to be more concentrated and effective on the easily tangled debris, improving the direct suction efficiency for hair. Furthermore, removing the roller brush from direct contact when cleaning easily tangled debris prevents hair from entangled with the brush bristles, protecting the roller brush and thus helping to extend its lifespan.

[0024] Optionally, the method also includes:

[0025] If the load on the roller brush is detected to be greater than or equal to a preset threshold, the roller brush speed is controlled to decrease to a third speed, and the roller brush is controlled to rotate alternately in both directions; the third speed is less than the second speed.

[0026] Therefore, when an abnormally high load is detected due to the roller brush becoming entangled or contacting a high-resistance surface, automatically reducing the roller brush speed and controlling its alternating forward and reverse rotation can proactively dislodge jams, preventing motor stalling, overheating damage, or mechanical structural damage caused by overload, thus improving the reliability and self-recovery capability of the cleaning equipment. Furthermore, the alternating forward and reverse rotation can apply alternating torque to the entangled material, helping to loosen and dismantle existing tangled clumps, attempting automatic untangling and reducing the need for manual intervention. In addition, reducing the roller brush speed when the load is too high can also reduce the risk of further entanglement and decrease frictional heat between the roller brush and the surface to be cleaned, preventing damage to the roller brush material and the surface to be cleaned.

[0027] Optionally, the floor brush assembly also includes a drive motor that detects that the load on the roller brush is greater than or equal to a preset threshold, including:

[0028] If the driving torque of the drive motor is detected to be greater than or equal to a first preset threshold and / or the fluctuation range of the roller brush rotation speed is greater than or equal to a second preset threshold, the load of the roller brush is determined to be greater than or equal to the preset threshold.

[0029] In this way, by detecting the drive torque in real time to reflect the load magnitude and the speed fluctuation to reflect the load change, the abnormal state of the roller brush can be cross-verified from different dimensions, greatly reducing the probability of false positives and false negatives, and improving the accuracy and reliability of load detection. Furthermore, both detection methods are highly sensitive to load changes, enabling early detection of roller brush entanglement or jamming, or even when the problem is still minor, allowing for early warning and intervention to prevent further deterioration.

[0030] Optionally, controlling the roller brush to rotate alternately in both directions includes:

[0031] After controlling the roller brush to rotate a first number of revolutions in the first direction, it then rotates a second number of revolutions in the second direction opposite to the first direction, and this process is repeated alternately.

[0032] In this way, alternating torsional loads are applied to the tangled material on the rollers through periodic, opposite-direction rotation. This helps loosen and untangle clumps of hair or thread that become increasingly tight due to unidirectional rotation, achieving effective untangling mechanical action. Furthermore, by pre-setting a specific number of rotations, the forward and reverse movements are controlled and orderly, avoiding the control complexity and additional mechanical shock that could result from irregular reverse rotation. Simultaneously, the limited number of rotations also helps control the duration and energy consumption of a single operation. In addition, the orderly switching between forward and reverse rotations, compared to continuous high-speed unidirectional rotation or sudden stalling, reduces the impact load on components such as the motor, providing protection.

[0033] Optionally, the cleaning equipment may also include a display device, and the method may further include:

[0034] During the cleaning process, the status information of the cleaning equipment is acquired.

[0035] The current working status of the cleaning equipment is determined based on the status information, and the current working status is displayed visually on the display device and / or a prompt message corresponding to the current working status is generated.

[0036] In this way, by transforming the operating status of cleaning equipment into intuitive visual information, such as icons, progress indicators, and animations, users can clearly perceive the working process and real-time status of the cleaning equipment, enhancing their sense of confirmation and control over the cleaning equipment's effectiveness. Furthermore, generating corresponding prompts based on the status information can proactively guide users to take necessary interventions or perform maintenance, improving cleaning efficiency and preventing equipment damage caused by neglecting problems. In addition, this transparent and timely status feedback allows users to understand the equipment's behavior, such as why it automatically slows down or why the water pump component suddenly shuts down, reducing confusion or anxiety caused by switching the equipment to automatic operation modes. This builds user understanding and trust in intelligent functions, improving the overall smoothness and satisfaction of the user experience.

[0037] Optionally, based on image information, it is determined that there is easily tangled debris in front of the cleaning equipment, including:

[0038] The image information is preprocessed to obtain the target image;

[0039] Extract target features from the target image and compare the target features with a preset feature library to determine if there is easily tangled garbage in front of the cleaning equipment;

[0040] The target features include at least linear features and length features.

[0041] In this way, preprocessing improves image quality, and by extracting and comparing linear and length features—two discriminative features for easily tangled waste—the recognition algorithm becomes more targeted, effectively distinguishing easily tangled waste from other ordinary waste or ground textures, thus reducing false positives and false negatives. Furthermore, a clear feature extraction and comparison process optimizes the algorithm structure, reduces unnecessary computation, and enables the image recognition chip to achieve fast, real-time image recognition, improving algorithm processing efficiency and real-time performance, and meeting the needs of immediate decision-making during the movement of cleaning equipment.

[0042] Secondly, this application provides a control device for a cleaning device, the cleaning device including: a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main fan; the floor brush assembly is rotatably connected to the main body; the image recognition device is disposed on the floor brush assembly, the floor brush assembly including a roller brush; the control device includes:

[0043] The acquisition module is used to acquire image information of the area to be cleaned based on an image recognition device during the cleaning process of the cleaning equipment;

[0044] The control module is used to control the water pump assembly to be shut off when it is determined from the image information that there is easily tangled debris in front of the cleaning equipment, and to control the main fan to run based on a first suction force and the roller brush to run based on a first rotation speed in order to clean the easily tangled debris.

[0045] Among them, the first suction power is greater than the second suction power, the first rotation speed is greater than the second rotation speed, the second suction power is the suction power in the normal cleaning mode, and the second rotation speed is the rotation speed in the normal cleaning mode.

[0046] Thirdly, this application provides a cleaning device, which includes: a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main fan; the floor brush assembly is rotatably connected to the main body; the image recognition device is disposed on the floor brush assembly, and the floor brush assembly includes a roller brush;

[0047] The cleaning equipment is used to perform the methods as described in any of the first aspects.

[0048] It should be noted that the second and third aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0049] The control method, apparatus, and cleaning equipment provided in this application utilize an image recognition device mounted on the floor brush assembly. During the cleaning process, the device acquires real-time image information of the area to be cleaned to identify the presence of easily entangled debris, such as pet hair. Furthermore, when image analysis determines the presence of easily entangled debris, the cleaning equipment immediately adjusts its operating parameters. This includes shutting down the water pump assembly to stop water spraying or wet mopping, ensuring the cleaning process is carried out in a dry state to prevent wastewater from wet cleaning from mixing with hair, thus preventing further entanglement or blockage. The main fan is switched to a higher initial suction power to enhance the airflow's ability to draw in hair, reducing the chance of hair adhering to the roller brush or pipes. The roller brush is accelerated to a higher initial rotation speed, using stronger mechanical action to quickly detach hair from the surface to be cleaned and fling it into the airflow channel, reducing the risk of entanglement. In this way, by controlling the high-speed roller brush in conjunction with the high-suction fan, hair is preferentially drawn directly into the dust collection channel in a dry state, preventing it from contacting the ends of the roller brush or the gaps between the bristles, thereby preventing entanglement and blockage. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0051] Figure 1 This is a partial structural schematic diagram of a cleaning device provided in an embodiment of this application;

[0052] Figure 2 This is a schematic diagram of the structure of an image recognition device provided in an embodiment of this application;

[0053] Figure 3 This is a schematic diagram illustrating the position setting of an image recognition device provided in an embodiment of this application;

[0054] Figure 4 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0055] Figure 5 A flowchart illustrating a control method for a cleaning device provided in an embodiment of this application;

[0056] Figure 6 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application;

[0057] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0058] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0059] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0060] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first rotational speed and the second rotational speed are only used to distinguish different rotational speeds and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0061] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0062] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0063] In related technologies, floor scrubbers mainly rely on the mechanical friction generated by the rotation of the roller brush, and work in conjunction with the airflow generated by the main fan to achieve the simultaneous removal of dry and wet waste.

[0064] However, with the increasing prevalence of pet ownership in households, pet hair is flexible and easily gets tangled. Cleaning it using the above methods can easily cause hair to get tangled at both ends of the roller brush or between the bristles, and may even clog the suction port and pipes. This not only seriously affects cleaning efficiency, but may also interrupt the cleaning process and require manual cleaning, which greatly affects the user experience and the convenience of using the equipment.

[0065] To address the aforementioned problems, this application provides a control method for a cleaning device. By installing an image recognition device on the floor brush assembly, the cleaning device collects real-time image information of the area to be cleaned during the cleaning process to identify whether easily entangled debris, such as pet hair, is present. Furthermore, when image information analysis determines the presence of easily entangled debris, the cleaning device immediately adjusts its operating parameters, including shutting down the water pump assembly to stop water spraying or wet mopping, ensuring the cleaning process is carried out in a dry state to avoid the mixing of wastewater from wet cleaning with hair, which could worsen entanglement or blockage; controlling the main fan to switch to a higher initial suction power to enhance the airflow's ability to draw hair away, reducing the chance of hair adhering to the roller brush or pipes; and controlling the roller brush to accelerate to a higher initial rotation speed, using stronger mechanical action to quickly detach hair from the surface to be cleaned and throw it into the airflow channel, reducing the risk of entanglement. In this way, by controlling the high-speed roller brush in conjunction with the high-suction fan, hair is preferentially drawn directly into the dust collection channel in a dry state, preventing it from contacting the ends of the roller brush or the gaps between the bristles, thereby preventing entanglement and blockage.

[0066] It should be noted that the control method for cleaning equipment provided in this application is applied to cleaning equipment, for example... Figure 1 This is a partial structural diagram of a cleaning device provided in an embodiment of this application, as shown below. Figure 1 As shown, the cleaning equipment 100 includes: a main body 101, a floor brush assembly 102, an image recognition device 103, a water pump assembly 104, and a main fan 105; the floor brush assembly 102 is rotatably connected to the main body 101; the image recognition device 103 is disposed on the floor brush assembly 102, and the floor brush assembly 102 includes a roller brush 11.

[0067] Optional, Figure 2 This is a schematic diagram of the structure of an image recognition device provided in an embodiment of this application, as shown below. Figure 2 As shown, the image recognition device 103 includes a camera 12 and a pan-tilt assembly 13. The camera 12 can be a waterproof camera, used for close-up imaging of debris on the surface to be cleaned in front of the cleaning device 100, for example... Figure 3 This is a schematic diagram illustrating the position setting of an image recognition device provided in an embodiment of this application, as shown below. Figure 3 As shown, the camera 12 is mounted on the floor brush assembly 102 via a gimbal assembly 13, at a distance of 5-10cm from the surface to be cleaned. The gimbal assembly 13 has a range of motion of 160 degrees horizontally, 120 degrees vertically, and 60 degrees roll, thereby driving the camera 12 to rotate.

[0068] For example, the lens axis of the camera 12 is set at a 30° angle to the surface to be cleaned so that the shooting range of the camera 12 accurately covers the area to be cleaned 5-10cm in front of the roller brush 11.

[0069] Optionally, the camera 12 features 1080P resolution, 30fps frame rate, 2.8mm focal length, and 80° field of view, and is equipped with an anti-fog protective cover. Furthermore, in conjunction with a supplementary lighting component, it provides illumination in low-light environments to ensure clear image capture, thereby enabling the clear identification of target features of debris, such as the linear texture and length characteristics of hair, avoiding the loss of target features due to image blur. The supplementary lighting component can be a white light-emitting diode (LED), and this application embodiment does not limit the specific device type corresponding to the supplementary lighting component.

[0070] For example, after the user activates the cleaning mode of the cleaning device 100, the camera 12 enters working mode and prepares to capture image information at 1080P resolution and 30fps frame rate. This allows the camera 12 to capture 30 frames of RGB color images per second to detect debris about to enter the roller brush 11 in advance, avoiding delays in cleaning caused by debris only being identified after it has entered the cleaning area. Optionally, the cleaning device 100 can also simultaneously record target features such as the color (e.g., black hair), shape (e.g., clumps of hair), and texture (e.g., linear texture of hair) of the debris.

[0071] Optionally, the camera 12 can also integrate an image recognition chip, which is equipped with a lightweight artificial intelligence (AI) classification model to process the image information collected by the camera 12 in real time, perform feature algorithm processing such as color, shape, and texture, and complete the rapid classification of garbage types.

[0072] For example, an image recognition chip can perform noise reduction and cropping of effective areas on image information to extract target features of the waste, such as the linear and length features of hair. A lightweight AI model is then compared with features in a pre-stored feature library, and the type of waste is determined by whether the matching degree is greater than a preset matching degree threshold. For example, the type of waste can be hair, particles, liquid, etc. This application embodiment does not specifically limit the size of the preset matching degree threshold; for example, the preset matching degree threshold is 85%.

[0073] Optionally, the cleaning device 100 also includes a display device (not shown in the figure). The image recognition chip can also send the result of identifying the type of waste to the host of the cleaning device 100. On the one hand, the type of waste is displayed on the display device. For example, taking the display device as a screen, after receiving the "waste type signal", the controller of the host immediately displays the type of waste in real time on the screen of the host, such as the screen label "hair detected" or "liquid stain detected", so that the user can intuitively understand the waste situation in the cleaning area.

[0074] On the other hand, image recognition chips can also be linked with cleaning strategies, such as interception technology after identifying hair, and increasing the amount of liquid sprayed after identifying liquid, to achieve precise adaptation of "identification-cleaning strategy".

[0075] It should be noted that the specific component type corresponding to the display device is not limited in the embodiments of this application. It can be any component that can present information in a visual form. For example, the display device can also be an LED, a digital tube, a character LCD screen, etc.

[0076] Optionally, the roller brush 11 has a first position that contacts the surface to be cleaned and a second position that is spaced at a preset distance from the surface to be cleaned.

[0077] In this embodiment, the preset distance refers to the controlled gap height between the roller brush 11 and the surface to be cleaned when the roller brush 11 is in the second position. This preset distance is designed for raising the roller brush 11, which can prevent the roller brush 11 from directly entangling hair, or optimize airflow below the suction port, etc. This embodiment does not specifically limit the size of the preset distance.

[0078] In this application, the roller brush 11 is in the first position, which can be understood as the bristles or cleaning structure of the roller brush 11 maintaining contact with the surface to be cleaned or applying a certain pressure to achieve the function of scrubbing and removing dirt. This is the lowered position of the roller brush 11. The roller brush 11 is in the second position, which can be understood as the roller brush 11 being raised as a whole, maintaining a pre-set vertical distance between it and the surface to be cleaned. This is the raised position of the roller brush 11.

[0079] Optionally, the floor brush assembly 102 may also include a comb (not shown in the figure) disposed behind the roller brush 11.

[0080] A comb can refer to a physical component with a series of teeth or grid-like structures. It can intervene between a rotating roller brush 11 and its attached materials (such as tangled hair or fibers) to comb, peel, or block the attached materials through mechanical action.

[0081] For example, when the roller brush 11 rotates carrying debris (especially tangled material) to meet the comb teeth behind it, the gaps between the comb teeth will get stuck or hook the debris. The relative motion generated by the continuous rotation of the roller brush 11 will scrape off, comb away or cut off the debris tangled on the roller brush 11.

[0082] Optionally, the floor brush assembly 102 may also include a cutting device (not shown in the figure), for example, a polyphthalamide (PPA) bristle cutter. The specific component type and structure corresponding to the cutting device are not limited in the embodiments of this application.

[0083] In this embodiment, the cutting device can refer to a mechanism or component integrated inside the floor brush assembly 102 that has mechanical cutting capabilities. It can actively cut long fibrous debris (such as hair or rope) that is wrapped around the roller brush 11 or blocked in the suction path.

[0084] Optionally, the cutting device has cutting components such as high-speed rotating blades and reciprocating cutters. These cutting components can intervene between the bristles of the roller brush 11 or near the suction port to cut bundles or clumps of tangled material into shorter fragments. The shorter fragments of waste that have been cut off are more easily drawn away by the suction of the main fan 105 (detached from the roller brush 11) or thrown off by the subsequent rotation of the roller brush 11, thereby untangling the tangled state.

[0085] Optionally, the floor brush assembly 102 may also include a drive motor (not shown in the figure).

[0086] In this embodiment of the application, the drive motor can refer to a device that converts electrical energy into mechanical rotational power. It drives the roller brush shaft directly or indirectly through a transmission mechanism (such as gears or belts), enabling the roller brush 11 to rotate.

[0087] This drive motor enables the cleaning device 100 to precisely control the rotation direction (forward / reverse), speed (first speed, second speed, third speed), and start / stop of the roller brush 11. Furthermore, as a sensor source for load detection, parameters such as the drive motor's operating current and torque output are key information sources for indirectly and in real-time detecting the load on the roller brush 11 (whether entanglement or jamming has occurred). By analyzing changes in these electrical parameters, the working state of the roller brush 11 can be determined, thereby triggering corresponding protection or cleaning actions.

[0088] For example, Figure 4 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 4 As shown, taking a home setting as an example, the cleaning device 100 can be a floor scrubber, and this application scenario includes floor scrubbers and pet hair 200.

[0089] The user starts the floor scrubber in the living room and selects the regular cleaning mode to perform the cleaning task on the surfaces to be cleaned. At this time, the water pump component is in the on state to spray an appropriate amount of clean water or cleaning solution onto the roller brush or the surface to be cleaned; the main fan operates at the second suction level, and the roller brush rotates at the second speed to perform wet scrubbing cleaning on the surface to be cleaned.

[0090] As the floor scrubber moves, an image recognition device mounted on the brush assembly continuously collects image information of the surface to be cleaned. When the floor scrubber approaches or there are pet hairs 200 on the surface to be cleaned, the image recognition device can capture image information containing the pet hairs 200.

[0091] Further, the floor washer processes and analyzes the image information, and determines that there is pet hair 200 in front based on image features (such as slender linear features). After confirming the presence of pet hair 200 in front, the floor washer immediately performs the following linkage control:

[0092] Close the water pump assembly, that is, stop spraying water. This is to prevent the adhesion of pet hair 200 from increasing after encountering water, making it more difficult to be sucked away, and to avoid wet hair sticking to the roller brush or pipeline.

[0093] Increase the suction of the main blower, that is, increase the suction of the main blower from the second suction to the first suction. The stronger airflow aims to directly suck the loose pet hair 200 from the surface to be cleaned into the air duct forcefully, avoiding it being卷入 by the roller brush.

[0094] Increase the rotation speed of the roller brush, that is, increase the rotation speed of the roller brush from the second rotation speed to the first rotation speed. The roller brush rotating at a high speed can more effectively throw up and loosen the pet hair 200 that may adhere to the surface to be cleaned, making it easier to be taken away by the increased suction.

[0095] In this way, the floor washer cleans the area where the pet hair 200 is located in this "dry state, strong suction, high speed" targeted cleaning mode to achieve key cleaning of the pet hair 200.

[0096] Optionally, after confirming that there is no easily entangled garbage in front according to the image information collected by the image recognition device, or after a preset time or a certain distance, the floor washer can automatically restore the device to the normal cleaning mode, that is, restart the water pump assembly to resume wet mopping; adjust the suction of the main blower back to the second suction; adjust the rotation speed of the roller brush back to the second rotation speed. So that the floor washer continues to clean other areas of the living room in the normal mode and continuously performs image detection to prepare for dealing with the next occurrence of easily entangled garbage.

[0097] It should be noted that this application can also be applied to mall scenarios, school scenarios, and office scenarios. The embodiments of this application do not limit the specific application scenarios, and the above are only illustrative examples.

[0098] It should be noted that the cleaning device 100 can be any intelligent handheld mobile device with a cleaning function in addition to the floor washer. The embodiments of this application do not specifically limit the type of the cleaning device 100.

[0099] The following uses specific embodiments to detail the technical solution of this application and how the technical solution of this application solves the above technical problems. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0100] Exemplarily, Figure 5This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application. The control method for the cleaning device is applied to... Figures 1-3 The cleaning equipment shown, such as Figure 5 As shown, the control method for this cleaning equipment includes the following steps:

[0101] S501. During the cleaning process, the cleaning equipment collects image information of the area to be cleaned based on the image recognition device.

[0102] In this embodiment of the application, image information may refer to visual information collected by the image recognition device on the floor brush assembly of the cleaning equipment, which reflects the condition of the surface to be cleaned in the area to be cleaned. It may include information such as the texture, shape, color, and spatial distribution of the garbage. This embodiment of the application does not limit the specific content corresponding to the image information.

[0103] For example, during the cleaning process of the cleaning equipment performing cleaning tasks according to a preset path or user instructions, the image recognition device integrated on the floor brush assembly continuously or periodically collects real-time image information of the area to be cleaned in front of the equipment. For example, after the camera or vision sensor enters the working state, it collects image information of the area to be cleaned in front of the equipment at 1080P resolution and 30fps frame rate so as to instantly identify the garbage that is about to enter the roller brush.

[0104] S502. When it is determined from the image information that there is easily tangled garbage in front of the cleaning equipment, the water pump assembly is controlled to be turned off, and the main fan is controlled to run based on the first suction force and the roller brush is controlled to run based on the first speed to clean the easily tangled garbage.

[0105] Among them, the first suction power is greater than the second suction power, the first rotation speed is greater than the second rotation speed, the second suction power is the suction power in the normal cleaning mode, and the second rotation speed is the rotation speed in the normal cleaning mode.

[0106] In this embodiment, "easily tangled waste" can refer to waste with physical properties such as flexibility, slenderness, and easy bending and tangling, such as pet hair, long human hair, ropes, and fibrous fibers. These characteristics make it easy for the waste to tangle and knot under the rotation of the brush. This embodiment does not limit the specific type of waste corresponding to easily tangled waste.

[0107] The first suction power can refer to a specific suction level higher than that of the regular cleaning mode, activated by the main fan when easily tangled debris is detected. This suction power is designed to generate a sufficiently strong airflow to overcome the adhesion and inertia of hair-like debris and effectively draw it into the air duct. For example, the first suction power can be 20,000-22,000 Pa. This application embodiment does not specifically limit the magnitude of the suction power corresponding to the first suction power.

[0108] The second suction power can refer to the default suction level used by the cleaning device when it does not detect easily tangled debris or performs normal cleaning, i.e., the suction power in the regular cleaning mode. This second suction power can be set according to factors such as balancing cleaning effect, energy consumption, and noise. In this application embodiment, the suction power corresponding to the second suction power is not specifically limited.

[0109] The first rotational speed can refer to a specific rotational speed, higher than that of the normal cleaning mode, at which the roller brush is controlled to activate when easily entangled debris is detected. This first rotational speed is used to enhance the roller brush's ability to strip and agitate hair on the surface to be cleaned, making it easier for the enhanced airflow to carry it away. For example, the first rotational speed can be 600-650 rpm, and the embodiments of this application do not specifically limit the magnitude of the rotational speed corresponding to the first rotational speed.

[0110] The second rotational speed can refer to the default rotational speed of the roller brush when the cleaning equipment is in normal cleaning mode. For example, the second rotational speed can be 500-550 rpm. In this embodiment of the application, the specific value of the rotational speed corresponding to the second rotational speed is not limited.

[0111] The standard cleaning mode refers to the standard operating mode of the cleaning equipment. In the standard cleaning mode, parameters such as the water pump assembly, main fan suction power, and roller brush speed are all set to preset default values, such as second suction power and second speed, which is suitable for cleaning most common dust, debris, and dirt.

[0112] For example, when the image processing algorithm identifies scattered hair (≥5 hairs / cm²) or hair clumps in front of the cleaning device based on the collected image information, the cleaning device performs preset control actions, including: controlling the water pump component to shut down the water spraying or wet mopping function to avoid wetting the hair and making it more difficult to clean; controlling the suction power of the main fan to increase to a preset first suction power; and controlling the drive speed of the roller brush to increase to a preset first speed to reduce hair tangling.

[0113] In this way, this application uses image recognition technology to pre-detect easily tangled debris, such as pet hair, and proactively switches to a targeted cleaning mode of "dry state, strong suction, high speed" before contacting such debris. This cleaning mode prevents hair from adhering to the water pump by turning off the water pump component, while simultaneously increasing suction power and roller brush speed, making it easier for hair to be directly sucked into the air duct rather than tangled on the roller brush, thus significantly reducing the risk of tangling and clogging. Furthermore, it can reduce the need for mid-cleaning stops due to hair tangling, allowing cleaning tasks to be carried out continuously. At the same time, this cleaning mode can remove hair more quickly, shortening the overall cleaning time and thus improving overall cleaning efficiency.

[0114] Furthermore, compared to existing technologies that require frequent manual intervention from users to clean the roller brush or unclog pipes, this application dynamically adjusts suction, speed, and water pump start / stop, enabling the cleaning equipment to flexibly handle easily tangled debris. It is especially suitable for scenarios with a lot of hair, such as pet households, reducing maintenance burden, improving intelligence, making the cleaning process more worry-free and smooth, and enhancing user experience and convenience.

[0115] Understandably, reducing hair entanglement lowers the extra load and wear on components such as the roller brush and motor, while also preventing increased fan load due to clogging, thus helping to extend the service life of the cleaning equipment and improve its overall reliability. In summary, this application, through an intelligent control strategy of intelligent identification and targeted control, effectively solves the problem of hair entanglement faced by existing floor scrubbers in pet-filled households and other scenarios, achieving a comprehensive improvement in cleaning effect, user experience, and equipment durability.

[0116] Optionally, the method also includes:

[0117] Control the movement of the roller brush and the comb teeth so that the comb teeth can clean the easily tangled debris on the roller brush;

[0118] And control the main fan to suck away the cleaned garbage based on the first suction force.

[0119] For example, if the floor brush assembly is equipped with a comb-like component located behind the roller brush, the cleaning device can further coordinate the movement of the roller brush and the comb-like component. For instance, the roller brush is controlled to rotate at a first rotational speed, causing the bristles or attached debris on its surface to pass over the comb-like component behind it. The comb-like component moves relative to the roller brush, and its toothed structure can insert into the gaps between the roller brush bristles, thereby removing hair and other debris entangled or attached to the roller brush. Because the main fan operates with enhanced first suction, a strong airflow is formed behind the roller brush. Therefore, the hair removed by the comb-like component can be promptly drawn into the air duct, and some hair that cannot be promptly drawn in will be washed away during the self-cleaning process, thus completing the coordinated cleaning process of cleaning and suction.

[0120] Cleaning can be cutting, combing, or a combination of cutting and combing. This application does not limit the specific actions corresponding to cleaning.

[0121] As a physical intervention device, the comb teeth actively break up the tangled state of hair on the roller brush, effectively supplementing and reinforcing the high-speed, high-suction cleaning mode. Especially for partially tangled hair, it provides a direct mechanical solution, further reducing the possibility of hair residue. Thus, through the dual action of mechanical stripping and powerful airflow suction, the debris removed from the roller brush is ensured to be quickly and thoroughly collected, preventing it from falling back onto the cleaning surface or being re-entered by the roller brush. This improves cleaning efficiency per cycle and reduces the risk of malfunction due to the accumulation of individual hair residue. Furthermore, the comb teeth also indirectly achieve real-time cleaning of the roller brush during the cleaning process, helping to maintain the roller brush's working condition and ensure its long-term stable cleaning performance.

[0122] Optionally, the method also includes:

[0123] The cutting device and the roller brush are controlled to move in coordination, and the easily tangled waste on the roller brush is cut off.

[0124] And control the main fan to suck away the cut waste based on the first suction force.

[0125] In this embodiment, the cutting device and the roller brush can move left and right along the axis of the roller brush, or the cutting device can make short-distance cross movements, similar to the opening and closing of scissors, to cut the hair. This embodiment does not limit the specific movement mode corresponding to the coordinated movement of the cutting device and the roller brush, as long as it can achieve the cutting process of hair.

[0126] In the process of the cutting device and the roller brush working together, the roller brush can rotate while the cutting device remains stationary.

[0127] Alternatively, a roller brush, a cutting device, and a scraper assembly can work together to clean up easily tangled debris on the roller brush.

[0128] For example, if the floor brush assembly is also equipped with a cutting device, the movement of the roller brush and the cutting device can be further coordinated. The specific process is as follows: the roller brush is controlled to rotate at a first rotational speed, causing hair and other debris entangled on its surface to be transported to the working area of ​​the cutting device; the cutting device is activated, cutting the transported debris, breaking long fibers and tangled hair into shorter debris fragments. Then, the main fan operates with enhanced suction, creating a strong airflow near the cutting area, rapidly drawing the smaller, less entangled debris fragments into the air duct, completing the coordinated cutting-suction cleaning process.

[0129] The cutting area can be the area where the comb teeth are located. The cutting device can be set inside the comb tooth structure or around the comb tooth structure. The embodiments of this application do not specifically limit the setting position of the cutting device.

[0130] In this way, the cutting device physically breaks down the continuous fiber structure of hair, transforming long, tangled strands that are difficult to suction into easily manageable fragments. These fragments are significantly smaller and less tangled, making them easier to pass through narrow channels such as suction inlets and pipes, thus reducing the likelihood of clogging and effectively solving the hair entanglement problem. Furthermore, the cutting process removes stubborn tangles that might otherwise require repeated cleaning or manual intervention, improving cleaning efficiency. In addition, for highly tangled and severely knotted hair clumps, simply increasing suction or using comb-like teeth may have limited effect; therefore, the cutting device provides an effective solution, enhancing the cleaning equipment's ability to handle extreme conditions.

[0131] Optionally, the roller brush has a first position that contacts the surface to be cleaned and a second position that is spaced at a preset distance from the surface to be cleaned; the method further includes:

[0132] During the cleaning task performed by the roller brush based on the first position, the roller brush is controlled to switch from the first position to the second position.

[0133] It should be noted that when cleaning equipment performs cleaning tasks, the roller brush is usually in the first position to contact the surface to be cleaned in order to perform normal wiping or sweeping.

[0134] Optionally, the control of the roller brush to switch from the first position to the second position can be done before cleaning up easily tangled garbage, or during the process of combing or cutting easily tangled garbage. The embodiments of this application do not specifically limit the timing of the position switching.

[0135] For example, when easily tangled debris is detected based on image information, or during the execution of an enhanced cleaning mode targeting easily tangled debris, the roller brush assembly can be controlled to adjust its height. This raises the roller brush from a first position contacting the surface to be cleaned, switching it to a second position maintaining a preset distance from the surface. In the second position, the roller brush rotates at a first rotational speed, but its bristles or surface no longer directly contact the surface or maintain a very small gap. This allows the airflow to act more directly and concentratedly on the easily tangled debris, efficiently sucking it in and improving suction efficiency.

[0136] Therefore, by lifting the roller brush away from the surface to be cleaned, the risk of hair and other debris being caught and tangled on the roller brush through mechanical friction between the brush and the surface is reduced. With the roller brush lifted, the airflow channel in the suction area below the brush assembly is generally more unobstructed and resistance is reduced. This allows the enhanced initial suction force generated by the main fan to be more concentrated and effective on the easily tangled debris, improving the direct suction efficiency for hair. Furthermore, removing the roller brush from direct contact when cleaning easily tangled debris prevents hair from entangled with the brush bristles, protecting the roller brush and thus helping to extend its lifespan.

[0137] Optionally, the method also includes:

[0138] If the load on the roller brush is detected to be greater than or equal to a preset threshold, the roller brush speed is controlled to decrease to a third speed, and the roller brush is controlled to rotate alternately in both directions; the third speed is less than the second speed.

[0139] In this embodiment, the preset threshold can refer to a pre-set reference value used to determine whether the roller brush is under abnormally high load. This preset threshold can be set based on the load range of the roller brush under normal cleaning conditions. When the load value detected in real time reaches or exceeds this preset threshold, it is determined that serious entanglement or jamming may occur.

[0140] The third rotational speed can refer to a specific rotational speed value lower than the second rotational speed in the normal cleaning mode, activated after the roller brush load is detected to exceed a preset threshold. This third rotational speed is used to minimize rotational kinetic energy and the tendency for entanglement to worsen while ensuring that the roller brush can still rotate. It is usually a low, safe rotational speed. The specific rotational speed corresponding to the third rotational speed is not limited in the embodiments of this application. For example, the third rotational speed is 450 rpm.

[0141] For example, during the operation of the cleaning equipment, the load on the roller brush is continuously or periodically monitored. When the detected load value of the roller brush is greater than or equal to a preset threshold, it indicates that the roller brush may have become severely entangled or encountered abnormal resistance. At this time, the rotation speed of the roller brush can be reduced from the current speed to a lower third speed; at the same time, the rotation direction of the roller brush is controlled to alternate between forward and reverse, that is, the rotation direction is changed periodically. In this way, by reducing mechanical impact force and changing the entanglement direction, an attempt is made to automatically untangle or alleviate the entanglement on the roller brush.

[0142] The current rotational speed may be the first rotational speed or the second rotational speed. In this embodiment, the specific rotational speed corresponding to the current rotational speed is not limited.

[0143] Optionally, if the load on the roller brush is detected to be less than a preset threshold, the roller brush is controlled to increase from the third speed to the first speed or the second speed. In this embodiment of the application, the specific speed to which the roller brush is increased after the load returns to normal is not specifically limited, and it can be determined based on the application scenario requirements at that time.

[0144] Therefore, when an abnormally high load is detected due to the roller brush becoming entangled or contacting a high-resistance surface, automatically reducing the roller brush speed and controlling its alternating forward and reverse rotation can proactively dislodge jams, preventing motor stalling, overheating damage, or mechanical structural damage caused by overload, thus improving the reliability and self-recovery capability of the cleaning equipment. Furthermore, the alternating forward and reverse rotation can apply alternating torque to the entangled material, helping to loosen and dismantle existing tangled clumps, attempting automatic untangling and reducing the need for manual intervention. In addition, reducing the roller brush speed when the load is too high can also reduce the risk of further entanglement and decrease frictional heat between the roller brush and the surface to be cleaned, preventing damage to the roller brush material and the surface to be cleaned.

[0145] Optionally, the floor brush assembly also includes a drive motor that detects that the load on the roller brush is greater than or equal to a preset threshold, including:

[0146] If the driving torque of the drive motor is detected to be greater than or equal to a first preset threshold and / or the fluctuation range of the roller brush rotation speed is greater than or equal to a second preset threshold, the load of the roller brush is determined to be greater than or equal to the preset threshold.

[0147] In this embodiment, the first preset threshold can refer to a pre-set reference value used to determine whether the drive torque of the drive motor is at an abnormally high level. This first preset threshold can be calibrated based on the torque range of the drive motor when the roller brush is normally cleaning various surfaces to be cleaned. When sensors such as current sensors and roller brush torque sensors detect that the torque continuously or instantaneously exceeds the first preset threshold, it indicates that the roller brush load has exceeded the normal design operating range.

[0148] The second preset threshold refers to a pre-set reference value used to determine whether the roller brush speed fluctuation is in an abnormally unstable state. Since hair entanglement causes roller brush speed fluctuations greater than ±20 rpm, this second preset threshold is calibrated based on the allowable fluctuation range of the roller brush speed during normal cleaning. When the speed fluctuation amplitude detected by sensors such as Hall sensors and encoders exceeds the second preset threshold, it indicates that the roller brush's rotational motion has been severely and abnormally disturbed.

[0149] It should be noted that the embodiments of this application do not specifically limit the numerical values ​​corresponding to the first preset threshold and the second preset threshold.

[0150] For example, the drive torque of the drive motor driving the roller brush is detected in real time using a roller brush torque sensor. When the detected drive torque is greater than or equal to a first preset threshold, it indicates that the drive motor is using power far exceeding the normal level to maintain the rotation of the roller brush, reflecting that the roller brush has encountered huge resistance, thus determining that the roller brush is under abnormal load.

[0151] Alternatively, the actual rotational speed of the roller brush can be detected in real time using an encoder. When the fluctuation range of this rotational speed (such as instantaneous rate of change or standard deviation) is greater than or equal to a second preset threshold, it indicates that the rotational motion of the roller brush is subject to intermittent and uneven resistance (such as being locally stuck), which indirectly reflects drastic changes in load, thereby determining that the roller brush load is abnormal.

[0152] Thus, if any or all of the above conditions are detected, protective control strategies such as slowing down the brush and alternating forward and reverse rotation are immediately triggered. Optionally, the high speed of the brush is restored only after the brush has loosened and become entangled in clumps, i.e., the load is less than a preset threshold.

[0153] In this way, by detecting the drive torque in real time to reflect the load magnitude and the speed fluctuation to reflect the load change, the abnormal state of the roller brush can be cross-verified from different dimensions, greatly reducing the probability of false positives and false negatives, and improving the accuracy and reliability of load detection. Furthermore, both detection methods are highly sensitive to load changes, enabling early detection of roller brush entanglement or jamming, or even when the problem is still minor, allowing for early warning and intervention to prevent further deterioration.

[0154] Optionally, controlling the roller brush to rotate alternately in both directions includes:

[0155] After controlling the roller brush to rotate a first number of revolutions in the first direction, it then rotates a second number of revolutions in the second direction opposite to the first direction, and this process is repeated alternately.

[0156] In this embodiment, the first direction can refer to the specified rotation direction of the roller brush in the alternating forward and reverse rotation mode. It can usually be defined as the default rotation direction of the roller brush during normal cleaning, such as forward rotation or clockwise direction.

[0157] The first number of revolutions can refer to the number of continuous rotations of the brush in the first direction. It can be a preset integer value or a decimal representing a non-integer number of revolutions. In this embodiment, the specific value corresponding to the first number of revolutions is not limited. For example, the first number of revolutions is 3 revolutions.

[0158] The second direction can refer to a direction that is completely opposite to the first direction in terms of the rotation axis. In the alternating forward and reverse rotation mode, after the brush completes the rotation in the first direction, it switches to the second direction, which is usually reverse or counterclockwise.

[0159] The second number of revolutions can refer to the number of continuous rotations of the brush in the second direction. It can be the same as or different from the first number of revolutions. This application does not limit the specific value corresponding to the second number of revolutions; for example, the second number of revolutions is 1 revolution. The first number of revolutions and the second number of revolutions together define a complete forward and reverse rotation cycle.

[0160] Optionally, the specific values ​​of the first and second number of turns can be set or adjusted according to the strategy. For example, a smaller number of turns can be used when there is severe entanglement to increase the frequency of direction switching, making the untangling action more targeted and adaptable.

[0161] For example, when an abnormal load is detected on the roller brush and an alternating forward and reverse rotation mode is triggered, the roller brush can be controlled to rotate a first number of revolutions in a first direction. After completing the first number of revolutions, the roller brush is controlled to stop and reverse, that is, rotate a second number of revolutions in a second direction completely opposite to the first direction. This process of "rotating a first number of revolutions in the first direction - rotating a second number of revolutions in the second direction" is executed alternately in a cycle, forming a periodic forward and reverse rotation action, until the load is reduced to a preset threshold or a preset number of attempts or attempt time is reached, and then it stops.

[0162] It should be noted that the embodiments of this application do not specifically limit the preset number of attempts or the attempt time, which can be modified manually.

[0163] In this way, alternating torsional loads are applied to the tangled material on the rollers through periodic, opposite-direction rotation. This helps loosen and untangle clumps of hair or thread that become increasingly tight due to unidirectional rotation, achieving effective untangling mechanical action. Furthermore, by pre-setting a specific number of rotations, the forward and reverse movements are controlled and orderly, avoiding the control complexity and additional mechanical shock that could result from irregular reverse rotation. Simultaneously, the limited number of rotations also helps control the duration and energy consumption of a single operation. In addition, the orderly switching between forward and reverse rotations, compared to continuous high-speed unidirectional rotation or sudden stalling, reduces the impact load on components such as the motor, providing protection.

[0164] Optionally, the method also includes:

[0165] During the cleaning process, the status information of the cleaning equipment is acquired.

[0166] The current working status of the cleaning equipment is determined based on the status information, and the current working status is displayed visually on the display device and / or a prompt message corresponding to the current working status is generated.

[0167] In this embodiment, status information refers to data or logic signals generated or recorded by various sensors, controllers, and functional modules within the cleaning equipment during operation, which reflect a specific aspect of the equipment's status. For example, status information may include image recognition results, roller brush motor current values, water tank level sensor signals, fan speed, fault codes, etc.

[0168] The current operating status can refer to a general description of the current operating condition of the equipment, derived from acquired status information and logical judgment. For example, the current operating status may include the currently executing cleaning mode, anomaly warning, completion prompt, initial identification results, process status feedback, etc.

[0169] The prompt message can refer to the message content generated to convey the current working status or related operation suggestions, maintenance requirements, and abnormal alarms to the user. Its form is not limited to text prompts, graphic prompts, sound prompts, light prompts, voice prompts, etc., and the embodiments of this application do not specifically limit the form of the prompt message.

[0170] Optionally, the prompt information can be displayed through the display device of the cleaning equipment, such as showing corresponding animation switching on the screen, displaying the currently executing cleaning mode, and changing the color of indicator lights or breathing lights to allow users to more intuitively understand the working status of the cleaning equipment. The animation switching can be a rotating brush animation, a suction intensity progress bar, etc., and this application embodiment does not limit the specific display content corresponding to the animation switching.

[0171] Optionally, the prompt can be delivered via voice, informing the user of the current cleaning status and required actions. For example, the voice prompt might include the following:

[0172] Initial identification result: Hair was detected on the surface to be cleaned, and the anti-tangling cleaning mode was activated;

[0173] Process status feedback: The roller brush speed is being increased to focus on cleaning hair;

[0174] Warning: There is a risk of the roller brush becoming entangled. Please clean it later.

[0175] Completion notification: Hair cleaning complete, the roller brush has automatically self-cleaned.

[0176] For example, during the cleaning process, the cleaning equipment continuously or periodically acquires various status information reflecting its operating status. Furthermore, based on a preset algorithm or mapping relationship, this status information is analyzed to determine the current working state of the cleaning equipment. Examples of current working states include "routine cleaning," "cleaning easily tangled debris," "abnormal roller brush load - untangling," and "low water tank."

[0177] After determining the current working status, feedback can be provided to the user in two main ways. One way is to visually display the current working status on the device's built-in display using icons, text, progress bars, colors, etc. The other way is to generate a prompt message that matches the current working status, which can be conveyed to the user through voice, beeping sounds, or push notifications from the terminal device application (APP).

[0178] In this way, by transforming the operating status of cleaning equipment into intuitive visual information, such as icons, progress indicators, and animations, users can clearly perceive the working process and real-time status of the cleaning equipment, enhancing their sense of confirmation and control over the cleaning equipment's effectiveness. Furthermore, generating corresponding prompts based on the status information can proactively guide users to take necessary interventions or perform maintenance, improving cleaning efficiency and preventing equipment damage caused by neglecting problems. In addition, this transparent and timely status feedback allows users to understand the equipment's behavior, such as why it automatically slows down or why the water pump component suddenly shuts down, reducing confusion or anxiety caused by switching the equipment to automatic operation modes. This builds user understanding and trust in intelligent functions, improving the overall smoothness and satisfaction of the user experience.

[0179] Optionally, based on image information, it is determined that there is easily tangled debris in front of the cleaning equipment, including:

[0180] The image information is preprocessed to obtain the target image;

[0181] Extract target features from the target image and compare the target features with a preset feature library to determine if there is easily tangled garbage in front of the cleaning equipment;

[0182] The target features include at least linear features and length features.

[0183] In this embodiment, preprocessing refers to a series of standardization and optimization operations performed on the original image data before image feature extraction and analysis. Its purpose is to eliminate or reduce interference from noise, uneven illumination, etc., enhance the region of interest, and provide a higher-quality, more consistent input image for subsequent processing. Preprocessing may include algorithms such as grayscale conversion, filtering, denoising, contrast enhancement, binarization, and cropping. This embodiment does not limit the specific algorithms used for preprocessing.

[0184] For example, the image recognition chip integrated into the cleaning equipment can optimize the acquired images. For instance, it can filter out image noise caused by sewage reflection and dust obstruction through denoising algorithms, and use Region of Interest (ROI) cropping technology to retain only the garbage area of ​​the surface to be cleaned, excluding irrelevant areas such as the floor brush housing and roller brush, thereby reducing the chip's computational load and improving processing efficiency.

[0185] After obtaining the optimized target image, the target features in the target image can be extracted by image analysis algorithms (such as edge detection, texture analysis, color segmentation or feature extraction based on deep learning). The extracted target features are then compared and matched with the feature templates of easily tangled garbage in the preset feature library. If the matching degree reaches the set threshold, it is determined that there is easily tangled garbage in front of the cleaning equipment.

[0186] A preset feature library can refer to a database or set of models that are pre-built and stored in the cleaning equipment. The preset feature library contains standard feature data of easily tangled waste, serving as a reference benchmark for real-time identification and comparison. For example, the standard feature data includes features corresponding to different types and shapes of hair and tangle.

[0187] Linear features refer to structural features extracted from an image that describe whether a target object exhibits a linear shape such as elongated, curved, or fibrous. They reflect the aspect ratio and contour characteristics of the object in space.

[0188] Length features can refer to features extracted from an image that describe the pixel scale occupied by a target object in the image or estimate its actual physical length. The length feature can be set to be greater than a length threshold of 5mm. It is used to determine whether the object size reaches the range of "easy entanglement," helping to filter out short debris and other non-entangled objects. This application does not specifically limit the specific length threshold corresponding to the length feature; the above is merely an example.

[0189] For example, an image recognition chip can extract target features of different types of waste from a pre-processed image, such as extracting linear and length features from hair, and compare them with a pre-stored preset feature library; when the feature matching degree is greater than or equal to the preset matching degree threshold, the waste type is directly determined to be hair; if the matching degree is less than the preset matching degree threshold, it is marked as unknown waste to avoid misjudgment.

[0190] Optionally, the image information can be input into a pre-trained machine learning model to identify the type of waste in the image and further confirm whether there is any easily tangled waste.

[0191] The machine learning model can be a convolutional neural network model, a classification module, a YOLO model, etc. The specific algorithm model corresponding to the machine learning model is not limited in the embodiments of this application.

[0192] In this way, preprocessing improves image quality, and by extracting and comparing linear and length features—two discriminative features for easily tangled waste—the recognition algorithm becomes more targeted, effectively distinguishing easily tangled waste from other ordinary waste or ground textures, thus reducing false positives and false negatives. Furthermore, a clear feature extraction and comparison process optimizes the algorithm structure, reduces unnecessary computation, and enables the image recognition chip to achieve fast, real-time image recognition, improving algorithm processing efficiency and real-time performance, and meeting the needs of immediate decision-making during the movement of cleaning equipment.

[0193] In the foregoing embodiments, the control method for the cleaning equipment provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the cleaning equipment, as the executing entity, may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0194] For example, Figure 6 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application, as shown below. Figure 6 As shown, the control device 600 of the cleaning equipment is applied to the cleaning equipment, which includes: a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main fan; the floor brush assembly is rotatably connected to the main body; the image recognition device is mounted on the floor brush assembly, which includes a roller brush; the control device 600 of the cleaning equipment includes:

[0195] The acquisition module 601 is used to acquire image information of the area to be cleaned based on an image recognition device during the cleaning process of the cleaning equipment performing the cleaning task.

[0196] The control module 602 is used to control the water pump assembly to be turned off when it is determined from the image information that there is easily tangled garbage in front of the cleaning equipment, and to control the main fan to run based on a first suction force and the roller brush to run based on a first rotation speed, so as to clean the easily tangled garbage.

[0197] Among them, the first suction power is greater than the second suction power, the first rotation speed is greater than the second rotation speed, the second suction power is the suction power in the normal cleaning mode, and the second rotation speed is the rotation speed in the normal cleaning mode.

[0198] Optionally, the floor brush assembly also includes comb teeth disposed behind the roller brush; the control device 600 of the cleaning equipment further includes a first control module, which is used for:

[0199] Control the movement of the roller brush and the comb teeth so that the comb teeth can clean the easily tangled debris on the roller brush;

[0200] And control the main fan to suck away the cleaned garbage based on the first suction force.

[0201] Optionally, the floor brush assembly also includes a cutting device, and the control device 600 of the cleaning equipment further includes a second control module, which is used for:

[0202] The cutting device and the roller brush are controlled to move in coordination, and the easily tangled waste on the roller brush is cut off.

[0203] And control the main fan to suck away the cut waste based on the first suction force.

[0204] Optionally, the roller brush has a first position in contact with the surface to be cleaned and a second position at a preset distance from the surface to be cleaned; the control device 600 of the cleaning equipment further includes a third control module, which is used for:

[0205] During the cleaning task performed by the roller brush based on the first position, the roller brush is controlled to switch from the first position to the second position.

[0206] Optionally, the control device 600 of the cleaning equipment further includes a fourth control module, which is used for:

[0207] If the load on the roller brush is detected to be greater than or equal to a preset threshold, the roller brush speed is controlled to decrease to a third speed, and the roller brush is controlled to rotate alternately in both directions; the third speed is less than the second speed.

[0208] Optionally, the floor brush assembly also includes a drive motor, and the fourth control module includes a detection unit for:

[0209] If the driving torque of the drive motor is detected to be greater than or equal to a first preset threshold and / or the fluctuation range of the roller brush rotation speed is greater than or equal to a second preset threshold, the load of the roller brush is determined to be greater than or equal to the preset threshold.

[0210] Optionally, the fourth control module includes a control unit, which is used for:

[0211] After controlling the roller brush to rotate a first number of revolutions in the first direction, it then rotates a second number of revolutions in the second direction opposite to the first direction, and this process is repeated alternately.

[0212] Optionally, the cleaning equipment also includes a display device, and the control device 600 of the cleaning equipment further includes a display module, which is used for:

[0213] During the cleaning process, the status information of the cleaning equipment is acquired.

[0214] The current working status of the cleaning equipment is determined based on the status information, and the current working status is displayed visually on the display device and / or a prompt message corresponding to the current working status is generated.

[0215] Optionally, the control module 602 includes a determining unit, which is used to:

[0216] The image information is preprocessed to obtain the target image;

[0217] Extract target features from the target image and compare the target features with a preset feature library to determine if there is easily tangled garbage in front of the cleaning equipment;

[0218] The target features include at least linear features and length features.

[0219] It should be noted that the specific implementation principle and effect of the control device 600 of the above-mentioned cleaning equipment can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0220] This application also provides an electronic device. Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 7 As shown, the electronic device may include: a processor 701 and a memory 702 communicatively connected to the processor 701; the memory 702 stores a computer program; the processor 701 executes the computer program stored in the memory 702, causing the processor 701 to perform the method described in any of the above embodiments.

[0221] The memory 702 and the processor 701 can be connected via bus 703.

[0222] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0223] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0224] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0225] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0226] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0227] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0228] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0229] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0230] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0231] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0232] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0233] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0234] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0235] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0236] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0237] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0238] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A control method of a cleaning apparatus, characterized by, The cleaning equipment comprises a main body, a ground brush assembly, an image recognition device, a water pump assembly and a main air blower; the ground brush assembly is rotationally connected with the main body; the image recognition device is arranged on the ground brush assembly, and the ground brush assembly comprises a rolling brush; the method comprises: In the process of the cleaning equipment performing a cleaning task, image information of a to-be-cleaned area is acquired based on the image recognition device; In a case where it is determined based on the image information that there is easily-entangled garbage in front of the cleaning equipment, the water pump assembly is controlled to be in an off state, and the main air blower is controlled to operate based on a first suction force and the rolling brush is controlled to operate based on a first rotating speed, so as to clean the easily-entangled garbage; wherein the first suction force is greater than a second suction force, and the first rotating speed is greater than a second rotating speed, the second suction force being a suction force in a normal cleaning mode, and the second rotating speed being a rotating speed in the normal cleaning mode.

2. The method of claim 1, wherein, The ground brush assembly further comprises a comb tooth piece arranged behind the rolling brush; the method further comprises: controlling the rolling brush to move in cooperation with the comb tooth piece, so that the comb tooth piece cleans the easily-entangled garbage on the rolling brush; and controlling the main air blower to suck away the cleaned garbage based on the first suction force.

3. The method of claim 2, wherein, The ground brush assembly further comprises a cutting device; the method further comprises: controlling the cutting device and the rolling brush to move in cooperation and cut the easily-entangled garbage on the rolling brush; and controlling the main air blower to suck away the cut garbage based on the first suction force.

4. The method according to any one of claims 1-3, characterized in that, The rolling brush has a first position in contact with a to-be-cleaned surface and a second position spaced apart from the to-be-cleaned surface by a preset distance; the method further comprises: In the process of the rolling brush performing a cleaning task based on the first position, the rolling brush is controlled to switch from the first position to the second position.

5. The method of claim 1, wherein, The method further comprises: In a case where it is detected that a load of the rolling brush is greater than or equal to a preset threshold, the rotating speed of the rolling brush is controlled to be reduced to a third rotating speed, and the rolling brush is controlled to rotate alternately in a forward direction and a reverse direction; the third rotating speed is less than the second rotating speed.

6. The method of claim 5, wherein, The ground brush assembly further comprises a driving motor; the detection that the load of the rolling brush is greater than or equal to the preset threshold comprises: In a case where it is detected that a driving torque of the driving motor is greater than or equal to a first preset threshold and / or a fluctuation amplitude of the rotating speed of the rolling brush is greater than or equal to a second preset threshold, it is determined that the load of the rolling brush is greater than or equal to the preset threshold.

7. The method of claim 5, wherein, The control of the rolling brush to rotate alternately in the forward direction and the reverse direction comprises: controlling the rolling brush to rotate a first number of times in a first direction, then rotate a second number of times in a second direction opposite to the first direction, and alternately performing the control.

8. The method of claim 1, wherein, The cleaning equipment further comprises a display device; the method further comprises: In the process of the cleaning equipment performing a cleaning task, state information of the cleaning equipment is acquired; a current working state of the cleaning equipment is determined according to the state information, and the current working state is visually displayed on the display device and / or prompt information corresponding to the current working state is generated.

9. The method of claim 1, wherein, The determination based on the image information that there is easily-entangled garbage in front of the cleaning equipment comprises: Preprocess the image information to obtain a target image; Extract a target feature in the target image, and compare the target feature with a preset feature library to determine that there is easily entangled garbage in front of the cleaning device; The target feature at least includes a linear feature and a length feature.

10. A control device for a cleaning apparatus, characterized in that The cleaning device comprises a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main air blower; the floor brush assembly is rotationally connected to the main body; the image recognition device is arranged on the floor brush assembly, and the floor brush assembly comprises a rolling brush; the control device comprises: The image recognition device is arranged on the floor brush assembly, and the floor brush assembly comprises a rolling brush; The control module is configured to, in a case where it is determined based on the image information that there is easily entangled garbage in front of the cleaning device, control the water pump assembly to be in a closed state, and control the main air blower to operate based on a first suction force and the rolling brush to operate based on a first rotating speed, so as to clean the easily entangled garbage. The first suction force is greater than a second suction force, and the first rotating speed is greater than a second rotating speed; the second suction force is a suction force in a conventional cleaning mode, and the second rotating speed is a rotating speed in the conventional cleaning mode.

11. A cleaning apparatus, characterized by The cleaning device comprises a main body, a floor brush assembly, an image recognition device, a water pump assembly, and a main air blower; the floor brush assembly is rotationally connected to the main body; the image recognition device is arranged on the floor brush assembly, and the floor brush assembly comprises a rolling brush; The cleaning device is configured to perform the method according to any one of claims 1-9.

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