Cleaning equipment and control method thereof

Abstract

The embodiment of the invention provides cleaning equipment and a control method thereof. The cleaning equipment comprises a machine body and a floor brush assembly movably arranged at the bottom of the machine body. The floor brush assembly comprises a mounting seat; the cleaning part is rotatably arranged on the front side of the mounting seat; and the front water scraping piece is arranged on the front side of the cleaning piece and can ascend and descend relative to the mounting base. The front water scraping piece comprises a first water scraping section extending in the axial direction of the cleaning piece and a second water scraping section extending in the side direction of the cleaning piece, and in the natural state, the bottom of the second water scraping section is lower than the bottom of the first water scraping section. And the front water scraping piece is constructed in a way that the second water scraping section is in contact with the to-be-cleaned surface before the first water scraping section when the front water scraping piece descends, so that water on the side edge of the cleaning piece is scraped to the cleaning piece through the second water scraping section when the floor brush assembly turns. Through the front water scraping piece of a specific structure, when the floor brush assembly is pulled backwards and pulled backwards to turn, water stains on the to-be-cleaned face can be scraped to the cleaning piece, the water stains are prevented from remaining on the to-be-cleaned face, and the cleaning effect and the user experience feeling are improved.

Description

Technical Field

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

[0002] Cleaning equipment is a device capable of automatically cleaning surfaces and is widely used in people's daily lives and work. For example, cleaning equipment can include floor scrubbers. Cleaning equipment uses cleaning components to clean the surface, and during the cleaning process, the cleaning components may leave water residue on the surface.

[0003] In related technologies, to remove residual water stains, a scraper is usually installed on the front side of the cleaning device so that when the user pulls the cleaning device backward, the water stains on the surface to be cleaned are scraped and collected towards the cleaning device.

[0004] However, in actual use of cleaning equipment, taking floor scrubbers as an example, users do not simply push or pull the cleaning equipment straight forward or backward. When the cleaning equipment changes direction, water stains easily remain on both sides of the squeegee. Therefore, how to achieve less water stain residue has become a problem that the industry needs to consider. Summary of the Invention

[0005] This application provides a cleaning device and its control method, which can effectively reduce water residue when the cleaning device turns backward, and improve the integrity and cleaning effect of the cleaning operation.

[0006] This application provides a cleaning device, including a body and a floor brush assembly movably disposed at the bottom of the body; the floor brush assembly includes: a mounting base; a cleaning component rotatably disposed on the front side of the mounting base, the cleaning component being used to clean the surface to be cleaned when rotating; and a front wiping component disposed on the front side of the cleaning component, the front wiping component being movable relative to the mounting base, the front wiping component being configured such that at least a portion of its structure contacts the surface to be cleaned when descending, so that the floor brush assembly scrapes water stains toward the cleaning component during the retraction process.

[0007] The front wiper includes a first wiping section extending axially along the cleaning element and a second wiping section extending laterally toward the cleaning element. In its natural state, the bottom of the second wiping section is lower than the bottom of the first wiping section. The front wiper is configured such that, upon descent, the second wiping section contacts the surface to be cleaned before the first wiping section, so that when the floor brush assembly turns, the second wiping section shaves water from the side of the cleaning element toward the cleaning element.

[0008] The natural state refers to the front wiper not being in contact with the surface to be cleaned.

[0009] In the cleaning device of this application embodiment, when the cleaning device is pushed forward, the cleaning device cleans the surface to be cleaned through the cleaning component. The front wiper component rises relative to the mounting base, disengaging from the surface to be cleaned, to maintain a certain gap with the surface. This reduces friction between the front wiper component and the surface to be cleaned, reducing forward resistance and wear on the front wiper component.

[0010] When the cleaning device is pulled back, the front wiper unit descends relative to the mounting base and comes into contact with the surface to be cleaned. The first wiping section contacts the surface to be cleaned, scraping water stains located in the area in front of the wiper unit towards the wiper unit, causing the water stains to flow towards and collect at the wiper unit.

[0011] When the cleaning equipment needs to turn and adjust its direction during the backward movement, an angle is formed between the forward direction of the machine body and the brush assembly. This causes a deviation between the wiping direction of the front squeegee relative to the surface to be cleaned and the actual movement direction of the cleaning equipment, leaving noticeable water stains on the surface. At this time, the second squeegee section located on the axial side of the squeegee simultaneously contacts the surface, blocking and collecting the water stains from the axial direction of the squeegee, and directing the water stains to the working area of ​​the squeegee for cleaning. This allows the cleaning equipment to remove residual water stains while completing the cleaning operation, improving cleaning effectiveness and user experience.

[0012] Meanwhile, because the bottom of the second wiping section is naturally lower than the bottom of the first wiping section, the second wiping section can contact the surface to be cleaned before the first wiping section during the descent of the front wiper assembly. This allows the lower-positioned second wiping section to make timely and reliable contact with the surface to be cleaned when the floor brush assembly just begins to turn or is in a non-straight backward pull, thereby scraping and guiding lateral water stains, improving wiping response speed and cleaning effect during turning. It also reduces wear on the first wiping section during turning, extending its service life.

[0013] In one possible implementation, the front wiper includes a working position, a first raised position, and a second raised position; wherein, in the working position, both the first and second wiping sections are in contact with the surface to be cleaned; in the first raised position, the second wiping section is in contact with the surface to be cleaned, and the first wiping section is separated from the surface to be cleaned; in the second raised position, both the first and second wiping sections are separated from the surface to be cleaned.

[0014] By configuring the front wiper element to have three discrete yet stable states—a working position, a first raised position, and a second raised position—this multi-position control scheme, combined with the lower physical structure of the second wiping section of the front wiper element, enables refined functional matching and energy efficiency optimization.

[0015] Specifically, in the working position, both the first and second wiping sections are grounded. At this time, the cleaning equipment is in full-function wiping mode, which is suitable for straight backward cleaning and can efficiently handle both forward and side water stains at the same time.

[0016] In the first raised position, utilizing the lower structural advantage of the second wiping section, the second wiping section remains in contact with the surface to be cleaned during the lifting of the front wiping component, while the first wiping section is lifted and separated. This configuration can accommodate situations where the cleaning equipment turns or pauses briefly. While reducing forward frictional resistance (due to the lifting of the first wiping section), the grounded second wiping section can still continuously scrape away water stains from the sides, achieving a low-resistance wiping function when turning.

[0017] In the second raised position, both wiper sections are detached from the surface to be cleaned, eliminating wiping friction. This is suitable for scenarios where the cleaning equipment is pushed forward or left idle for extended periods, significantly saving power and protecting the front wiper components. These three distinct positional states transform the structural features of the front wiper components into a programmable intelligent function, enabling the cleaning equipment to automatically and precisely switch between different operating modes. While ensuring optimal cleaning results, this comprehensively improves the ease of operation, energy efficiency, and economy of the cleaning equipment.

[0018] In one possible implementation, the first wiper section and the second wiper section are spaced apart.

[0019] This design allows the first and second wiper sections to independently select the most suitable materials, hardness, or shape based on their respective functional requirements. For example, the first wiper section, which is mainly responsible for wiping forward, can use a material with better wear resistance, while the second wiper section, which needs to adapt to turning and often comes into contact with side obstacles, can use a material with better elasticity to reduce the risk of getting stuck.

[0020] In one possible implementation, in its natural state, the bottom of the second wiper section is 3mm to 5mm lower than the bottom of the first wiper section.

[0021] In its natural state, the bottom of the second wiper section is 3mm to 5mm lower than the bottom of the first wiper section. This ensures that the second wiper section contacts the surface to be cleaned before the first wiper section, even with low friction. Specifically, if the height difference is too small (e.g., less than 3mm), the second wiper section may not reliably contact the surface to be cleaned first during slight turns or when the surface is uneven, resulting in inconsistent side wiping performance. If the height difference is too large (e.g., more than 5mm), it may cause the second wiper section to wear out prematurely or excessively, or generate unnecessary excessive resistance when the floor brush assembly is pulled straight back. The 3mm to 5mm range ensures timely side wiping during turns while balancing the durability of the wiper components and the smoothness of equipment movement.

[0022] In one possible implementation, in the forward direction of the floor brush assembly, the end of the second wiping section away from the first wiping section is provided with a bend; the bend bends toward the cleaning element.

[0023] By incorporating a bend at the distal end of the second wiping section, a flow guide structure is created towards the cleaning area. When the brush assembly turns, the water collected by the second wiping section is further contained and guided inward by this bend as it flows towards the cleaning area, effectively preventing water from escaping from the outer edge of the second wiping section. This ensures that the water is more thoroughly collected within the cleaning area of ​​the cleaning component, reducing blind spots.

[0024] In one possible implementation, the bottom of the second wiper section is angled outward toward the outside of the floor brush assembly.

[0025] By tilting the bottom of the second wiping section outwards towards the outside of the floor brush assembly, an opening angle is created between the wiping lip of the second wiping section and the surface to be cleaned, pointing outwards towards the device. When the floor brush assembly turns, this structure helps to draw water from the outermost area into the working range of the front wiping element, expanding the coverage width of a single wiping stroke. Simultaneously, the tilted bottom surface generates an outward force upon contact with the surface, helping to push water inwards and improving the efficiency of concentrating dispersed water towards the center of the cleaning element.

[0026] In one possible implementation, the floor brush assembly further includes a lifting component and a mounting bracket; wherein the lifting component is movably mounted on the mounting base and located on the front side of the cleaning component; the mounting bracket is connected to the bottom of the lifting component, and the front wiping component is mounted on the mounting bracket; the number of second wiping sections is two, and the two second wiping sections are respectively located at both ends of the extension direction of the first wiping section.

[0027] The front wiper unit is driven to rise and fall by a lifting mechanism and mounting bracket. Two second wiper sections are symmetrically positioned at both ends of the first wiper section. This arrangement of two second wiper sections ensures that when the floor brush assembly turns left or right, the second wiper section located on the outer side of the turning direction immediately becomes active, achieving symmetrical wiping during bidirectional turns and eliminating blind spots in single-sided wiping design. The integrated design of the lifting mechanism and mounting bracket provides a stable and reliable foundation for the front wiper unit's lifting motion, ensuring that the first wiper section and the two second wiper sections can perform precise lifting and lowering movements as a whole, resulting in high consistency.

[0028] A second aspect of this application provides a control method for a cleaning device. The cleaning device includes a body, a floor brush assembly, and steering wheels. The floor brush assembly includes a mounting base, a cleaning component, and a liftable front wiper component. The front wiper component includes a first wiping section and a second wiping section. In its natural state, the bottom of the second wiping section is lower than the bottom of the first wiping section. The front wiper component is configured such that, when descending, the second wiping section contacts the surface to be cleaned before the first wiping section, so that when the floor brush assembly turns, the second wiping section scrapes water from the side of the cleaning component toward the cleaning component.

[0029] The method includes: when the current wiper component is in the working position, if the steering wheel detects a change in the floor brush assembly from a pulled-back state, then the front wiper component is controlled to rise to a first raised position and maintained for a preset duration. In the working position, the floor brush assembly is in a pulled-back state, and both the first and second wiping sections are in contact with the surface to be cleaned; in the first raised position, the second wiping section is in contact with the surface to be cleaned, and the first wiping section is separated from the surface to be cleaned.

[0030] The control method provided in this application embodiment allows the cleaning device to immediately raise the front wiper to a first raised position and maintain it for a period of time once the steering wheel detects a change from a pull-back state to a stop or forward push during the back-pull wiping process (with the front wiper in the working position). This creates a unique standby turning mode. In the first raised position, the higher first wiping segment is raised to reduce friction, while the lower second wiping segment remains in contact with the surface to be cleaned. This mode can be matched to the moment when the user pauses briefly or prepares to turn and adjust direction, allowing the cleaning device to immediately remove lateral water stains through the grounded second wiping segment, achieving a seamless transition from straight-line pull-back to turning cleaning, significantly improving the continuity of operation and cleaning efficiency.

[0031] In one possible implementation, after controlling the front wiper to rise to a first raised position and maintain it for a preset time, the method further includes: if the cleaning device is detected to be in a pulled-back state, controlling the front wiper to descend to the working position.

[0032] If the cleaning device is detected to have resumed its pull-back state within a preset time period, the front wiper blades are controlled to descend back to their working position. This design enables intelligent reversibility of the brief standby turning mode. When the user's pause is only for a brief adjustment rather than an intention to turn forward, this control logic allows the device to quickly return to full-power wiping mode (both the first and second wiping stages are grounded). This avoids permanently exiting the efficient wiping mode due to a short pause, ensuring that both forward and lateral wiping capabilities are immediately and fully restored when cleaning continues with the pull-back mechanism, thus guaranteeing optimal cleaning results during continuous pull-back cleaning.

[0033] In one possible implementation, after controlling the front wiper to rise to a first raised position and maintaining it for a preset time, the method further includes: if the cleaning device is detected to be in a forward-pushing state, controlling the front wiper to rise to a second raised position; wherein, in the second raised position, both the first and second wiping sections are separated from the surface to be cleaned.

[0034] If the device is detected to switch to or remain in a forward-pushing state within a preset time period, the front wiper blades are further raised to a second raised position (fully raised). This allows for a smooth and intelligent switch between cleaning and pushing modes. Once the system confirms the user's intention is to push forward, the front wiper blades are completely removed from the surface to be cleaned. This fully utilizes the judgment window provided by the preset time period to effectively distinguish between two user intentions: a short pause followed by pulling back and pulling back then turning forward. Therefore, this avoids premature lifting during potential turns, which could leave water stains on the sides, and also reduces friction and wiper blade wear during forward pushing, optimizing the user experience and extending the lifespan of the front wiper blades.

[0035] In one possible implementation, the preset duration is 0.3 to 1 second.

[0036] The preset duration is set to 0.3 to 1 second. This time range is optimized based on statistical analysis of common user habits. A duration less than 0.3 seconds may cause the system to be overly sensitive, misinterpreting normal operational slight pauses as mode transitions, resulting in frequent raising and lowering of the front wipers. A duration greater than 1 second may lead to sluggish response; when the user clearly intends to turn, the second wiper segment may engage too late, or the wipers may not be fully raised when the user has already started pushing forward. The 0.3 to 1 second window achieves a good balance between misinterpretation rate and timely response.

[0037] In one possible implementation, before the steering wheel detects that the floor brush assembly changes from a pulled-back state to a stopped state or a pushed-forward state, and controls the front wiper to rise to a first raised position and maintain it for a preset time, the method further includes: if the steering wheel detects that the floor brush assembly is in a pulled-back state, controlling the front wiper to descend to a working position.

[0038] By setting the cleaning mode in the pull-back state to the front wiper head lowered to the working position, it ensures that the front wiper head is engaged when the user pulls back, allowing the first and second wiping sections to touch the ground simultaneously. This fully utilizes the structural design of the front wiper head, enabling it to handle potential water stains both forward and sideways during the straight pull-back phase, preparing for possible subsequent turning maneuvers and achieving a unified function of basic cleaning and preparation.

[0039] In one possible implementation, before the steering wheel detects that the floor brush assembly changes from a pulled-back state to a stopped state or a pushed-forward state, and controls the front wiper to rise to a first raised position and maintain it for a preset time, the method further includes: if the steering wheel detects that the floor brush assembly is in a pushed-forward state, controlling the front wiper to rise to a second raised position; wherein, in the second raised position, both the first wiping section and the second wiping section are separated from the surface to be cleaned.

[0040] By setting the cleaning mode in the forward-pushing state to have the front wiper blades raised and held in the second raised position, this step establishes the basic energy-saving and protection logic of pushing forward without wiping. When the cleaning device is pushed forward, the cleaning components are mainly responsible for cleaning. Raising the front wiper blades avoids dry friction with the surface to be cleaned, which significantly reduces forward resistance, making it easier for the user to push. It also significantly reduces ineffective wear on the front wiper blades (especially the prominent second wiping section), extending the service life of the front wiper blades.

[0041] In one possible implementation, the change in the pull-back state includes changing from the pull-back state to a stop-movement state, or changing from the pull-back state to a pull-back turning state, or changing from the pull-back state to a push-forward turning state.

[0042] The change in the pull-back state includes changing from the pull-back state to the stop state. The effect is that before the user makes a turning action or changes actions, there will be a stopping action. At this time, the change in the control state can predict the user's action in advance, and thus prepare for the next action in advance.

[0043] When the pull-back state is directly converted to the pull-back turning state, the deflection of the brush assembly can be detected. It is no longer in a straight line motion state. In this state, water stains are easily generated when turning. Therefore, the working position is switched to the first working position to clean the water stains when turning.

[0044] When switching to the forward-turning mode, the brush assembly deflects during the forward-turning process, which makes it easier to generate water stains during the turn, thus enabling the cleaning of water stains during the turn.

[0045] In one possible implementation, the bottom of the second wiper section is inclined toward the outside of the floor brush assembly, such that, in the working position, the contact area between the second wiper section and the surface to be cleaned is greater than the contact area between the first wiper section and the surface to be cleaned.

[0046] In this method, the second wiping section has a larger contact area with the surface to be cleaned, so that the water stains generated at both ends of the first wiping section can be wrapped inside the second wiping section, and the large contact area makes it less likely for the water stains to leak out. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the structure of a floor brush assembly of a cleaning device provided in an embodiment of this application;

[0050] Figure 3 This application provides a schematic diagram of the structure of the front wiper component of a floor brush assembly for a cleaning device.

[0051] Figure 4 for Figure 3 A magnified view of part A in the middle;

[0052] Figure 5 for Figure 3 A structural schematic diagram of the front wiper unit from another angle;

[0053] Figure 6 for Figure 5 A magnified view of part B in the middle section;

[0054] Figure 7 A schematic diagram of the front wiper component of another cleaning device's floor brush assembly provided in this application embodiment;

[0055] Figure 8 for Figure 7 A magnified view of part C in the middle;

[0056] Figure 9 A flowchart illustrating a control method for a cleaning device provided in an embodiment of this application;

[0057] Figure 10 This is a flowchart illustrating another control method for a cleaning device provided in an embodiment of this application.

[0058] Figure label:

[0059] 100 - Cleaning equipment;

[0060] 1-Fuselage;

[0061] 2-Floor brush assembly; 21-Mounting base; 22-Cleaning component;

[0062] 3-Front wiper assembly; 31-First wiper section; 32-Second wiper section; 321-First end; 322-Second end; 323-Bend; 33-Shielding protrusion; 34-Physical clearance;

[0063] 4- Rear wiper assembly;

[0064] x - Width direction;

[0065] y - direction of movement. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0067] This application provides a cleaning device. The cleaning device may include a robotic vacuum cleaner, a floor scrubber, or other equipment capable of cleaning a surface to be cleaned. For example, the surface to be cleaned may be a surface that needs cleaning. The following description primarily uses the scenario of the cleaning device cleaning a surface to be cleaned as an example to illustrate the structure of the cleaning device.

[0068] Figure 1 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application.

[0069] It should be noted that, for ease of description, in the embodiments of this application, the height direction of the cleaning equipment is taken as the z-direction, the axial direction of the cleaning component is taken as the x-direction, and the forward direction of the cleaning equipment is taken as the y-direction.

[0070] Please refer to Figure 1 This application provides a cleaning device 100. The cleaning device 100 may include devices such as a robotic vacuum cleaner, a floor scrubber, or a surface to be cleaned. For example, the surface to be cleaned may be a surface to be cleaned, etc. The following description mainly uses the scenario of the cleaning device 100 cleaning a surface to be cleaned as an example to illustrate the structure of the cleaning device 100.

[0071] Specifically, the cleaning device 100 may include a body 1 and a floor brush assembly 2. The floor brush assembly 2 is located at the bottom of the body 1 and is used to clean the surface to be cleaned. A handle is provided at the end of the body 1 away from the surface to be cleaned, so that the user can hold and push the cleaning device 100 to perform the operation.

[0072] The floor brush assembly 2 may include a mounting base and a cleaning component. The mounting base is rotatably connected to the bottom of the main body of the device, and the cleaning component is located on the side of the mounting base facing the surface to be cleaned. During operation, the cleaning component rotates relative to the mounting base and, through direct contact with the surface to be cleaned, brushes up and removes dirt.

[0073] The cleaning device 100 may also include a clean water tank, which may be installed on the floor brush assembly 2 or the body 1, for supplying clean water to the floor brush assembly 2 or the surface to be cleaned, so that the cleaning device can better clean the surface to be cleaned.

[0074] The cleaning equipment 100 may also include a wastewater tank. The wastewater tank is installed above the floor brush assembly 2, on the side away from the surface to be cleaned. The wastewater tank has a dirt storage chamber. A suction port is provided on the mounting base of the floor brush assembly 2, and the suction port is connected to the dirt storage chamber via a dirt transfer pipe. During the operation of the suction port, the gas in the dirt storage chamber is continuously drawn away, thereby creating a negative pressure environment in the dirt storage chamber and the dirt transfer pipe. This allows the dirt generated by the floor brush assembly 2 during operation to be drawn into the dirt storage chamber through the suction port and the dirt transfer pipe for centralized storage. In this way, after the cleaning equipment 100 completes its cleaning work, the user can centrally empty the dirt in the wastewater tank.

[0075] It should be noted that the dirt in the cleaning process can include the wastewater, impurities, and mixtures of dirt generated during the cleaning process mentioned above.

[0076] To improve mobility, the floor brush assembly 2 may also include a walking mechanism. The walking mechanism is mounted on a mounting base. When the user pushes the handle, the walking mechanism can move the entire cleaning device 100 in different directions, allowing the floor brush assembly 2 to cover a wider area.

[0077] When the user operates the cleaning device 100 to clean the surface to be cleaned, they will push the handle to drive the cleaning device 100 to move back and forth according to the cleaning needs. The forward pushing process mainly relies on the rotation of the cleaning parts to complete the wiping operation on the surface to be cleaned, while the backward pulling process is the cleaning finishing action, which cleans and collects the water stains and dirt left on the surface to be cleaned after the forward wiping.

[0078] During cleaning operations, as the cleaning component rotates and scrubs the surface to be cleaned, water stains form on the surface. If these water stains are not removed promptly, they can remain and affect the cleaning effect. Therefore, in related technologies, a scraper is provided on the front side of the cleaning component along the forward direction of the cleaning equipment, corresponding to the side of the mounting base facing the surface to be cleaned. When the user pulls the cleaning equipment backward to finish, the scraper contacts the surface to be cleaned. As the cleaning equipment moves backward, the scraper scrapes and collects the water stains on the surface towards the cleaning component.

[0079] However, when the cleaning equipment turns, an angle is formed between the forward direction of the machine body and the brush assembly. This causes a deviation between the scraping direction of the scraper relative to the surface to be cleaned and the actual direction of movement of the cleaning equipment, leaving noticeable water stains on the surface and affecting the cleaning effect. Therefore, how to solve the problem of water stain residue when the cleaning equipment turns, and improve the integrity and effectiveness of the cleaning operation, has become a technical problem that needs to be solved.

[0080] To address the aforementioned technical problems, this application provides a cleaning device and its control method. The cleaning device includes a front squeegee on the front side of a floor brush assembly. This front squeegee can include a first squeegee section extending axially along the cleaning component and a second squeegee section extending laterally towards the cleaning component. This allows the floor brush assembly 2 to scrape water stains on the surface to be cleaned from the front and sides of the cleaning component towards the cleaning component when pulled back. Even when the cleaning device turns backward, the second squeegee section can still block and collect water stains from the axial side of the cleaning component, reducing water residue on the surface to be cleaned and improving cleaning effectiveness and user experience.

[0081] The cleaning equipment provided in the embodiments of this application will be further described below with reference to the accompanying drawings.

[0082] like Figure 1 and Figure 2 As shown in the illustration, this application provides a cleaning device 100, which may include a body 1 and a floor brush assembly 2 movably disposed at the bottom of the body 1. The floor brush assembly 2 may include a mounting base 21, a cleaning component 22, and a front wiper 3. The cleaning component 22 is rotatably disposed on the front side of the mounting base 21 and is used to clean the surface to be cleaned when rotating relative to the mounting base 21. The front wiper 3 is disposed on the front side of the cleaning component 22 and is movable relative to the mounting base 21. The front wiper 3 is configured such that when it descends, at least a portion of its structure contacts the surface to be cleaned to scrape water stains toward the cleaning component 22.

[0083] Specifically, the mounting base 21 is rotatably connected to the body 1, allowing the floor brush assembly 2 to rotate relative to the body 1. When the cleaning device 100 is pushed forward or pulled back, the floor brush assembly 2 moves forward or backward under the drive of the body 1. At this time, the cleaning component 22 can rotate around its own axis, allowing it to sweep and roll up dirt along its path, completing the cleaning operation on the surface to be cleaned. However, during the cleaning process, the contact between the cleaning component 22 and the surface to be cleaned may leave water stains, which remain on the surface and affect the cleaning effect. The cleaning component 22 can be a roller brush or other cleaning structures; this embodiment does not impose any limitations on this.

[0084] In some embodiments, such as Figure 2As shown, the cleaning device 100 may further include a rear wiper 4, which is disposed on the mounting base 21 and located behind the cleaning component 22. The rear wiper 4 is configured to contact the surface to be cleaned, and during the forward movement of the cleaning device 100, it can wipe away water stains remaining on the cleaning component 22 during the cleaning process, thereby further reducing water stain residue.

[0085] Figure 3 This is a schematic diagram of the structure of the front wiping component 3 of the floor brush assembly 2 of a cleaning device 100 provided in an embodiment of this application. Figure 4 for Figure 3 A magnified view of part A in the diagram.

[0086] See Figure 2 , Figure 3 and Figure 4 As shown, along the forward direction y of the floor brush assembly 2, the cleaning component 22 has a front side and a rear side. The front wiper 3 is located at the bottom of the mounting base 21 and is situated at the front side of the cleaning component 22.

[0087] The front wiper 3 may include a first wiping section 31 extending axially along the cleaning member 22 and a second wiping section 32 extending laterally toward the cleaning member 22. That is, the first wiping section 31 is located on the front side of the cleaning member 22 and extends axially along the cleaning member 22, and the second wiping section 32 is located on the outer side of the axial end of the cleaning member 22.

[0088] In its natural state, the bottom of the second wiping section 32 is lower than the bottom of the first wiping section 31. The front wiper 3 is configured such that, during descent, the second wiping section 32 contacts the surface to be cleaned before the first wiping section 31, so that when the floor brush assembly 2 turns, the second wiping section 32 scrapes water from the side of the cleaning component 22 towards the cleaning component 22. When the first wiping section 31 is not in contact with the surface to be cleaned, when the cleaning device 100 is pulled back, water stains on the surface to be cleaned can be scraped towards the cleaning component 22 to improve the cleaning effect.

[0089] It should be understood that the second wiping section 32 here wiping water from the side toward the cleaning component 22 includes the second wiping section 32 on the left side of the cleaning component 22 wiping water from the left side toward the cleaning component 22 when the brush assembly rotates to the right, and the second wiping section 32 on the right side wiping water from the right side toward the cleaning component 22 when the brush assembly rotates to the left. That is to say, the wiping here includes the case where the second wiping section 32 on one side performs the wiping function.

[0090] It should be noted that the "natural state" here refers to the static state of the front wiper 3 when no additional lifting driving force is applied and it is only affected by its own weight and the installation structure.

[0091] In this embodiment of the application, when the cleaning device 100 is pushed forward, it cleans the surface to be cleaned via the cleaning component 22. The front wiper component 3 can rise relative to the mounting base 21, detaching from the surface to be cleaned, to maintain a certain gap with the surface. This reduces friction between the front wiper component 3 and the surface to be cleaned, lowers forward resistance, and reduces wear on the front wiper component 3.

[0092] When the cleaning device 100 is pulled back, the front wiper 3 descends relative to the mounting base 21 and comes into contact with the surface to be cleaned. Both the first wiper section 31 and the second wiper section 32 come into contact with the surface to be cleaned, wiping the water stains located in the area in front of the cleaning component 22 toward the cleaning component 22, causing the water stains to flow toward and collect at the cleaning component 22.

[0093] When the cleaning device 100 needs to turn and adjust its direction during the backward movement, an angle is formed between the forward direction of the body 1 and the forward direction of the floor brush assembly 2. The wiping direction of the front squeegee 3 relative to the surface to be cleaned deviates from the actual moving direction of the cleaning device 100, leaving noticeable water stains on the surface. At this time, the second squeegee section 32 located on the axial side of the squeegee 22 simultaneously contacts the surface to be cleaned, thereby blocking and collecting the water stains from the axial side of the squeegee 22, and guiding the water stains to the working area of ​​the squeegee 22 for cleaning. This allows the cleaning device 100 to remove residual water stains while completing the cleaning operation, improving cleaning effectiveness and user experience.

[0094] Meanwhile, since the bottom of the second wiping section 32 is lower than the bottom of the first wiping section 31 in its natural state, the second wiping section 32 can contact the surface to be cleaned before the first wiping section 31 during the descent of the front wiper assembly 3. This allows the lower-positioned second wiping section 32 to contact the surface promptly and reliably when the floor brush assembly 2 begins to turn or is in a non-straight backward pull, thereby collecting and guiding lateral water stains, improving wiping response speed and cleaning effect during turning. It also reduces wear on the first wiping section 31 during turning, extending its service life.

[0095] In one possible implementation, in its natural state, the bottom of the second wiper section 32 is 3mm to 5mm lower than the bottom of the first wiper section 31. Figure 4 (represented by h in the text). For example, the bottom of the second wiper section 32 is 3mm, 3.5mm, 4.0mm, 4.5mm to 5mm lower than the bottom of the first wiper section 31. In this embodiment, the dimension by which the bottom of the second wiper section 32 is lower than the bottom of the first wiper section 31 is not further limited.

[0096] In its natural state, the bottom of the second wiper section 32 is 3mm to 5mm lower than the bottom of the first wiper section 31. This ensures that the second wiper section 32 contacts the surface to be cleaned before the first wiper section 31, even with low friction. Specifically, if the height difference is too small (e.g., less than 3mm), the second wiper section 32 may not reliably contact the surface to be cleaned first during slight turns or when the surface is uneven, resulting in inconsistent side wiping performance. If the height difference is too large (e.g., more than 5mm), it may cause the second wiper section 32 to wear prematurely and excessively, or generate unnecessary excessive resistance when the floor brush assembly 2 is pulled straight back. The 3mm to 5mm range ensures timely side wiping during turns while balancing the durability of the wiper components and the smoothness of equipment movement.

[0097] In one possible implementation, the front wiper 3 may include a working position, a first raised position, and a second raised position. In the working position, both the first wiping section 31 and the second wiping section 32 are in contact with the surface to be cleaned. In the first raised position, the second wiping section 32 is in contact with the surface to be cleaned, and the first wiping section 31 is separated from the surface. In the second raised position, both the first wiping section 31 and the second wiping section 32 are separated from the surface to be cleaned.

[0098] By configuring the front wiper element 3 into three discrete yet stable states—a working position, a first raised position, and a second raised position—this multi-position control scheme, combined with the lower physical structure of the bottom of the second wiping section 32 of the front wiper element 3, enables refined functional matching and energy efficiency optimization.

[0099] Specifically, in the working position, both the first wiping section 31 and the second wiping section 32 are grounded. At this time, the cleaning device 100 is in full-function wiping mode, which is suitable for straight backward cleaning and can efficiently handle forward and side water stains at the same time.

[0100] In the first raised position, taking advantage of the lower structure of the second wiping section 32, the second wiping section 32 can remain in contact with the surface to be cleaned during the lifting of the front wiping component 3, while the first wiping section 31 is lifted and separated. This state can accommodate the cleaning equipment turning or pausing briefly. While reducing forward frictional resistance (due to the lifting of the first wiping section 31), the grounded second wiping section 32 can still continuously scrape away water stains on the side, achieving the function of low-resistance turning and wiping.

[0101] In the second raised position, both wiper sections are detached from the surface to be cleaned, eliminating wiping friction. This is suitable for scenarios where the cleaning equipment 100 is pushed forward or left idle for extended periods, significantly saving power and protecting the front wiper component 3. These three distinct positional states transform the structural features of the front wiper component 3 into a programmable intelligent function, enabling the cleaning equipment 100 to automatically and precisely switch between different operating modes. While ensuring optimal cleaning results, this comprehensively improves the ease of operation, energy efficiency, and economy of the cleaning equipment 100.

[0102] For example, when the cleaning device 100 transitions from a pulled-back state to a stopped state or a pushed-forward state, the front wiper 3 is raised to a first raised position and held for a preset duration. In this first raised position, the higher first wiper section 31 is raised to reduce friction, while the lower second wiper section 32 remains in contact with the surface to be cleaned. This mode can be used to match brief pauses or moments when the user is preparing to turn and adjust direction, allowing the cleaning device 100 to immediately remove lateral water stains via the grounded second wiper section 32, achieving a seamless transition from a straight pull-back to a turning cleaning operation, significantly improving operational continuity and cleaning efficiency.

[0103] Optionally, the preset duration is between 0.5 seconds and 1 second. In this embodiment, the preset duration is not further limited.

[0104] In one possible implementation, such as Figure 3 As shown, the floor brush assembly 2 may also include a lifting component (not shown) and a mounting bracket. The lifting component is vertically movable and mounted on the mounting base 21, located in front of the cleaning component 22. The mounting bracket is connected to the bottom of the lifting component, and the front wiper 3 is mounted on the mounting bracket. There are two second wiping sections 32, each located at one end of the extension direction of the first wiping section 31.

[0105] The front wiper unit 3 is driven to rise and fall by setting up a lifting component and a mounting bracket. There are two second wiper sections 32, symmetrically arranged at both ends of the first wiper section 31. The arrangement of the two second wiper sections 32 ensures that when the floor brush assembly 2 turns left or right, the second wiper section 32 located on the outer side of the turning direction can immediately function, achieving a symmetrical wiping effect during bidirectional turns and eliminating the design blind spot of unilateral wiping. The integrated design of the lifting component and the mounting bracket provides a stable and reliable foundation for the lifting and lowering movement of the front wiper unit 3, ensuring that the first wiper section 31 and the two second wiper sections 32 can perform precise lifting and lowering movements as a whole, with high consistency in action.

[0106] See also Figure 4As shown, the bottom of the second wiper section 32 is inclined towards the outside of the floor brush assembly 2. For example, at least a portion of the bottom of the second wiper section 32 is bent towards the outside of the floor brush assembly 2 along the width direction x to form a flange.

[0107] By tilting the bottom of the second wiping section 32 towards the outside of the floor brush assembly 2, an opening angle is formed between the wiping lip of the second wiping section 32 and the surface to be cleaned, facing outwards. When the floor brush assembly 2 turns, this structure helps to draw water from the outermost area into the working range of the front wiping element 3, expanding the coverage width of a single wiping motion. At the same time, the tilted bottom surface generates an outward force when it contacts the surface to be cleaned, which helps to squeeze water inwards, improving the efficiency of concentrating dispersed water towards the central area of ​​the cleaning element 22.

[0108] In one scenario, a change in the pull-back state includes a change from a pull-back state to a stop state, a pull-back state to a pull-back turning state, or a pull-back state to a push-forward turning state.

[0109] Furthermore, the bottom of the second wiping section 32 is inclined towards the outside of the floor brush assembly, so that when in the working position, the contact area between the second wiping section 32 and the surface to be cleaned is greater than the contact area between the first wiping section 31 and the surface to be cleaned.

[0110] It should be noted that this embodiment does not impose any restrictions on the folding distance and angle of the flange, and can be adapted to meet actual needs.

[0111] It should be noted that in this embodiment, the length direction of the first wiping section 31 is parallel to the width direction x of the floor brush assembly 2.

[0112] like Figure 5 and Figure 6 The first wiping section 31 and the second wiping section 32 are spaced apart. In some embodiments, the first wiping section 31 and the second wiping section 32 can be independent separate structures. In other embodiments, the first wiping section 31 and the second wiping section 32 can be disposed in the same component, and the spacing is achieved by providing a notch between the first wiping section 31 and the second wiping section 32. In the embodiments of this application, the specific structure of the first wiping section 31 and the second wiping section 32 is not further limited.

[0113] For example, the second wiper section 32 includes a first end 321 and a second end 322 in the length direction. The first end 321 is disposed close to the first wiper section 31 and spaced apart from the first wiper section 31. The second end 322 of the second wiper section 32 extends toward the rear side of the cleaning member 22 and is located on the axial side of the cleaning member 22.

[0114] This design allows the first wiper section 31 and the second wiper section 32 to independently select the most suitable material, hardness, or shape according to their respective functional requirements. For example, the first wiper section 31, which is mainly responsible for forward wiping, can use a material with better wear resistance, while the second wiper section 32, which needs to adapt to turning and often comes into contact with side obstacles, can use a material with better elasticity to reduce the risk of jamming. The split structure also facilitates production and maintenance; when one of the first wiper section 31 or the second wiper section 32 wears out, it can be replaced individually, reducing operating costs.

[0115] like Figure 6 As shown, in the forward direction of the floor brush assembly 2, the second wiping section 32 has a bent portion 323 at the end away from the first wiping section 31. The bent portion 323 bends towards the cleaning component 22. That is, the second end 322 has a bent portion 323.

[0116] By providing a bend 323 at the distal end of the second wiping section 32, the bend 323 can form a guide structure towards the working area of ​​the cleaning component 22. When the brush assembly 2 turns, the side water collected by the second wiping section 32 is further caught and guided inward by this bend 323 as it flows towards the cleaning component 22, effectively preventing water from escaping from the outer end of the second wiping section 32, ensuring that the side water is more thoroughly collected within the cleaning area of ​​the cleaning component 22, and reducing cleaning dead spots.

[0117] Of course, in some embodiments, such as Figure 7 As shown, the second end 322 of the second wiper section 32 may not have a bend 323. That is, the second wiper section 32 can be a uniform sheet structure, which simplifies the structure of the second wiper section 32, thereby reducing the processing difficulty and cost.

[0118] like Figure 8 As shown, a shielding protrusion 33 is also provided on the side of the front wiper 3 facing the surface to be cleaned. Specifically, the shielding protrusion 33 is disposed at the physical gap 34 between the first wiper section 31 and the second wiper section 32, and the orthographic projection of the shielding protrusion 33 on a first plane perpendicular to the width direction can cover the physical gap 34 between the first wiper section 31 and the second wiper section 32.

[0119] For example, the shielding protrusion 33 can be an arc-shaped structure, with the convex surface of the arc-shaped structure facing the physical gap 34. One end of the shielding protrusion 33 is smoothly connected to the first wiper section 31, and the other end extends toward the second wiper section 32, exceeding the first end 321 of the second wiper section 32, that is, partially overlapping with the second wiper section 32. Thus, a continuous shielding surface is formed structurally.

[0120] By incorporating a shielding flange 33, the structural gap between the separate or spaced first wiper section 31 and second wiper section 32 can be cleverly compensated. During wiping operations, water or dirt can easily escape or splash through this gap, resulting in incomplete cleaning and potentially soiling the cleaned area. The shielding flange 33 in this application can seal this gap, effectively blocking and guiding water and dirt attempting to pass through it. This allows the water and dirt to be guided back along the curved surface of the flange into the wiping path of the first wiper section 31 or the second wiper section 32, ultimately converging into the cleaning component 22. This improves the sealing performance and cleaning efficiency of the wiping process, making the overall structure of the front wiper component 3 more complete and enhancing its ability to handle complex stains.

[0121] In existing cleaning equipment (such as mops and scrubbers), a liftable front squeegee (or squeegee blade) is often installed. The basic logic is: when the cleaning equipment is pulled back, the front squeegee descends to remove water and guide it to the cleaning rollers; when the cleaning equipment is pushed forward, the front squeegee rises to reduce friction and wear. However, this simple two-state control logic of "pull back to lower, push forward to raise" has a significant flaw: when the user needs to pause briefly or turn to adjust direction during the backward cleaning process, the state of the cleaning equipment (such as wheel speed and direction) changes instantaneously. Traditional control logic easily misinterprets this as a need to switch to forward mode, thus prematurely raising the squeegee completely. This results in water stains generated on the side of the cleaning equipment during turns or adjustments not being effectively removed, often leaving arc-shaped water stains on the cleaning surface, severely affecting cleaning performance and user experience.

[0122] To address the aforementioned technical problems, this application provides a cleaning device and its control method. The core concept is as follows: First, the physical structure of the front wiper is improved by including a lower-positioned second wiper section, allowing it to contact the surface to be cleaned before the main wiper section during descent, optimized specifically for removing side water stains. Second, based on this structure, a matching intelligent three-state control logic is designed. This method not only responds to simple "push / pull" states but also sensitively captures the instantaneous state transition from "pull back to stop or push forward." When this transition is detected, the front wiper is not directly and fully raised but first raised to a "first raised position." In this position, the higher first wiper section is raised to reduce resistance, while the lower second wiper section remains grounded, thus forming a "low-resistance side wiping" mode specifically designed for turning and adjustment. By introducing this intermediate state and its intelligent holding and judgment mechanism, this application enables the cleaning device to more accurately understand user intentions, ensuring smooth operation while reducing water residue during turns.

[0123] This application provides a method for controlling a cleaning device. Figure 9This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application. Figure 9 As shown, this method is applied to the cleaning equipment of any of the foregoing embodiments. The cleaning equipment may include a body, a floor brush assembly, and steering wheels. The floor brush assembly includes a mounting base, a cleaning component, and a retractable front wiper. The front wiper includes a first wiping section and a second wiping section; in its natural state, the bottom of the second wiping section is lower than the bottom of the first wiping section. The front wiper is configured such that, upon descent, the second wiping section contacts the surface to be cleaned before the first wiping section, so that when the floor brush assembly turns, the second wiping section shaves water from the side of the cleaning component toward the cleaning component. The method includes the following steps.

[0124] The control method for this cleaning equipment may include the following steps.

[0125] S901. When the current wiper component is in the working position, if the steering wheel detects a change in the pull-back state of the floor wiper assembly, it controls the front wiper component to rise to the first raised position and maintain it for a preset time.

[0126] In the working position, the floor brush assembly is in a pulled-back state, with both the first and second wiping sections in contact with the surface to be cleaned. In the first raised position, the second wiping section is in contact with the surface to be cleaned, and the first wiping section is separated from the surface to be cleaned.

[0127] Specifically, the steering wheel is used to detect the operating status of the floor brush assembly. In one example, the status can be determined by obtaining the rotational speed and direction of the steering wheel: if the rotational speed of the steering wheel is zero, the floor brush assembly is determined to be in a stopped state; if the rotational speed is greater than zero and the rotational direction is a first direction (e.g., the direction of forward movement of the machine body), it is determined to be in a forward-pushing state; if the rotational speed is greater than zero and the rotational direction is a second direction opposite to the first direction, it is determined to be in a backward-pulling state. When the rotational direction changes from the second direction to the first direction, or the rotational speed changes from greater than zero (and the rotational direction is the second direction) to zero, a transition event of "from backward-pulling state to forward-pushing state" or "from backward-pulling state to stopped state" is determined to have occurred.

[0128] It should be noted that when a user operates a cleaning device to clean a specific area of ​​the surface, they typically use a back-and-forth pushing and pulling motion within that localized area. Upon completion of cleaning that area, the user is usually positioned behind the cleaned area and needs to pull the cleaning device back towards themselves to finish cleaning that area or move on to the next. This backward pulling motion, or "pulling back," completes the cleaning process.

[0129] Therefore, when the cleaning equipment is pulled back, the front wiper is in the working position, that is, both the first and second wiping sections are in contact with the surface to be cleaned. In this way, when the cleaning equipment is pulled back, the water stains can be scraped towards the cleaning components.

[0130] When the cleaning device is pushed forward, the front wiper rises relative to the mounting base, disengaging from the surface to be cleaned to maintain a certain gap. This reduces friction between the front wiper and the surface, lowering forward resistance and wear on the front wiper.

[0131] When the cleaning device is pulled back, the front wiper unit descends relative to the mounting base, and both the first and second wiping sections contact the surface to be cleaned. This allows the first wiping section to scrape water from the area in front of the wiper unit towards it, causing the water to flow and collect at the wiper unit. Simultaneously, when the user needs to turn and adjust direction during the final pull-back, an angle is formed between the forward direction of the device and the floor brush assembly. This causes a deviation between the wiping direction of the first wiping section relative to the surface and the actual movement direction of the cleaning device, leaving noticeable water stains on the surface. At this time, the second wiping section, located on the axis of the wiper unit, simultaneously contacts the surface, blocking and collecting water stains from the axis of the wiper unit and guiding lateral water stains towards the wiper unit for cleaning.

[0132] Step S901 is the core control logic of this method. When the user pauses briefly due to directional adjustment or intends to push forward during the backward cleaning process (when the front wiper is in the "working position" of full-function wiping), the traditional "backward pull down, forward push up" two-state logic will directly lift the front wiper completely due to the sudden change in state, resulting in water stains remaining on the turning side. This application introduces a unique "first lift position" as a buffer and transition at this moment of transition. In this position, the higher first wiping section is raised to significantly reduce movement resistance, while the second wiping section can reliably maintain contact with the surface to be cleaned. This forms a "low-resistance lateral wiping" mode specifically designed for turning and directional adjustment, allowing the cleaning device to continue wiping away lateral water stains through the second wiping section even at the critical point where the user's operating direction changes, achieving seamless connection of cleaning actions.

[0133] In some embodiments, a change in the pull-back state includes changing from a pull-back state to a stop-movement state, or a pull-back turning state, or a pull-back state to a push-forward turning state.

[0134] The change in the pull-back state includes changing from the pull-back state to the stop state. The effect is that before the user makes a turning action or changes actions, there will be a stopping action. At this time, the change in the control state can predict the user's action in advance, and thus prepare for the next action in advance.

[0135] When the pull-back state is directly converted to the pull-back turning state, the deflection of the brush assembly can be detected. It is no longer in a straight line motion state. In this state, water stains are easily generated when turning. Therefore, the working position is switched to the first working position to clean the water stains when turning.

[0136] When switching to the forward-turning mode, the brush assembly deflects during the forward-turning process, which makes it easier to generate water stains during the turn, thus enabling the cleaning of water stains during the turn.

[0137] In some embodiments, the bottom of the second wiping section is inclined towards the outside of the floor brush assembly, so that in the working position, the contact area between the second wiping section and the surface to be cleaned is greater than the contact area between the first wiping section and the surface to be cleaned. In this manner, the larger contact area between the second wiping section and the surface to be cleaned allows water stains generated at the ends of the first wiping section to be contained within the second wiping section, and the larger contact area prevents water stains from easily leaking out.

[0138] In one possible implementation, the preset duration is between 0.3 seconds and 1 second. For example, 0.3 seconds, 0.4 seconds, 0.5 seconds, 0.6 seconds, 0.7 seconds, 0.8 seconds, 0.9 seconds, 1 second, etc. In this embodiment, the specific duration of the preset duration is not further limited.

[0139] The preset duration is set to 0.3 to 1 second. This time range is optimized based on statistical analysis of common user habits. A duration less than 0.3 seconds may cause the system to be overly sensitive, misinterpreting normal operational slight pauses as mode transitions, resulting in frequent raising and lowering of the front wipers. A duration greater than 1 second may lead to sluggish response; when the user clearly intends to turn, the second wiper segment may engage too late, or the wipers may not be fully raised when the user has already started pushing forward. The 0.3 to 1 second window achieves a good balance between misinterpretation rate and timely response.

[0140] Optionally, the preset duration is configured to be between 0.3 and 1 second (e.g., 0.5 seconds). This duration range is an optimized value set based on statistical analysis of user operating habits. It serves as a crucial judgment window: too short a duration (e.g., less than 0.3 seconds) will cause the system to be overly sensitive to slight operational pauses, resulting in frequent false raising and lowering of the front wipers; too long a duration (e.g., more than 1 second) will cause system lag, with the front wipers failing to fully raise in time when the user has already started pushing forward. The range of 0.3 to 1 second achieves a good balance between false alarm rate and responsiveness.

[0141] Figure 10 This is a schematic flowchart illustrating another control method for a cleaning device provided in an embodiment of this application. Figure 9 Based on this, subsequent steps were added.

[0142] like Figure 10 As shown, after maintaining the preset duration, corresponding controls can be executed based on the detected new operating status of the cleaning equipment.

[0143] Based on the operating status of the cleaning equipment detected within or after a preset time window, the next action of the front wiper is determined, thereby achieving intelligent mode switching. Specifically, this includes the following two possible scenarios:

[0144] Scenario 1: If the cleaning device is detected to be in a pulled-back state within or after the preset time period, the front wiper will be lowered to the working position. In other words, if the cleaning device pauses for the preset time while pulling back and then continues to pull back, the front wiper will be lowered to the working position.

[0145] This scenario corresponds to a brief pause by the user merely to adjust their posture and intend to continue pulling back for cleaning. The control logic makes the "first lift position" a smart, reversible temporary state. Once it is confirmed that the user continues pulling back, the cleaning device returns to full-function wiping mode (i.e., the working position), ensuring that forward and lateral wiping capabilities are fully restored, thereby guaranteeing the high efficiency of the continuous cleaning process and avoiding interruptions in cleaning performance due to brief pauses.

[0146] Scenario 2: If the cleaning device is detected switching to the forward-pushing state within or after a preset time period, the front wiper component is raised to the second raised position. In other words, if the cleaning device continues to maintain the forward-pushing state after switching from the pull-back to the push-forward state, the front wiper component is raised to the second raised position. At the second raised position, both the first and second wiping sections are separated from the surface to be cleaned.

[0147] This scenario corresponds to the user's intention to wipe the wipers and begin pushing forward after the wiper has finished. This control logic enables a smooth and decisive switch from wiping mode to pure pushing mode. Once the system confirms the user's intention to push forward, it controls the front wiper to completely lift off the ground, completely eliminating frictional resistance. This makes pushing easier for the user and also maximizes the protection of the front wiper (especially the protruding second wiper section) from unnecessary wear.

[0148] Optionally, the specific execution method for controlling the front wiper to descend to the working position, rise to the first raised position, or rise to the second raised position can be as follows.

[0149] For example, the cleaning equipment also includes a drive unit and a position detection unit. The drive unit (e.g., a micro motor, electromagnet, or linear motor) is drive-connected to the front wiper or its mounting bracket. The position detection unit (e.g., a combination of a Hall sensor and a magnet, or a position encoder) is used to detect the real-time height position of the front wiper. The control unit (or controller) of the cleaning equipment is electrically connected to the drive unit, the position detection unit, and the steering wheel.

[0150] When the position of the front wiper needs to be adjusted, the control unit sends a control command (such as a pulse signal of a specific duration or a specific current direction and magnitude) to the drive unit based on the status signal detected by the steering wheel and the preset control logic. The drive unit responds to the control command, driving the front wiper to move up and down. Simultaneously, the position detection device feeds back the real-time height signal of the front wiper to the control unit. Based on this feedback signal, the control unit determines whether the front wiper has accurately reached the target position (working position, first raised position, or second raised position), and can precisely adjust the output of the drive unit through closed-loop control (e.g., PID control), thereby achieving precise and stable control of the front wiper position.

[0151] Optionally, the specific execution method for controlling the front wiper to descend to the working position, rise to the first raised position, or rise to the second raised position can also be as follows.

[0152] For example, the cleaning equipment may also include a drive unit (e.g., a stepper motor or a DC motor with position feedback). The drive unit is driven to the front wiper or its mounting bracket and can be controlled to perform a preset lifting stroke.

[0153] Specifically, the three positions of the front wiper are defined and implemented through preset lifting distances. For example, the front wiper is defined to start from an initial second raised position. When it needs to descend to the working position, the control drive moves the front wiper downwards a first distance (e.g., 8mm). In this position, both the first and second wiping sections are in contact with the surface to be cleaned. When it needs to rise from the working position to the first raised position, the control drive moves the front wiper upwards a second distance (e.g., 3mm). In this position, since the bottom of the second wiping section is naturally lower than the first wiping section, after moving upwards a second distance, the first wiping section can separate from the surface to be cleaned, while the second wiping section remains in contact. When it needs to rise from the first raised position to the second raised position, or directly from the working position to the second raised position, the control drive moves the front wiper upwards a third distance (e.g., 5mm, which is greater than the second distance). In this position, both the first and second wiping sections are separated from the surface to be cleaned.

[0154] It should be noted that the first, second, and third distances can be pre-calibrated and stored in the control unit of the cleaning equipment based on the specific structural dimensions of the front wiper (especially the height difference between the first and second wiper sections). When the steering wheel detects a change in status, the control unit directly sends a command to the drive unit to move the corresponding preset distance according to preset logic, thereby efficiently and reliably switching the front wiper to the target position.

[0155] Furthermore, the control method may also include an initial state setting step, which is executed before the core step S901.

[0156] Optionally, in initial step 9.1: if the steering wheel detects that the floor brush assembly is in the pulled-back state, control the front wiper to descend to the working position. This step establishes the basic logic of "pull-back to wipe," ensuring that once the pull-back operation begins, the device immediately enters the strongest cleaning state, preparing for any subsequent possible turning operations.

[0157] Optionally, in initial step 9.2: if the steering wheel detects that the floor brush assembly is in a forward-pushing state, it controls the front wiper to rise and remain in the second raised position. This step establishes the basic energy-saving and protection logic of "no wiping when pushing forward," prioritizing smooth movement and component lifespan when the equipment is pushed forward.

[0158] In summary, the control method provided in this application introduces a key intermediate state, the "first lifting position," and works in close coordination with the physical structure of the front wiper component's "lower second wiping section" to form an intelligent three-state (working position, first lifting position, second lifting position) control logic. This method can accurately respond to complex user intentions during the backward cleaning process, such as turning, pausing, continuing to pull backward, or switching to forward pushing. While ensuring optimal water stain removal, it significantly reduces operating resistance and component wear, comprehensively improving the intelligence level, cleaning effect, and user experience of the cleaning equipment.

[0159] The embodiments or implementation methods in this application are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0160] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0161] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, display structure, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or device.

[0162] The term "and / or" used in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0163] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0164] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning device, characterized in that, Includes a main body and a floor brush assembly that is movably disposed at the bottom of the main body; The floor brush assembly includes: Mounting base; A cleaning component is rotatably disposed on the front side of the mounting base, and the cleaning component is used to clean the surface to be cleaned when rotated; A front wiper assembly is disposed on the front side of the cleaning component. The front wiper assembly is movable relative to the mounting base. The front wiper assembly is configured such that, upon descent, at least a portion of its structure contacts the surface to be cleaned, causing the floor brush assembly to scrape water towards the cleaning component during reversal. The front wiper includes a first wiping section extending axially along the cleaning member and a second wiping section extending laterally toward the cleaning member. In its natural state, the bottom of the second wiping section is lower than the bottom of the first wiping section. The front wiper is configured such that, upon descent, the second wiper section contacts the surface to be cleaned before the first wiper section, so that when the floor brush assembly turns, the second wiper section scrapes water from the side of the cleaning element toward the cleaning element.

2. The cleaning equipment according to claim 1, characterized in that, The front wiper includes a working position, a first raised position, and a second raised position; wherein... In the working position, both the first wiper section and the second wiper section are in contact with the surface to be cleaned; At the first raised position, the second wiping section is in contact with the surface to be cleaned, and the first wiping section is separated from the surface to be cleaned; In the second raised position, both the first and second wiping sections are separated from the surface to be cleaned.

3. The cleaning equipment according to claim 1, characterized in that, The first wiper section and the second wiper section are spaced apart.

4. The cleaning equipment according to any one of claims 1-3, characterized in that, In its natural state, the bottom of the second wiper section is 3mm to 5mm lower than the bottom of the first wiper section.

5. The cleaning equipment according to any one of claims 1-3, characterized in that, In the forward direction of the floor brush assembly, the end of the second wiper section away from the first wiper section is provided with a bend; The bent portion bends toward the cleaning component.

6. The cleaning equipment according to any one of claims 1-3, characterized in that, The bottom of the second wiper section is inclined toward the outside of the floor brush assembly.

7. The cleaning equipment according to any one of claims 1-3, characterized in that, The floor brush assembly also includes a lifting component and a mounting bracket; wherein... The lifting component is vertically and flexibly mounted on the mounting base and located on the front side of the cleaning component; The mounting bracket is connected to the bottom of the lifting component, and the front wiper is mounted on the mounting bracket; There are two second wiper sections, which are respectively located at both ends of the extension direction of the first wiper section.

8. A control method for a cleaning device, characterized in that, The cleaning equipment includes a body, a floor brush assembly and steering wheels. The floor brush assembly includes a mounting base, a cleaning component and a liftable front wiper component. The front wiper component includes a first wiping section and a second wiping section. In its natural state, the bottom of the second wiper section is lower than the bottom of the first wiper section; The front wiper is configured such that, during descent, the second wiper section contacts the surface to be cleaned before the first wiper section, so that when the floor brush assembly turns, the second wiper section scrapes water from the side of the cleaning component toward the cleaning component. The method includes: When the front wiper is in the working position, if the steering wheel detects a change in the pulled-back state of the floor brush assembly, it controls the front wiper to rise to a first raised position and maintain it for a preset time; wherein, In the working position, the floor brush assembly is in a pulled-back state, and both the first wiping section and the second wiping section are in contact with the surface to be cleaned; At the first raised position, the second wiping section is in contact with the surface to be cleaned, and the first wiping section is separated from the surface to be cleaned.

9. The method according to claim 8, characterized in that, After controlling the front wiper to rise to the first raised position and maintain it for a preset time, the method further includes: If the cleaning device is detected to be in a pulled-back state, the front wiper is controlled to descend to the working position.

10. The method according to claim 8 or 9, characterized in that, After controlling the front wiper to rise to the first raised position and maintain it for a preset time, the method further includes: If the cleaning device is detected to have switched to the forward-pushing state, the front wiper element is controlled to rise to the second raised position; wherein, In the second raised position, both the first and second wiping sections are separated from the surface to be cleaned.

11. The method according to claim 8 or 9, characterized in that, The preset duration is 0.3 seconds to 1 second.

12. The method according to claim 8, characterized in that, The change in the pull-back state includes changing from the pull-back state to a stop-movement state, or changing from the pull-back state to a pull-back turning state, or changing from the pull-back state to a push-forward turning state.

13. The method according to claim 8, characterized in that, The bottom of the second wiping section is inclined toward the outside of the floor brush assembly, so that when in the working position, the contact area between the second wiping section and the surface to be cleaned is greater than the contact area between the first wiping section and the surface to be cleaned.

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