A control method for a surface cleaning device

Abstract

This application provides a control method for a surface cleaning device. The surface cleaning device includes a pivotally connected body and a floor brush. The body has a lying position and a tilted position. The surface cleaning device has a handheld cleaning mode and a non-handheld cleaning mode. The control method includes: when the body is in the lying position, the non-handheld cleaning mode is allowed to be activated. In the non-handheld cleaning mode, the surface cleaning device is controlled to operate autonomously according to cleaning parameters. In this application, when cleaning the floor in low-ceilinged spaces, the user does not need to maintain a bent-over or squatting posture to push and pull the body back and forth. The surface cleaning device can operate autonomously to clean the floor without the user holding it, freeing the user from fatigue and improving the user experience.

Description

Technical Field

[0001] This application relates to the field of household appliance technology, and in particular to a control method for a surface cleaning device. Background Technology

[0002] Surface cleaning devices, such as floor scrubbers, have a pivotally connected body and brush. When operating these devices, users need to manually push and pull the machine to clean the floor, which is quite strenuous. This is especially true when cleaning low-ceilinged spaces in the user's home that are obstructed by furniture or other obstacles, requiring the user to bend over or squat while repeatedly pushing and pulling the machine, which can easily lead to user fatigue and a poor user experience.

[0003] In addition, some areas in low-ceilinged spaces have large floor areas and poor lighting. When users push and pull the brush back and forth, the brush may not be able to fully fit the edge of the floor area. During the movement, some areas to be cleaned may be missed, resulting in cleaning blind spots and affecting the cleaning effect on the floor. Summary of the Invention

[0004] The purpose of this application is to provide a control method for a surface cleaning device that can operate autonomously to clean the ground in a low-ceilinged space without the user holding it.

[0005] This application provides a control method for a surface cleaning device. The surface cleaning device includes a pivotally connected body and a floor brush. The body has a lying posture and a tilted posture. The surface cleaning device has a handheld cleaning mode and a non-handheld cleaning mode. The control method for the surface cleaning device includes:

[0006] When the machine is in a flat position, the non-hands-free cleaning mode is allowed to be activated. In the non-hands-free cleaning mode, the surface cleaning device operates autonomously according to the cleaning parameters.

[0007] In one embodiment, in a non-handheld cleaning mode, the surface cleaning device is controlled to perform linear cleaning actions and / or offset actions according to cleaning parameters.

[0008] In one embodiment, the cleaning parameters include a target dirt value, a target number of reciprocating strokes and a target time for the surface cleaning device in the handheld cleaning mode; in the non-handheld cleaning mode, if the target conditions are met, the surface cleaning device is controlled to perform an offset action; the target conditions are at least one of the following: the number of reciprocating strokes of the surface cleaning device in the straight line reaches the target number of reciprocating strokes, the time of the surface cleaning device in the straight line reaches the target time, and the dirt value of the area cleaned by the surface cleaning device in the straight line reaches the target dirt value.

[0009] In one embodiment, the cleaning parameters include linear cleaning distance and / or number of reciprocations. When the surface cleaning device performs a linear cleaning action, the surface cleaning device is controlled to perform linear cleaning based on the linear cleaning distance and / or number of reciprocations.

[0010] In one embodiment, the floor brush is symmetrically provided with a first support wheel and a second support wheel. When the surface cleaning device performs the offset action, it controls the differential rotation of the first support wheel and the second support wheel to drive the floor brush to offset a first distance in a first direction, and then controls the differential rotation of the first support wheel and the second support wheel to drive the floor brush to offset a second distance in a second direction. The first direction is opposite to the second direction. The difference between the first distance and the second distance is the offset distance of the surface cleaning device when performing the offset action.

[0011] In one embodiment, the floor brush is provided with a cleaning component, and the offset distance is less than or equal to the length of the cleaning component.

[0012] In one embodiment, the cleaning parameters include a target moving speed of the surface cleaning device in handheld cleaning mode; and in non-handheld cleaning mode, controlling the surface cleaning device to move at the target moving speed.

[0013] In one embodiment, the floor brush is provided with a cleaning component, and the rotation speed of the cleaning component is greater when the machine body is in a flat position than when the machine body is in an inclined position.

[0014] In one embodiment, the floor brush is provided with a support wheel, and when the body is in a flat position, the rotation direction of the support wheel is opposite to the rotation direction of the cleaning component.

[0015] In one embodiment, in the non-handheld cleaning mode, when the first angle between the body and the floor brush is detected to be less than a preset threshold, the floor brush is controlled to move in a direction that reduces the first angle.

[0016] In this application, when cleaning floors in low-ceilinged spaces, the user does not need to bend over or squat while repeatedly pushing and pulling the device. The surface cleaning device can operate autonomously to clean the floor without the user holding it, freeing the user from fatigue and improving the user experience. Simultaneously, when cleaning the floor autonomously, the surface cleaning device can reach and clean the edges of the floor in low-ceilinged spaces, eliminating blind spots and improving the cleaning effect. Furthermore, in this embodiment, the surface cleaning device, when operating autonomously, can simulate the user's hand-held cleaning habits, ensuring that the cleaning effect when the user is not holding the device is largely consistent with the cleaning effect when the user is holding it. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly described below.

[0018] Figure 1 A schematic diagram of the surface cleaning device provided in this application;

[0019] Figure 2 A partial cross-sectional view of the floor brush provided in this application;

[0020] Figure 3 Flowchart of the control method for the surface cleaning apparatus provided in this application Figure 1 ;

[0021] Figure 4 Flowchart of the control method for the surface cleaning apparatus provided in this application Figure 2 ;

[0022] Figure 5 Flowchart of the control method for the surface cleaning apparatus provided in this application Figure 3 ;

[0023] Figure 6 A schematic diagram of the ground area within the low-ceilinged space provided in this application;

[0024] Figure 7 Flowchart of the control method for the surface cleaning apparatus provided in this application Figure 4 ;

[0025] Figure 8 A schematic diagram of the straight-line region provided in this application;

[0026] Figure 9 Flowchart of the control method for the surface cleaning apparatus provided in this application Figure 5 ;

[0027] Figure 10 Flowchart of the control method for the surface cleaning apparatus provided in this application Figure 6 ;

[0028] Figure 11 Flowchart of the control method for the surface cleaning apparatus provided in this application Figure 7 .

[0029] Figure label:

[0030] 10-Surface cleaning device; 100-Main body; 110-Handle; 120-Sewage tank; 130-Suction device; 150-Clean water tank; 200-Floor brush; 210-Cleaning component; 220-Sucking port; 230-Liquid supply component; 240-Scraping blade; 2401-First scraping blade; 2402-Second scraping blade; 250-First support wheel; 260-Second support wheel. Detailed Implementation

[0031] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0032] Similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] Example 1:

[0034] This embodiment provides a surface cleaning device 10, which is used to clean surfaces such as floors. Figure 1 As shown, the surface cleaning device 10 includes a pivotally connected body 100 and a floor brush 200. A control unit (not shown in the figure) is provided on the body 100 or the floor brush 200; a handle 110 for the user to hold is provided on the body 100.

[0035] like Figure 1 and Figure 2 As shown, the floor brush 200 is equipped with a cleaning component 210 and a drive motor (not shown) connected to the cleaning component 210. The drive motor is connected to a control unit and is used to drive the cleaning component 210 to rotate under the control of the control unit. For example, the cleaning component 210 can be any cleaning tool that can be used to wipe the floor, such as a single roller brush, a double roller brush, or a tracked cleaning cloth. Figure 2 In the diagram, P1 represents the forward rotation direction of the cleaning component 210, and P2 represents the reverse rotation direction of the cleaning component 210.

[0036] like Figure 2As shown, the floor brush 200 is also provided with a scraping blade 240, which is located behind the cleaning component 210. For example, the floor brush 200 may have only one scraping blade 240, which is a straight ordinary blade used to scrape the dirt on the cleaning component 210. Alternatively, the scraping blade 240 may be a comb-toothed blade used to remove hair from the cleaning component 210. Optionally, the floor brush 200 may also have two scraping blades 240, namely a first scraping blade 2401 and a second scraping blade 2402. The first scraping blade 2401 is a straight ordinary blade used to scrape the dirt on the cleaning component 210, and the second scraping blade 2402 is a comb-toothed blade used to remove hair from the cleaning component 210. The first scraper 2401 and the second scraper 2402 may be located approximately on the same plane in the longitudinal direction, with the first scraper 2401 located above the second scraper 2402; or, the first scraper 2401 may be located below the second scraper 2402.

[0037] like Figure 1 and Figure 2 As shown, the surface cleaning device 10 is also equipped with a suction assembly, which includes a suction port 220, a suction pipe (not shown in the figure), a wastewater tank 120, and a suction device 130. The suction port 220 is located on the floor brush 200, behind the cleaning component 210, and below the scraper 240. Optionally, the wastewater tank 120 and the suction device 130 are located on the body 100. The inlet of the suction pipe is connected to the suction port 220, and the outlet of the suction pipe is connected to the wastewater tank 120. The suction device 130 is connected to the wastewater tank 120 and to the control unit. The suction device 130 is used to suction dirt into the wastewater tank 120 through the suction port 220 and the suction pipe under the control of the control unit.

[0038] The surface cleaning device 10 is also equipped with a liquid supply assembly for supplying liquid to the ground or cleaning component 210. The liquid supply assembly includes a clean water tank 150, a liquid supply channel, a liquid supply component 230, and a flow control component. The liquid supply channel is connected to the clean water tank 150 and the liquid supply component 230. The flow control component is located on the liquid supply channel and connected to the control unit; for example, the flow control component can be a water pump. When the liquid supply assembly supplies liquid to the ground or cleaning component 210, the flow control component, under the control of the control unit, directs the clean water in the clean water tank 150 to flow at a certain flow rate through the liquid supply channel and the water distribution hole on the liquid supply component 230 to the ground or cleaning component 210. The entire liquid supply assembly can be installed on the floor brush 200, or, as... Figure 1 and Figure 2As shown, the clean water tank 150 of the liquid supply assembly can be installed on the body 100, and the liquid supply channel (not shown in the figure) can be partially installed on the body 100 and partially installed on the floor brush 200; the liquid supply component 230 is installed on the floor brush 200.

[0039] When the surface cleaning device 10 is placed on the ground to clean the floor, the control unit controls the suction device 130 to operate and simultaneously controls the drive motor to drive the cleaning component 210 to rotate. During the rotation of the cleaning component 210, the control unit controls the liquid supply component to supply liquid to the cleaning component 210 at a certain flow rate, keeping the cleaning component 210 moist. The moistened cleaning component 210 generates physical friction with the ground during rotation, wiping the ground and removing dirt. During the floor cleaning process, the user holds the handle 110 and continuously pushes and pulls the body 100 to move the floor brush 200. As the floor brush 200 moves, the cleaning component 210 wipes various areas of the floor, removing dirt from each area. During the removal of dirt, cleaning components 210 and the ground will be covered with dirty liquid. The squeegee 240 scrapes the cleaning components 210 as they rotate, removing some of the dirty liquid. The suction device 130 then draws the dirty liquid from the ground and the cleaning components 210 through the suction port 220 and the suction pipe into the wastewater tank 120. This process is repeated until the cleaning of the ground is complete.

[0040] As can be seen from the above, in the existing technology, the user needs to manually push and pull the body 100 to clean the floor when the surface cleaning device 10 is running, which is relatively strenuous. Especially when cleaning low-ceilinged spaces in the user's home that are obstructed by furniture or other obstacles, the user needs to maintain a bent-over or squatting posture to push and pull the body 100 back and forth, which can easily cause user fatigue and result in a poor user experience. In addition, some floor areas in low-ceilinged spaces are large, and when the user pushes and pulls the body 100 back and forth, the floor brush 200 may not be able to completely conform to the edge of the floor area, resulting in cleaning blind spots and affecting the cleaning effect on the floor.

[0041] To address the aforementioned problems, this application provides a control method for a surface cleaning device 10, such as... Figure 3 As shown, the method includes the following step S310. The working principle of the method is explained in detail below:

[0042] Step S310: When the body 100 is in a flat position, the non-hands-free cleaning mode is allowed to be started. In the non-hands-free cleaning mode, the surface cleaning device 10 is controlled to operate autonomously according to the cleaning parameters.

[0043] In this embodiment, the surface cleaning device 10 has a lying posture and an inclined posture. When the first angle between the body 100 and the floor brush 200 is greater than a preset threshold, the body 100 is considered to be in a lying posture; when the first angle between the body 100 and the floor brush 200 is less than or equal to the preset threshold, the body 100 is considered to be in an inclined posture. For example, the preset threshold can be any value between 150° and 180°. In this embodiment, the surface cleaning device 10 has a handheld cleaning mode and a non-handheld cleaning mode. In the handheld cleaning mode, the user needs to hold the handle 110 to push and pull the body 100; in the non-handheld cleaning mode, the user does not need to hold the handle 110 to push and pull the body 100.

[0044] In this step, when cleaning the floor in a low-ceilinged space, the user can position the surface cleaning device 10 in a flat position, allowing it to enter the low-ceilinged space. Once the surface cleaning device 10 is in a flat position, the non-hands-free cleaning mode is enabled, and the user can send a command to activate the non-hands-free cleaning mode. The surface cleaning device 10 may have a mode button, which the user can trigger to send the command to activate the non-hands-free cleaning mode; alternatively, the user's electronic device may have a small program connected to the surface cleaning device 10 via a network, allowing the user to send the command to activate the non-hands-free cleaning mode; or, the surface cleaning device 10 may have a trigger to activate the non-hands-free cleaning mode, which is activated when the surface cleaning device 10 is in a flat position and no user pushing or pulling is detected. Exemplary triggers can be microswitches, Hall effect sensors, or any other components.

[0045] Upon receiving the aforementioned start command, the control unit controls the surface cleaning device 10 to operate in a non-handheld cleaning mode. In non-handheld cleaning mode, the user does not need to hold the handle 110 to push or pull the body 100, nor does the user need to contact any part of the surface cleaning device 10. The control unit can control the surface cleaning device 10 to autonomously clean the floor in low-ceilinged spaces according to cleaning parameters. These cleaning parameters can be pre-stored within the control unit, or they can be input by the user into the control unit before executing the non-handheld cleaning mode, or collected when the user holds the surface cleaning device 10 to clean the surface. The cleaning parameters can include various cleaning parameters used by the surface cleaning device 10 during handheld cleaning mode; in non-handheld cleaning mode, if the surface cleaning device 10 can clean the floor area according to the various cleaning parameters used by the surface cleaning device 10 during handheld cleaning mode, it can simulate the user's cleaning habits when holding the device, ensuring effective cleaning.

[0046] In this embodiment, when cleaning the floor in a low-ceilinged space, the user does not need to bend over or squat while repeatedly pushing and pulling the device 100. The surface cleaning device 10 can operate autonomously to clean the floor without the user holding it, freeing the user from fatigue and improving the user experience. Simultaneously, when the surface cleaning device 10 operates autonomously, it can reach and clean the edge areas of the floor in low-ceilinged spaces, minimizing blind spots and improving the cleaning effect. Furthermore, in this embodiment, the surface cleaning device 10, when operating autonomously, can simulate the user's hand-held cleaning habits, ensuring that the cleaning effect of the surface cleaning device 10 is largely consistent with its effect when the user holds it.

[0047] Example 2:

[0048] Based on the above embodiment 1, this embodiment provides a control method for the surface cleaning device 10, such as... Figure 4 As shown, the method includes the following step S410:

[0049] Step S410: In the non-handheld cleaning mode, the cleaning device is instructed to perform a linear cleaning action and / or an offset action according to the cleaning parameter control.

[0050] In this embodiment, in the non-hands-free cleaning mode, the cleaning actions performed by the surface cleaning device 10 can be controlled according to the size of the floor area in the low-ceilinged space. The surface cleaning device 10 can be controlled to perform a straight-line cleaning action to clean the floor area. Here, a straight-line cleaning action refers to the surface cleaning device 10 cleaning the floor area in a straight-line movement. Straight-line cleaning actions and offset actions can also be performed in the non-hands-free cleaning mode. For example, when the non-hands-free cleaning mode is started, a straight-line cleaning action can be performed first. After the straight-line area is cleaned, an offset action is performed, causing the surface cleaning device 10 to offset to an adjacent straight-line area and then perform the straight-line cleaning action again. This enables the surface cleaning device 10 to move autonomously in the non-hands-free cleaning mode. Repeating the above process can meet the cleaning needs of larger cleaning spaces. In the process of performing a straight-line cleaning action, the surface cleaning device 10 may perform a straight-line cleaning only once, that is, cleaning from the beginning end to the end end of the area to be cleaned. Alternatively, the surface cleaning device 10 may clean the area to be cleaned repeatedly, that is, cleaning from the beginning end to the end end of the area to be cleaned, then cleaning from the end end to the beginning end of the area to be cleaned, and then cleaning from the beginning end to the end end of the area to be cleaned again, and so on, repeating the above process continuously.

[0051] As can be seen, in this embodiment, the surface cleaning device 10 has a variety of executable movement modes in the non-handheld cleaning mode, which enables the surface cleaning device 10 to flexibly cope with the cleaning needs of different cleaning scenarios, with high cleaning efficiency and less likelihood of cleaning blind spots, resulting in good cleaning effect.

[0052] It is understandable that in this embodiment, in the non-hands-free cleaning mode where the surface cleaning device 10 can perform straight-line cleaning and offset cleaning actions, the straight-line cleaning action is usually performed first. After the straight-line area corresponding to the straight-line cleaning action is cleaned, the offset action is performed to clean the next straight-line area. To ensure cleaning effect and efficiency, the surface cleaning device 10 needs to be controlled to perform the offset action at an appropriate time. Therefore, in this embodiment, in the non-hands-free cleaning mode, if the target condition is met when the surface cleaning device 10 performs the straight-line cleaning action, it indicates that the currently cleaned straight-line area has been cleaned. At this time, the surface cleaning device 10 can be controlled to perform an offset action to move to the next straight-line area, thereby ensuring the cleaning effect on the ground area in low-ceilinged spaces.

[0053] (1) The cleaning parameters include the target dirt value that reflects whether the straight area has been cleaned. The target condition can be that the dirt value of the straight area cleaned by the surface cleaning device 10 reaches the target dirt value.

[0054] (2) The cleaning parameters include the target number of reciprocating motions of the surface cleaning device 10 in the handheld cleaning mode. The target condition can be that the surface cleaning device 10 performs a reciprocating motion of linear cleaning to reach the target number of reciprocating motions.

[0055] (3) The cleaning parameters include the target time for the surface cleaning device 10 to perform linear cleaning in handheld cleaning mode. The target condition can be the time it takes for the surface cleaning device 10 to perform linear cleaning action to reach the target time.

[0056] The target condition can be at least one of (1) to (3) above.

[0057] Example 3:

[0058] Based on the above embodiments, this embodiment provides a control method for the surface cleaning device 10, such as... Figure 5 As shown, the method includes the following step S510:

[0059] Step S510: The cleaning parameters include the straight cleaning distance and / or the number of reciprocations. When the surface cleaning device 10 performs a straight cleaning action, the surface cleaning device 10 is controlled to perform straight cleaning according to the straight cleaning distance and / or the number of reciprocations.

[0060] In this step, the cleaning parameters include the straight-line cleaning distance. In the non-hands-free cleaning mode, when the surface cleaning device 10 performs a straight-line cleaning action, it can be controlled to perform straight-line cleaning according to the aforementioned straight-line cleaning distance. The area to be cleaned is usually a regular shape or a similar shape. This embodiment uses a rectangular area to be cleaned as an example to illustrate the cleaning method in the non-hands-free cleaning mode. Depending on the initial cleaning position of the surface cleaning device 10 in the non-hands-free cleaning mode, the straight-line cleaning distance can be the length or width of the rectangle. When the surface cleaning device 10 cleans according to the aforementioned straight-line cleaning distance, it can fit close to the edge of the floor area in low-ceilinged spaces, making it less likely to have cleaning blind spots.

[0061] The straight-line cleaning distance can be obtained through any of the following methods:

[0062] (1) Before the surface cleaning device 10 executes the non-handheld cleaning mode, the user inputs the length and width of the low-ceilinged floor area into the surface cleaning device 10. The surface cleaning device 10 determines the straight-line cleaning distance based on the initial cleaning position and the length and width of the floor area. For example, Figure 6 As shown, if there is a ground area A located in a low space, when the initial cleaning position of the surface cleaning device 10 is point B, the straight-line cleaning distance is the length of the ground area A; when the initial cleaning position is point C, the straight-line cleaning distance is the width of the ground area A.

[0063] (2) In the handheld cleaning mode, the surface cleaning device 10 records the cleaning speed and cleaning time when cleaning in a straight line from the initial cleaning position to the edge of the ground area, and multiplies the cleaning speed and cleaning time to obtain the straight cleaning distance.

[0064] (3) A detection element can be installed on the brush 200 of the surface cleaning device 10. When performing non-handheld cleaning mode, the surface cleaning device 10 can clean in a straight line from the initial cleaning position. When the detection element detects that the surface cleaning device 10 has moved to the edge of the area to be cleaned, it records the distance moved by the surface cleaning device 10. The detection element can be any one or a combination of several of the following: a collision detection element, a photoelectric detection element, an electromagnetic wave transmitting and receiving element, a micro switch, or a camera.

[0065] In addition, the cleaning parameters in this step also include the number of reciprocations. In the non-handheld cleaning mode, when the surface cleaning device 10 performs a straight-line cleaning action, it can perform a straight-line reciprocating cleaning according to the aforementioned number of reciprocations, thereby improving the cleaning effect on the floor area. The aforementioned number of reciprocations can be input by the user in advance into the surface cleaning device 10, or it can be stored in advance within the surface cleaning device 10, or it can be the number of straight-line reciprocating reciprocations recorded by the surface cleaning device 10 in the handheld cleaning mode.

[0066] Example 4:

[0067] Based on the above embodiments, this embodiment provides a control method for the surface cleaning device 10, such as... Figure 7 As shown, the method includes the following step S610:

[0068] Step S610: When the surface cleaning device 10 performs the offset action, after controlling the differential rotation of the first support wheel 250 and the second support wheel 260 to drive the floor brush 200 to offset a first distance in the first direction, it controls the differential rotation of the first support wheel 250 and the second support wheel 260 to drive the floor brush 200 to offset a second distance in the second direction.

[0069] Among them, such as Figure 1 As shown, the surface cleaning device 10 has a first support wheel 250 and a second support wheel 260 symmetrically arranged on the floor brush 200. The second support wheel 260 is not shown due to the angle. Figure 1 middle.

[0070] In this step, the surface cleaning device 10 can be controlled to perform an offset action by controlling the operating states of the first support wheel 250 and the second support wheel 260. Specifically, during offsetting, the control unit can control the first support wheel 250 and the second support wheel 260 to rotate differentially, driving the floor brush 200 to offset a first distance in a first direction; after successful offsetting, the control unit can again control the first support wheel 250 and the second support wheel 260 to rotate differentially, driving the floor brush 200 to offset a second distance in a second direction opposite to the first direction. The difference between the first distance and the second distance is the offset distance of the surface cleaning device 10 during the offset action.

[0071] For example, such as Figure 8As shown, the surface cleaning device 10 includes a first support wheel 250 and a second support wheel 260. After cleaning the straight area H, the surface cleaning device 10 needs to deflect to the right to clean the straight area J adjacent to the straight area H. During the deflection, the control unit can first control the rotation speed of the first support wheel 250 to be less than the rotation speed of the second support wheel 260, causing the floor brush 200 to deflect to the right by a first distance. After successful deflection, the control unit can then control the rotation speed of the first support wheel 250 to be greater than the rotation speed of the second support wheel 260, causing the floor brush 200 to deflect to the left to return to its original position. The first distance is greater than the second distance, and the difference between the first distance and the second distance is the deflection distance of the floor brush 200.

[0072] For example, such as Figure 8 As shown, after cleaning the straight area H, the surface cleaning device 10 needs to deflect to the left to clean the adjacent straight area K. During this deflection, the control unit can first control the rotation speed of the first support wheel 250 to be greater than the rotation speed of the second support wheel 260, causing the floor brush 200 to deflect to the left by a first distance. After successful deflection, the control unit then controls the rotation speed of the first support wheel 250 to be less than the rotation speed of the second support wheel 260, causing the floor brush 200 to deflect to the right to return to its original position. The first distance is greater than the second distance, and the difference between the first and second distances is the deflection distance of the floor brush 200.

[0073] In this embodiment, during the offset operation, the floor brush 200 performs two offset actions, ensuring that it returns to its original position at the end of the offset. When the floor brush 200 returns to its original position, it can essentially offset to the next straight area adjacent to the previous straight area, thus mitigating the possibility of missed areas during the cleaning process.

[0074] It is understandable that, in the above embodiment, the offset distance of the floor brush 200 when performing the offset action can be less than or equal to the length of the cleaning component 210. This setting allows the cleaning paths of the cleaning component 210 to partially overlap before and after the offset, alleviating the occurrence of missed cleaning and improving the cleaning effect.

[0075] It is understandable that the body 100 can be equipped with universal support rollers, and universal wheels can be provided between the cleaning component 210 and the support rollers. By setting universal support rollers and universal wheels, the operating resistance of the surface cleaning device 10 in non-handheld cleaning mode is reduced, allowing the surface cleaning device 10 to move more smoothly.

[0076] Example 5:

[0077] Based on the above embodiments, this embodiment provides a control method for the surface cleaning device 10, such as... Figure 9 As shown, the method includes the following step S710:

[0078] Step S710: The cleaning parameters include the target moving speed of the surface cleaning device 10 in the handheld cleaning mode; in the non-handheld cleaning mode, the surface cleaning device 10 is controlled to move at the target moving speed.

[0079] Since the target moving speed of the surface cleaning device 10 in the handheld cleaning mode can reflect the user's pushing and pulling speed habit of the floor brush 200, in this embodiment, in the non-handheld cleaning mode, the surface cleaning device 10 is moved at the same moving speed as the surface cleaning device 10 in the handheld cleaning mode, so that the surface cleaning device 10 can move according to the user's cleaning habits, thereby ensuring the cleaning effect without generating excessive noise and improving the user experience.

[0080] Example 6:

[0081] Based on the above embodiments, this embodiment provides a control method for the surface cleaning device 10, such as... Figure 10 As shown, the method includes the following steps S810-S820:

[0082] Step S810: When the body 100 is in a flat position, the rotation speed of the cleaning component 210 is greater than that when the body 100 is in an inclined position.

[0083] Because the pressure of the floor brush 200 on the ground decreases when the machine is in a lying position, this step compensates for the reduced cleaning effect caused by the reduced pressure of the floor brush 200 on the ground by increasing the rotation speed of the cleaning component 210, thereby improving the cleaning effect on the ground. Furthermore, when the machine body 100 is in a lying position, to prevent sewage from the sewage tank 120 from entering the suction device 130, the suction power of the suction device 130 needs to be reduced. Furthermore, the dirt in low-ceilinged areas is mainly dust; reducing the suction power also helps to prevent dust from being blown away. However, the reduced suction power of the suction device 130 will decrease the cleaning effect on the ground area. In this embodiment, the reduced rotation speed of the cleaning component 210 in the lying position compensates for the reduced cleaning effect caused by the reduced suction power of the suction device 130, thereby improving the cleaning effect on the ground.

[0084] Step S820: When the body 100 is in a flat position, the rotation direction of the support wheel is opposite to the rotation direction of the cleaning component 210.

[0085] As can be seen from step S820 above, when the body 100 is in a lying position, the rotation speed of the cleaning component 210 is relatively fast, and the moving speed of the floor brush 200 is also relatively fast. When the moving speed of the floor brush 200 is too fast, it is easy to collide with obstacles in the user's home, causing damage to the floor brush 200. In this step, by making the rotation direction of the support wheel opposite to the rotation direction of the cleaning component 210, the moving speed of the floor brush 200 is reduced, protecting the floor brush 200, and reducing the noise generated by the floor brush 200 during movement, thus improving the user experience.

[0086] Example 7:

[0087] Based on the above embodiments, this embodiment provides a control method for the surface cleaning device 10, such as... Figure 11 As shown, the method includes the following step S910:

[0088] Step S910: When the first angle between the body 100 and the floor brush 200 is detected to be less than a preset threshold, the floor brush 200 is controlled to move in a direction that can reduce the first angle.

[0089] In non-handheld cleaning mode, when the first angle between the body 100 and the floor brush 200 is detected to be less than a preset threshold, it indicates that the user is pulling the surface cleaning device 10 out of the low-lying space to restore it to its tilted position. At this time, the control unit can control the floor brush 200 to move in a direction that reduces the first angle, assisting the user in pulling the surface cleaning device 10 out of the low-lying space. The pivot connection between the body 100 and the floor brush 200 may be equipped with a detection unit for detecting the size of the first angle between them. The detection unit can be an electrical component such as an angle sensor capable of detecting the first angle. For example, to reduce the first angle between the floor brush 200 and the body 100 by moving the floor brush 200 closer to the user, the cleaning component 210 can be moved towards... Figure 2 Rotate in the P2 direction to move the floor brush 200 in the P3 direction.

[0090] The apparatuses and methods disclosed in the several embodiments provided in this application can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0091] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0092] If a function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

Claims

1. A control method of a surface cleaning device, the surface cleaning device comprising a pivotally connected body and a brush, the body having a flat lying attitude and an inclined attitude; characterized in that, The surface cleaning device has a handheld cleaning mode and a non-handheld cleaning mode, and the control method of the surface cleaning device includes: When the device is in the lying position, the non-hands-free cleaning mode is allowed to be activated. In the non-hands-free cleaning mode, the surface cleaning device is controlled to operate autonomously according to the cleaning parameters.

2. The control method of the surface cleaning device according to claim 1, wherein, In the non-hands-free cleaning mode, the surface cleaning device is controlled to perform linear cleaning actions and / or offset actions according to the cleaning parameters.

3. The control method of the surface cleaning device according to claim 2, wherein, The cleaning parameters include the target dirt value, the target number of reciprocating strokes and the target time for the surface cleaning device in the handheld cleaning mode; in the non-handheld cleaning mode, if the target conditions are met, the surface cleaning device is controlled to perform the offset action once; the target conditions are at least one of the following: the number of reciprocating strokes of the surface cleaning device in the straight line reaches the target number of reciprocating strokes, the time of the surface cleaning device in the straight line reaches the target time, and the dirt value of the area cleaned in the straight line by the surface cleaning device reaches the target dirt value.

4. The control method of the surface cleaning device according to claim 2 or 3, characterized in that, The cleaning parameters include a linear cleaning distance and / or the number of reciprocating strokes. When the surface cleaning device performs the linear cleaning action, the surface cleaning device is controlled to perform linear cleaning according to the linear cleaning distance and / or the number of reciprocating strokes.

5. The control method of the surface cleaning device according to claim 2 or 3, characterized in that, The floor brush is symmetrically provided with a first support wheel and a second support wheel. When the surface cleaning device performs the offset action, it controls the first support wheel and the second support wheel to rotate at a different speed to drive the floor brush to offset a first distance in a first direction, and then controls the first support wheel and the second support wheel to rotate at a different speed to drive the floor brush to offset a second distance in a second direction. The first direction is opposite to the second direction. The difference between the first distance and the second distance is the offset distance of the surface cleaning device when performing the offset action.

6. The control method of the surface cleaning device according to claim 5, characterized in that, The floor brush is equipped with a cleaning component, and the offset distance is less than or equal to the length of the cleaning component.

7. The control method of the surface cleaning device according to claim 1, characterized in that, The cleaning parameters include the target moving speed of the surface cleaning device in the handheld cleaning mode; In the non-hands-free cleaning mode, the surface cleaning device is controlled to move at the target moving speed.

8. The control method of the surface cleaning device according to claim 1, characterized in that, The floor brush is equipped with a cleaning component. When the machine body is in a flat position, the rotation speed of the cleaning component is greater than that when the machine body is in an inclined position.

9. The control method of the surface cleaning device according to claim 8, characterized in that, The floor brush is equipped with support wheels, and when the machine body is in a flat position, the rotation direction of the support wheels is opposite to the rotation direction of the cleaning component.

10. The control method of the surface cleaning device according to claim 1, characterized in that, In non-handheld cleaning mode, when the first angle between the body and the floor brush is detected to be less than a preset threshold, the floor brush is controlled to move in a direction that reduces the first angle.

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