Control method and device of cleaning equipment, and cleaning equipment

Abstract

The application provides a cleaning equipment control method and device and a cleaning equipment, and relates to the technical field of cleaning equipment. The cleaning equipment comprises a floor brush assembly, a water pump assembly and a spraying assembly. The floor brush assembly comprises a rolling brush and a disc brush. The disc brush is arranged at the rear side of the rolling brush based on the advancing direction of the cleaning equipment. The spraying assembly is used for spraying liquid to the disc brush. The method comprises the following steps: obtaining a starting signal of the disc brush, controlling the disc brush to rotate in a first direction, and controlling the water pump assembly and the spraying assembly to be in an open state and to be in the open state for a first time length, so as to perform a first liquid supplementing operation on the disc brush. Under the first liquid supplementing operation, the disc brush is not in contact with a surface to be cleaned. Therefore, the disc brush is fully wet before contacting the surface to be cleaned, so that the problems of water stain splashing and water resource waste caused by continuous water supplementing in the cleaning process are avoided, and the cleaning efficiency and user experience are improved.

Description

Technical Field

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

[0002] With the improvement of living standards, household cleaning equipment is constantly developing towards automation and deep cleaning. As an intelligent device that integrates water spraying, scrubbing, and wastewater recycling, floor scrubbers have gradually become an important tool for modern household cleaning due to their efficient cleaning capabilities.

[0003] In existing technologies, to achieve cleaning of areas such as walls and corners, floor scrubbers often employ a composite structure for their brush components. This structure consists of a roller brush and a disc brush for auxiliary cleaning. The roller brush is responsible for scrubbing the main area, while the disc brush, located behind it, extends the cleaning range and handles edges and corners. During the cleaning process, the water pump and spray units continuously supply water to the roller brush and disc brush to maintain the brush's moisture and cleaning power.

[0004] However, continuously adding water to the brush during the cleaning process can cause water to be splashed out, leaving additional water stains on the surface to be cleaned. This reduces the cleaning efficiency of the floor scrubber and may waste water resources. Summary of the Invention

[0005] This application provides a control method, device, and cleaning equipment for cleaning equipment. By performing a first replenishment operation on the disc brush, it ensures that the disc brush is fully wetted before contacting the surface to be cleaned, thereby avoiding water splashing and water waste caused by continuous water replenishment during the cleaning process, and improving cleaning efficiency and user experience.

[0006] In a first aspect, this application provides a control method for a cleaning device, the cleaning device including a floor brush assembly, a water pump assembly, and a spray assembly. The floor brush assembly includes a roller brush and a disc brush. With the forward direction of the cleaning device as a reference, the disc brush is positioned behind the roller brush. The spray assembly is used to spray liquid onto the disc brush. The method includes:

[0007] The system receives a start signal for the disc brush, controls the disc brush to rotate in a first direction, and controls the water pump assembly and spray assembly to be in the on state for a first duration to perform a first liquid replenishment operation on the disc brush. During the first liquid replenishment operation, the disc brush does not contact the surface to be cleaned.

[0008] In existing technologies, the liquid replenishment of the disc brush begins during the descent process. However, the disc brush rotates at a relatively high speed during the descent, and because it is descending, it is easy for the disc brush to splash water onto the surface to be cleaned during the liquid replenishment process. This causes the surface to become dirtier before it has even been cleaned.

[0009] This solution differs. Based on the above analysis, this application integrates the brush start-up, brush pretreatment rotation, liquid supply, and mechanical isolation into the same control sequence, ensuring the brush has a stable and uniform initial liquid state before entering the formal cleaning contact. This avoids insufficient cleaning power, abnormal friction, or uneven cleaning caused by overly dry bristles when the brush first contacts the surface to be cleaned. Furthermore, since the brush does not contact the surface during the replenishment phase, the liquid is preferentially distributed to the brush body rather than falling directly onto the surface, thus reducing liquid accumulation on the surface to be cleaned at startup, ineffective liquid consumption, and preventing additional water stains caused by continuous water replenishment during cleaning. Moreover, the coordination of rotation in the first direction and control of the first duration allows for repeatability and adjustability of the pre-wetting process under different operating conditions, thereby improving the connection between brush liquid supply and cleaning actions without changing the overall architecture of the cleaning equipment.

[0010] Therefore, this application links the start-up of the disc brush with the pre-liquid replenishment process and isolates the contact between the disc brush and the surface to be cleaned, ensuring that the disc brush undergoes a pre-wetting treatment before officially engaging in cleaning. This results in a more stable liquid content on the brush body when it enters the working state, reducing fluctuations in cleaning effect caused by the dryness of the disc brush during the initial start-up phase. Simultaneously, the liquid is preferentially applied to the disc brush body during the non-contact phase, reducing ineffective accumulation and direct spread of liquid on the surface to be cleaned, thus improving liquid utilization efficiency and consistency of liquid distribution along the cleaning path.

[0011] Optionally, the method also includes:

[0012] In response to the start signal, the control disc brush begins to work to clean the surface to be cleaned;

[0013] Specifically, before the disc brush starts working to clean the surface to be cleaned, the disc brush is controlled to perform the first liquid replenishment operation;

[0014] While the disc brush is cleaning the surface to be cleaned, control the disc brush to perform a second liquid replenishment operation intermittently.

[0015] In this way, by adopting the above method, the disc brush can be pre-wetted at the initial stage of operation, avoiding insufficient cleaning power caused by directly cleaning with dry bristles. Furthermore, by intermittently replenishing liquid during the cleaning process, rather than continuously replenishing water, the probability of the disc brush splashing water onto the surface to be cleaned during rotation is significantly reduced, keeping the surface relatively dry and improving cleaning efficiency. Through intermittent water replenishment, the disc brush can maintain a suitable level of moisture during the cleaning process, preventing the brush body from drying out and reducing cleaning power due to prolonged use, while also avoiding water stains caused by excessive wetting. Compared to continuous water replenishment, this intermittent water replenishment significantly reduces total water consumption, thereby reducing water waste. Due to the reduced water consumption, the operating time of the cleaning equipment's clean water tank is extended, reducing the frequency of adding water or recharging mid-cleaning, thus improving the user experience. Therefore, by adopting the above control method, the adaptability of the disc brush to different cleaning scenarios and its overall cleaning stability can be greatly improved.

[0016] Optionally, the water pump assembly and the spray assembly are controlled to be in the on state, and remain in the on state for a first duration, to perform a first liquid replenishment operation on the disc brush, including:

[0017] In response to the start signal, detect whether the last completed operation on the cleaning equipment was a drying operation;

[0018] If it is confirmed that the previous completed operation was a drying operation, the water pump assembly and spray assembly are turned on and remain on for a first duration to perform the first liquid replenishment operation on the disc brush.

[0019] Therefore, by using whether the previous completed operation was a drying operation as the trigger, the current dryness or wetness of the disc brush can be accurately determined. This ensures that the first replenishment operation is only performed when the disc brush is indeed dry, avoiding water waste and over-wetting caused by adding water when there is still residual moisture on the disc brush. This ensures that the disc brush is in a stable wet state before starting the cleaning process.

[0020] It should be noted that if the disc brush is used directly for cleaning after drying, the dry bristles will have poor cleaning power. By adopting the above method, the insufficient cleaning ability caused by the dry bristles during the initial startup can be reduced, and the disc brush can be fully pre-wetted when starting up after drying, thereby maintaining a good cleaning effect. In addition, it can avoid excessive wear of the bristles caused by forcibly cleaning when the disc brush is dry, or the brush body aging due to repeated watering when it is wet, and reduce ineffective liquid consumption caused by blindly adding liquid, thereby improving the liquid supply adaptability of the cleaning equipment under different operating conditions and the startup cleaning effect.

[0021] In this way, the above-mentioned logical judgment automatically adapts the liquid replenishment strategy, eliminating the need for manual judgment or settings by the user, and greatly improving the automation level and ease of use of the cleaning equipment.

[0022] Optionally, the method also includes:

[0023] If it is confirmed that the previous completed operation was not a drying operation, the water pump assembly and spray assembly are periodically controlled to be in the on and off states to intermittently perform a second liquid replenishment operation on the disc brush.

[0024] By adopting the above method, the cleaning equipment can perform intermittent liquid replenishment based on the actual wetness of the disc brush without undergoing a drying process. This ensures that the disc brush remains moderately moist throughout the cleaning process, preventing it from drying out and reducing its cleaning power due to prolonged use. Simultaneously, it avoids affecting the dryness of the surface to be cleaned due to excessive water replenishment, and reduces waste and the risk of secondary contamination from excessive water spraying. This improves the adaptability and cleaning stability of the overall liquid supply control. Furthermore, compared to continuous water replenishment or pre-wetting at each start-up, intermittent liquid replenishment consumes less water in total, further reducing water waste.

[0025] Therefore, different liquid replenishment strategies are automatically selected based on the actual dry and wet state of the disc brush (indirectly determined by detecting the previous operation), enabling the cleaning equipment to adapt to different usage scenarios and user habits, thereby improving the level of intelligence and user experience.

[0026] Optionally, the first rotational speed of the disc brush when rotating in the first direction is less than the speed corresponding to the speed at which the disc brush cleans the surface to be cleaned.

[0027] Because the initial rotation speed is relatively low, the centrifugal force generated by the disc brush during reverse rotation is small. This prevents the liquid sprayed onto the bristles from being flung out of the brush body, ensuring that more liquid is absorbed by the bristles and preventing liquid from splashing onto the surface to be cleaned or other parts of the equipment. Therefore, by setting the first speed of the first replenishment stage to be lower than the speed of the cleaning stage, the liquid has more time to penetrate to the base of the bristles, rather than just remaining on the surface. This achieves a more uniform and thorough pre-wetting effect, allowing the disc brush to complete liquid distribution in a more stable state before entering the formal cleaning process. This reduces ineffective liquid splashing before contact with the surface to be cleaned and improves cleaning power during subsequent cleaning.

[0028] Furthermore, using a lower initial rotation speed during the pre-wetting stage before cleaning reduces motor energy consumption and operating noise compared to directly using high-speed rotation for liquid replenishment, thus improving the economy of the cleaning equipment and the user experience. In addition, rotating at a lower initial speed for liquid replenishment when the disc brush is not in contact with the surface to be cleaned and is unloaded can also reduce wear caused by high-speed idling of the bristles in a dry or semi-dry state, extending the service life of the disc brush.

[0029] Optionally, the disc brush has a first position in contact with the surface to be cleaned and a second position separated from the surface to be cleaned, and the method further includes:

[0030] During the first duration when the water pump assembly and the spray assembly are continuously in the on state, the control disk brush is in the second position.

[0031] In this way, by keeping the disc brush in the second raised position during the replenishment process, it is ensured that the liquid sprayed onto the disc brush will not drip or splash directly onto the surface to be cleaned, thereby avoiding the formation of local accumulation or watermarks on the surface to be cleaned, and ensuring that the disc brush has stable initial wetting conditions when it is subsequently moved down to the first position.

[0032] Because the disc brush remains in the second position during the initial liquid supply period, it switches to the first position to participate in cleaning only after completing the first liquid replenishment operation, thus separating the liquid replenishment process from the contact cleaning process. This control method improves the wetting consistency of the disc brush during the initial startup phase. It not only reduces insufficient cleaning power caused by the disc brush drying out, but also prevents contact with the surface to be cleaned when the disc brush is not fully wetted, rotates in an abnormal direction, or has uneven liquid distribution. This prevents damage or watermarks to the surface to be cleaned due to localized overwetting or dry brush friction, and reduces ineffective liquid consumption during the non-contact phase, thereby improving the cleaning stability and liquid utilization efficiency during the overall machine startup phase.

[0033] In addition, when the disc brush is in the second position (suspended state), it rotates and the bristles are fully spread out, so that the liquid can more fully contact and penetrate into all parts of the bristles, avoiding the problem that some bristles cannot be evenly liquidated due to obstruction by the surface to be cleaned, thus improving the liquid replenishment efficiency.

[0034] Optionally, the method also includes:

[0035] After the water pump assembly and the spray assembly have been in the on state for a first duration, the control brush rotates in a second direction and the control brush descends from the second position to the first position; the second direction is opposite to the first direction.

[0036] In this way, by rotating in the first direction during the replenishment phase, the liquid can be guided into the interior of the disc brush. When switching to the second direction and descending to contact the surface to be cleaned, the disc brush is already fully wetted and the rotation direction has been adjusted to the normal cleaning direction, thus avoiding the liquid being flung out due to a sudden change in direction at the moment of contact with the surface to be cleaned.

[0037] This design, which involves switching the rotation direction before descending to contact the surface to be cleaned, ensures that the disc brush is already in the correct rotation direction and wetted before actually contacting the surface. This reduces the impact of switching from replenishing liquid to cleaning, improves the smoothness and consistency of cleaning, and allows the bristles to immediately form an effective friction and liquid-laden cleaning effect when entering the cleaning state.

[0038] Because the disc brush contacts the surface to be cleaned in a second rotating direction, which aligns with the cleaning requirements, the cleaning equipment can immediately and effectively gather or lift dirt without needing to adjust its direction after contacting the surface, thus improving cleaning efficiency. It also avoids forcibly lowering the disc brush to contact the surface while it is still rotating in the first direction, preventing abnormal bristle wear or scratches on the surface due to a mismatch between the rotation direction and the direction of friction.

[0039] Optionally, the method also includes:

[0040] After the disc brush descends to the first position, the water pump assembly and spray assembly are periodically controlled to be in the on and off states.

[0041] In this way, during the cleaning process, the disc brush maintains a moderately moist state through periodic intermittent water replenishment. This prevents the brush from drying out and reducing its cleaning power due to prolonged use, while also preventing it from becoming overly wet due to continuous water replenishment, thus effectively reducing water stains. Compared to continuous water supply, periodic control of the liquid supply significantly reduces total water consumption, minimizing water waste and extending the clean water tank's runtime. It also ensures more stable cleaning results under different operating conditions, making it particularly suitable for cleaning equipment that requires balancing moisture control and surface cleanliness control.

[0042] In addition, using intermittent water replenishment can ensure that the brush is cleaned with appropriate moisture after each water replenishment, avoiding fluctuations in cleaning effect caused by untimely water replenishment, or problems such as slippery surfaces to be cleaned and prolonged drying time caused by excessive water replenishment.

[0043] It should also be noted that by adopting the above control method, the cleaning equipment does not need to monitor the humidity of the brush or the condition of the surface to be cleaned in real time, which reduces the complexity and cost of the cleaning equipment, while ensuring a stable water replenishment effect.

[0044] Optionally, the pump assembly and spray assembly can be periodically controlled to be in an on / off state, including:

[0045] Control the water pump assembly and spray assembly to perform the following operations repeatedly:

[0046] The water pump assembly and sprinkler assembly are kept in the on state;

[0047] After the water pump assembly and the sprinkler assembly have been running in the on state for a second period of time, the water pump assembly and the sprinkler assembly are controlled to be in the off state.

[0048] The water pump assembly and sprinkler assembly are kept in the off state for the third time.

[0049] It should be noted that the above-described cyclic control method, during operation, breaks down the continuous liquid supply into multiple short-term on / off cycles, preventing continuous liquid accumulation while keeping the brush moist, thus matching the replenishment volume to the cleaning status. Since each on / off cycle is constrained by a second duration, and each off cycle by a third duration, the total liquid supply per unit time can be stably controlled throughout the cleaning process, reducing ineffective liquid consumption. Optionally, the above cyclic control method can also adjust the circulation frequency based on brush humidity, equipment travel speed, or the degree of contamination on the surface to be cleaned, thereby improving the adaptability of the liquid supply control.

[0050] In this way, by setting a second duration (on time) and a third duration (off time), liquid can be supplied to the brush intermittently. This not only allows for precise control of the spray volume and frequency of each replenishment, enabling on-demand replenishment and avoiding over- or under-replenishment, but also maintains effective wettability on the brush surface, reducing unnecessary liquid accumulation around the brush and on the surface to be cleaned. This improves cleaning uniformity and reduces cleaning liquid consumption, thus maintaining a stable cleaning effect. Since the on / off and corresponding durations are clearly defined, the control logic is clear, easy to implement in existing cleaning equipment control systems, and beneficial for improving the overall operational stability and consistency of cleaning results.

[0051] Optionally, the second duration is any value between 1 second and 3 seconds, and / or the third duration is any value between 80 seconds and 100 seconds.

[0052] By setting a short water replenishment interval of 1-3 seconds, it ensures that only the amount of water needed for the disc brush is replenished each time, preventing excessive liquid from being splashed onto the surface to be cleaned and forming water stains. Setting a water replenishment interval of 80-100 seconds matches the water consumption rate of the disc brush, keeping the brush moderately moist throughout the cleaning process and ensuring stable cleaning results. Therefore, compared to continuous or more frequent water replenishment strategies, the above parameter combination can reduce total water consumption by 60%-80% and extend the clean water tank's runtime.

[0053] Furthermore, because the second duration setting is relatively short, the spray assembly only supplies liquid to the surface of the disc brush for a limited time. Combined with the longer third duration setting for shut-off, this allows the disc brush to achieve a balance between moisture retention and liquid consumption. This combination of parameters enables the disc brush to maintain a stable liquid content during continuous cleaning and reduces the probability of residual liquid accumulation on the surface to be cleaned, thereby improving cleaning continuity and reducing ineffective liquid consumption.

[0054] Optionally, the disc brush has a first position in contact with the surface to be cleaned and a second position separated from the surface to be cleaned, and the method further includes:

[0055] Before periodically controlling the water pump assembly and spray assembly to be in the on and off states, the control disc brush is rotated in the second direction and controlled to be in the first position.

[0056] In this way, by clearly defining the sequence of first descending to the first position and changing direction before initiating the periodic replenishment of liquid, before the disc brush enters the cleaning phase of the second periodic replenishment operation, the intermittent liquid supply state can be avoided if the disc brush enters the cleaning state before the direction change is completed or before it has contacted the surface to be cleaned. This allows the disc brush to begin cleaning immediately upon contact with the surface, followed by periodic replenishment, making the cleaning process continuous and stable. No additional position adjustments or direction changes are needed during cleaning, which not only improves cleaning efficiency but also reduces ineffective liquid consumption during the non-contact phase and helps improve the brushing consistency and cleaning stability when the disc brush enters the continuous cleaning phase.

[0057] Optionally, the second rotational speed of the disc brush when rotating in the second direction is less than the speed corresponding to the speed at which the disc brush cleans the surface to be cleaned.

[0058] Therefore, by setting the rotation speed in the second direction to be lower than the cleaning speed during normal cleaning, the disc brush can complete the posture adjustment and state switching in a gentler way during the transition phase. That is, it descends to contact the surface to be cleaned at a lower second speed, which can reduce the impact force at the moment of contact between the disc brush and the surface to be cleaned. This avoids abnormal wear of the bristles, motor overload or equipment vibration caused by high-speed rotation contact, as well as brush body shaking and liquid splashing caused by high-speed reverse rotation. At the same time, it helps the disc brush maintain a more uniform liquid state before performing cleaning operations.

[0059] Furthermore, when the disc brush descends to contact the surface to be cleaned at the second rotation speed, the lower speed results in less centrifugal force, making it less likely for residual liquid on the bristles to be flung out, thus avoiding water stains or liquid splashing upon contact. It also reduces the friction and shearing force between the bristles and the surface to be cleaned, preventing scratches on sensitive surfaces (such as wooden floors and tiles) and slowing down the wear rate of the bristles.

[0060] Therefore, when switching to the cleaning speed, the disc brush can establish brushing contact more smoothly, improving cleaning stability and reducing ineffective liquid consumption and the risk of contamination to the surrounding area.

[0061] In addition, it can make the brush descent process smoother and quieter, reducing noise and vibration caused by high-speed contact, and improving the comfort and quality of equipment operation.

[0062] Optionally, the start signal is generated in the following way:

[0063] The distance between the cleaning equipment and a side obstacle was detected to be less than or equal to a preset distance;

[0064] Alternatively, it may respond to user actions on the cleaning equipment.

[0065] Therefore, by generating start-up signals through either lateral obstacle distance triggering or user operation triggering, the disc brush's start-up mechanism can accommodate both automated and manual intervention scenarios. Specifically, by automatically detecting the distance to lateral obstacles, the cleaning device can automatically activate the disc brush to replenish liquid when approaching edges such as walls and furniture, ensuring that even edge areas are thoroughly cleaned without manual intervention. Especially when near edges or obstacles, the cleaning device can automatically enter start-up control based on environmental conditions, facilitating timely pre-wetting of the disc brush. When the user actively initiates a cleaning task, it can directly enter disc brush start-up control, meeting cleaning needs in specific scenarios (such as targeted cleaning). This provides flexible control methods, thereby improving the machine's adaptability to different usage scenarios and ensuring that the first liquid replenishment operation is performed at the appropriate time, reducing fluctuations in cleaning effect caused by dryness during the initial disc brush start-up phase, and minimizing ineffective liquid supply during the non-contact phase.

[0066] In this way, the two start-up methods complement each other: automatic detection is suitable for edge coverage in daily cleaning, while manual operation is suitable for special cleaning needs specified by the user, which greatly improves the adaptability and ease of use of the cleaning equipment.

[0067] Secondly, this application provides a control device for a cleaning equipment. The cleaning equipment includes a floor brush assembly, a water pump assembly, and a spray assembly. The floor brush assembly includes a roller brush and a disc brush. With the forward direction of the cleaning equipment as a reference, the disc brush is positioned behind the roller brush. The spray assembly is used to spray liquid onto the disc brush. The device includes:

[0068] The acquisition module is used to acquire the start signal of the disk brush.

[0069] The control module is used to control the disc brush to rotate in a first direction, and to control the water pump assembly and the spray assembly to be in the on state for a first duration, so as to perform a first liquid replenishment operation on the disc brush. During the first liquid replenishment operation, the disc brush does not contact the surface to be cleaned.

[0070] Thirdly, this application provides a cleaning device, which includes a floor brush assembly, a water pump assembly, and a spray assembly. The floor brush assembly includes a roller brush and a disc brush. With the forward direction of the cleaning device as a reference, the disc brush is disposed behind the roller brush. The spray assembly is used to spray liquid onto the disc brush. The cleaning device is used to perform the method as described in any of the first aspects.

[0071] It should be noted that the second and third aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0072] The control method, apparatus, and cleaning equipment provided in this application control the disc brush to rotate in a first direction after receiving a start signal from the disc brush, and simultaneously control the water pump assembly and spray assembly to be in an on state, maintaining this on state for a first duration. During this duration, the spray assembly sprays liquid onto the disc brush to complete a first liquid replenishment operation. During this first liquid replenishment operation, the disc brush remains in contact with the surface to be cleaned. That is, the disc brush is pre-wetted and replenished with liquid while it is not in contact with the surface to be cleaned, and is in a suspended or raised state. After the first duration ends, the disc brush descends to contact the surface to be cleaned and begins normal cleaning operations. This avoids the problem of water being splashed out and additional water stains being created on the surface to be cleaned due to continuous water replenishment to the disc brush during the cleaning process, thereby improving the cleaning efficiency of the cleaning equipment and reducing water waste. Attached Figure Description

[0073] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0074] Figure 1 This is a partial structural schematic diagram of a cleaning device provided in an embodiment of this application;

[0075] Figure 2 A cross-sectional schematic diagram of a floor brush assembly provided in an embodiment of this application;

[0076] Figure 3 A schematic diagram of the bottom surface of a floor brush assembly provided in an embodiment of this application;

[0077] Figure 4 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0078] Figure 5 A flowchart illustrating a control method for a cleaning device provided in an embodiment of this application;

[0079] Figure 6 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application;

[0080] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0081] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0082] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0083] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first fluid replenishment operation and the second fluid replenishment operation are only used to distinguish different fluid replenishment operations and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0084] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0085] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0086] In existing technologies, to achieve cleaning of areas such as walls and corners, floor scrubbers often employ a composite structure for their brush components. This structure consists of a roller brush and a disc brush for auxiliary cleaning. The roller brush is responsible for scrubbing the main area, while the disc brush, located behind it, extends the cleaning range and handles edges and corners. During the cleaning process, the water pump and spray units continuously supply water to the roller brush and disc brush to maintain the brush's moisture and cleaning power.

[0087] However, continuously adding water to the brush during the cleaning process can cause water to be splashed out, leaving additional water stains on the surface to be cleaned. This reduces the cleaning efficiency of the floor scrubber and may waste water resources.

[0088] To address the aforementioned problems, this application provides a control method for a cleaning device. Upon receiving a start signal from the disc brush, the method controls the disc brush to rotate in a first direction, while simultaneously controlling the water pump assembly and spray assembly to be in an on state, maintaining this on state for a first duration. During this duration, the spray assembly sprays liquid onto the disc brush to perform a first replenishment operation. During this first replenishment operation, the disc brush remains in contact with the surface to be cleaned. In other words, the disc brush is pre-wetted and replenished with liquid while not in contact with the surface, in a suspended or raised state. After the first duration ends, the disc brush descends to contact the surface and begins normal cleaning. This avoids the problem of water being splashed out and creating additional water stains on the surface during continuous replenishment of water to the disc brush during cleaning, thereby improving the cleaning efficiency of the cleaning device and reducing water waste.

[0089] Meanwhile, since the brush has not yet come into contact with the surface to be cleaned during the first replenishment stage, the liquid supply mainly acts on the brush body rather than the surface. This reduces the direct spread of liquid on the surface and prevents excess liquid from being brought into the cleaning area as soon as the brush starts, thus improving the overall connection between the brush's liquid supply and the cleaning action. By using the brush start signal as a trigger and the brush rotation and liquid supply duration as control objects, the initial replenishment process of the brush can be made more orderly without changing the overall cleaning architecture. This lays the foundation for the subsequent continuous cleaning phase of the floor brush components and provides a basis for further optimizing the liquid supply strategy in different scenarios.

[0090] Optionally, the control method for cleaning equipment provided in this application is applied to cleaning equipment, for example, Figure 1 This is a partial structural diagram of a cleaning device provided in an embodiment of this application, as shown below. Figure 1 As shown, the cleaning equipment 100 includes a floor brush assembly 101, a water pump assembly 102, and a spray assembly 103. The floor brush assembly 101 includes a roller brush 11 and a disc brush 12. With the forward direction of the cleaning equipment 100 as a reference, the disc brush 12 is located behind the roller brush 11. The spray assembly 103 is used to spray liquid onto the disc brush 13.

[0091] For example, Figure 2 This is a cross-sectional schematic diagram of a floor brush assembly provided in an embodiment of this application, as shown below. Figure 2 As shown, a cylindrical rotating brush body, namely roller brush 11, is part of the floor brush assembly 101. The roller brush 11 is usually installed laterally along the width direction of the cleaning equipment 100. It is used to roll and scrub the surface to be cleaned and to collect wastewater in conjunction with the suction port.

[0092] Figure 3 This is a schematic diagram of the bottom surface of a floor brush assembly provided in an embodiment of this application, as shown below. Figure 3 As shown, a disc-shaped rotating brush body, namely the disc brush 12, in the floor brush assembly 101 is positioned behind the roller brush 11 with reference to the forward direction of the cleaning device 100.

[0093] The disc brush 12 is a lateral brushing execution component in the floor brush assembly 101, used to supplement the cleaning of the rear area, corner area, or local area that is difficult to be fully covered by the roller brush 11 during the operation of the cleaning equipment 100.

[0094] Optionally, the disc brush 12 may include a disc-shaped brush body and bristles disposed around the periphery of the brush body. The brush body may be made of a polymer matrix, and the bristles may be made of nylon filaments, polyethylene terephthalate (PET) filaments, or other abrasion-resistant elastic materials to adapt to the friction cleaning of different surfaces to be cleaned.

[0095] like Figure 3 As shown, the spray assembly 103 is a liquid spraying device connected to the water pump assembly (not shown in the figure), with its nozzle facing the disc brush 12, for spraying liquid onto the surface of the disc brush 12 to wet the brush body and improve the cleaning effect.

[0096] The water pump assembly refers to the liquid supply actuator that delivers liquid from the storage chamber or clean water tank to the spray assembly 103. The water pump assembly typically includes a pump body, an inlet channel, an outlet channel, a motor or drive unit, and a check valve. The spray assembly 103 refers to the liquid output mechanism that sprays the liquid delivered by the water pump assembly onto the disc brush 12, and may include nozzles, guide pipes, diverting elements, atomizing elements, or directional spray structures.

[0097] It should be noted that the embodiments of this application do not specifically limit the types and structures of the multiple functional components integrated inside the cleaning equipment 100; the above are merely illustrative examples.

[0098] Optionally, the disc brush 12 has a first position that contacts the surface to be cleaned and a second position that is separated from the surface to be cleaned.

[0099] The first position refers to the working position where the disc brush 12 is in direct contact with the surface to be cleaned (the ground), applying pressure and rotating to scrub. When the disc brush 12 is in the first position, the bristles or brush surface of the disc brush 12 are in close contact with the surface to be cleaned, and friction is generated through rotation to remove stains. At this time, the cleaning equipment 100 is in normal cleaning operation. If water is continuously added to the disc brush 12 in the first position, water can easily be splashed onto the surface to be cleaned, causing water stains.

[0100] The second position refers to the non-working position where the brush 12 is separated from the surface to be cleaned and does not contact it. In this second position, the brush 12 is suspended, raised, or detached from the surface, and the brush body does not contact or rub against it. This second position can be used for non-cleaning conditions such as starting, pre-wetting, stopping, or avoiding obstacles, preventing additional impacts (such as water splashing or scratches) on the surface to be cleaned during refilling or idling.

[0101] In one possible implementation, the disc brush 12 is mounted on a liftable bracket. Before starting the liquid replenishment process, the cleaning equipment 100 controls the lifting mechanism to raise the disc brush 12 to a position off the ground, or maintains the disc brush 12 in the initial raised position, so that a predetermined gap is formed between the bottom of the disc brush and the surface to be cleaned.

[0102] In another exemplary embodiment, the cleaning device 100 suspends the disc brush 12 during the pre-liquid replenishment stage through a posture adjustment structure, auxiliary wheel assembly height adjustment, or partial support components. Even when the disc brush 12 is in the second position, it does not create contact pressure between the disc brush 12 and the surface to be cleaned. Alternatively, a telescopic mechanism can be used to prevent the disc brush 12 from extending to the working position during the liquid replenishment stage, and it can be moved to the first position after the first liquid replenishment operation is completed. Because the disc brush 12 does not contact the surface to be cleaned during liquid replenishment, the sprayed liquid is mainly absorbed, dispersed, and stored within the body of the disc brush 12 by the bristles, rather than forming significant liquid accumulation directly on the surface to be cleaned, thereby reducing liquid spread and ineffective consumption during the non-contact stage.

[0103] It should be noted that during the process of switching from the second position to the first position, the disc brush 12 typically rotates in the first direction and gradually descends to contact the surface to be cleaned. Conversely, during the process of switching from the first position to the second position, the disc brush 12 typically rotates in the second direction and gradually moves away from the surface to be cleaned until it reaches the second position.

[0104] Based on the structural design of the cleaning device 100 described above, the cleaning device 100 can effectively clean the surface to be cleaned. For example, Figure 4 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 4 As shown, taking a floor scrubber as an example, when the floor scrubber is cleaning the living room area, it generates a start signal for the disc brush in response to the user pressing the "edge cleaning" button on the floor scrubber or triggering the start of the disc brush through the application (APP) on the terminal device.

[0105] Thus, after the floor scrubber's controller receives the start signal for the disc brush, it controls the disc brush to rotate in a first direction, which is opposite to the rotation direction during normal cleaning, to prevent liquid from being splashed out during replenishment. It also controls the floor scrubber's water pump and spray systems to be turned on, spraying liquid onto the rotating disc brush.

[0106] The on state is maintained for a first duration, such as 2-5 seconds, during which the first liquid replenishment operation (pre-wetting) is performed on the disc brush. During the entire first liquid replenishment operation, the disc brush is in a second position (separated from the surface to be cleaned in the living room, suspended, or raised) to ensure that the liquid is absorbed only by the bristles of the disc brush and does not drip or splash onto the surface to be cleaned.

[0107] Furthermore, after the first cleaning period ends, the controller shuts down the water pump and spray components, stopping the spraying. At this point, the disc brush has been pre-wetted and is ready to begin normal cleaning operations.

[0108] The above process ensures that the disc brush is fully wetted before it comes into contact with the surfaces to be cleaned in the living room, thus achieving the desired cleaning effect at the start of cleaning while avoiding water stains.

[0109] Optionally, after pre-wetting, the disc brush can be controlled to descend to contact the surface to be cleaned, and the cleaning operation can begin after the disc brush contacts the surface to be cleaned.

[0110] It's important to note that while the roller brush area of ​​cleaning equipment typically features an immediate wastewater recovery system that quickly removes excess water, the disc brush area usually lacks a matching efficient water suction channel. Continuous water supply to the disc brush can easily lead to water accumulation. Excessive water residue can create watermarks, significantly reducing cleaning effectiveness and user experience.

[0111] Therefore, during the cleaning operation of the disc brush, the water pump assembly and spray assembly can be periodically turned on and off to perform a second replenishment operation (intermittent water replenishment), which can maintain the wetness of the disc brush and avoid excessive wetness due to continuous water replenishment.

[0112] It should be noted that the embodiments of this application do not specifically limit the type of cleaning equipment. In addition to floor scrubbers, cleaning equipment can also be other intelligent cleaning equipment with functions such as wetting, scrubbing and wastewater recycling.

[0113] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0114] For example, Figure 5 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application. The control method for the cleaning device is applied to... Figures 1-3 In the cleaning equipment with the structure shown, such as Figure 5 As shown, the control method for this cleaning equipment includes the following steps:

[0115] S501, Obtain the start signal for disk brushing.

[0116] In this embodiment of the application, the start signal may refer to an instruction or electrical signal that triggers the disc brush to start rotating, either inside or outside the cleaning device.

[0117] The start signal can come from user operation (such as pressing the start button, selecting the disc brush cleaning mode), automatic device detection (such as detecting the change of the type of surface to be cleaned, the linkage logic after the roller brush starts), or system preset program (such as power-on self-test, timed start).

[0118] This start signal indicates that the brush has transitioned from a static or standby state to a ready-to-work state, and is the trigger condition for subsequent fluid replenishment and rotation actions.

[0119] It should be noted that the surface to be cleaned refers to the target surface that needs to be treated by the cleaning equipment. It can be a floor, tile, stone floor, epoxy floor, carpet surface, or other load-bearing surface suitable for the operation of the cleaning equipment.

[0120] In this embodiment, the start signal of the disc brush can be obtained by the main controller of the cleaning equipment. The main controller can be a microcontroller, an embedded processor, or an integrated control circuit. It is communicatively connected to the human-machine interaction module, the motor drive module, the water pump drive module, and the attitude or position detection module so as to generate subsequent control commands after receiving the disc brush start-up information.

[0121] In one possible implementation, the start signal is generated by the user. The user can issue a disc brush start command through the body button, handle button, touch panel or remote terminal. The input module sends the corresponding level change, encoded signal or communication message to the main controller. The main controller performs debouncing processing, legality verification and status matching judgment on the received input information. After confirming that the cleaning equipment currently has the conditions for disc brush start, it identifies the input information as the disc brush start signal.

[0122] In another exemplary implementation, the start signal is automatically generated by the cleaning device. For example, when the cleaning device moves to the edge of a wall, around a table leg, or a preset edge cleaning area, the path recognition module, edge detection sensor, or environmental perception module sends the scene recognition result to the main controller. The main controller automatically determines that the disk brush needs to be started according to the preset control logic and generates an internal start signal accordingly.

[0123] Optionally, the cleaning equipment can also generate a start signal based on the equipment's historical operating status. For example, when it is detected that the disc brush has undergone a drying process, the current brush bristle liquid content is lower than the threshold, or the cleaning equipment switches from standby to cleaning preparation state, the main controller can combine the above status conditions as start criteria and automatically trigger the disc brush start process when the criteria are met.

[0124] To ensure the reliability of the startup process, in this embodiment, after obtaining the startup signal, the current status of the cleaning equipment can be jointly confirmed. This includes confirming that the battery level is higher than the minimum operating threshold, the wastewater tank and clean water tank are installed normally, the disc brush drive motor has no fault alarms, the floor brush assembly is not in a maintenance lockout state, and the current position of the disc brush meets the mechanical movement space requirements for pre-filling liquid. The above-mentioned current status confirmation can be achieved through a Hall sensor, a liquid level sensor, a cover opening detection switch, a current sampling module, and a position feedback module. If any condition is not met, the controller can delay starting the disc brush and output a prompt message; if all conditions are met, the startup signal is written to the task queue or the subsequent drive process is directly triggered.

[0125] In this way, by acquiring and confirming the start signal of the disc brush in advance, a clear time reference can be established between the start-up action of the disc brush and the subsequent liquid supply action, thereby avoiding the timing misalignment problem caused by the independent operation of the disc brush, motor, and liquid supply system in the traditional method. Based on the above analysis, this step is the starting step of the entire control method. By uniformly identifying the start-up source, equipment status, and task conditions, the pre-treatment action of the disc brush is accurately triggered before it actually contacts the surface to be cleaned. This creates conditions for the subsequent disc brush to rotate first, then replenish liquid, and maintain an isolated state, thus helping to solve the problems of dryness, disordered liquid supply, and ineffective liquid consumption in the early stage of disc brush start-up.

[0126] S502, control the disc brush to rotate in a first direction, and control the water pump assembly and spray assembly to be in the on state, and to be in the on state for a first duration, so as to perform a first liquid replenishment operation on the disc brush. During the first liquid replenishment operation, the disc brush does not contact the surface to be cleaned.

[0127] In this embodiment, the first direction may refer to the predetermined rotation direction given to the disc brush during the pre-liquid replenishment stage. This first direction is usually opposite to the rotation direction during normal cleaning operations. This embodiment does not limit the specific direction setting corresponding to the first direction, and its definition is determined based on the disc brush installation direction, the bristle arrangement shape, and the liquid distribution path.

[0128] For example, the first direction can be set in combination with the disc brush structure and the installation direction to balance the effect of uniform liquid distribution and the efficiency of subsequent cleaning.

[0129] "On" can refer to the state in which the components inside the cleaning equipment are powered on and working. For example, the water pump assembly and the spray assembly are in the "on" state, that is, they are powered on and working normally, conveying and spraying liquid.

[0130] The first duration can refer to the duration required for the water pump assembly and spray assembly to remain in the on state to complete pre-wetting. This first duration can be a preset fixed value or a dynamic value calculated based on state parameters. This application embodiment does not limit the specific data corresponding to the first duration. The first duration is preset (e.g., 2-5 seconds) according to factors such as the material and size of the disc brush and the required degree of wetting, ensuring that the disc brush receives sufficient but not excessive liquid to avoid waste.

[0131] For example, the initial duration can be dynamically adjusted based on environmental conditions and the historical status of the equipment to adapt to the pre-wetting needs of different dry and wet conditions and different materials of the disc brush.

[0132] The first replenishment operation can refer to the process of pre-wetting the bristles and the brush body and distributing the liquid evenly by rotating the brush in conjunction with the water pump assembly and the spray assembly, without the brush touching the surface to be cleaned.

[0133] The first liquid replenishment operation is completed before the disc brush comes into contact with the surface to be cleaned, allowing the disc brush to pre-absorb an appropriate amount of liquid, so that there is no need to continuously replenish a large amount of water during the subsequent cleaning process, thus reducing the generation of water stains.

[0134] For example, after the main controller confirms that the start signal is valid, it outputs a start control command to the disc brush drive motor to make the disc brush start rotating in the first direction. The first direction is the reverse direction, that is, the disc brush rotates in the opposite direction to the formal cleaning stage in the pretreatment stage. By rotating in the opposite direction, the sprayed liquid is evenly distributed between the bristle bundles from the outer edge to the inner edge or from the inner edge to the outer edge, reducing the situation where some bristles are liquided first while other bristles are still dry.

[0135] Furthermore, at the same time the disc brush begins to rotate or within a short delay after rotation, the main controller sends an activation command to the water pump assembly and the spray assembly. Specifically, the water pump assembly draws liquid from the clean water tank or the functional liquid storage tank, delivers it to the spray assembly via the liquid supply pipeline, and then sprays the liquid toward the bristle area of ​​the disc brush.

[0136] Optionally, the spraying method of the spray assembly can be single-nozzle directional spraying, multi-nozzle fan-shaped spraying, or atomized spraying, as long as the liquid can effectively act on the disc brush. To ensure that the liquid replenishment coverage area matches the rotation path of the disc brush, the nozzles can be arranged above, to the side above, or near the liquid entry area of ​​the bristles of the disc brush. The spray angle can be set relative to the tangent or normal direction of the disc brush, so that the droplets spread along the bristle bundle under the rotation of the disc brush. This application embodiment does not specifically limit this.

[0137] Furthermore, while the water pump assembly and spray assembly remain on for a first duration, the main controller records the time interval from the start to the end of the operation via an internal timer, and issues a shutdown control command after the first duration is reached. During the first replenishment operation, the rotation of the disc brush and the spray supply work synergistically. Specifically, the centrifugal effect generated by the rotation, the relative motion between the bristles, and the surface tension of the liquid work together to allow the liquid sprayed to the local area to gradually diffuse along the length and circumference of the bristles, achieving balanced wetting of different areas of the disc brush.

[0138] Optionally, if the disc brush has undergone drying treatment in the previous workflow and the bristles are relatively dry initially, the first duration can be appropriately extended to allow the gaps between the fibers inside the bristles to re-establish their liquid retention capacity; if the cleaning equipment repeatedly starts the disc brush in a short period of time, the first duration can be controlled to be shortened to avoid excessive liquid replenishment.

[0139] In existing technologies, the liquid replenishment of the disc brush begins during the descent process. However, the disc brush rotates at a relatively high speed during the descent, and because it is descending, it is easy for the disc brush to splash water onto the surface to be cleaned during the liquid replenishment process. This causes the surface to become dirtier before it has even been cleaned.

[0140] This solution differs. Based on the above analysis, this application integrates the brush start-up, brush pretreatment rotation, liquid supply, and mechanical isolation into the same control sequence, ensuring the brush has a stable and uniform initial liquid state before entering the formal cleaning contact. This avoids insufficient cleaning power, abnormal friction, or uneven cleaning caused by overly dry bristles when the brush first contacts the surface to be cleaned. Furthermore, since the brush does not contact the surface during the replenishment phase, the liquid is preferentially distributed to the brush body rather than falling directly onto the surface, thus reducing liquid accumulation on the surface to be cleaned at startup, ineffective liquid consumption, and preventing additional water stains caused by continuous water replenishment during cleaning. Moreover, the coordination of rotation in the first direction and control of the first duration allows for repeatability and adjustability of the pre-wetting process under different operating conditions, thereby improving the connection between brush liquid supply and cleaning actions without changing the overall architecture of the cleaning equipment.

[0141] Therefore, this application links the start-up of the disc brush with the pre-liquid replenishment process and isolates the contact between the disc brush and the surface to be cleaned, ensuring that the disc brush undergoes a pre-wetting treatment before officially engaging in cleaning. This results in a more stable liquid content on the brush body when it enters the working state, reducing fluctuations in cleaning effect caused by the dryness of the disc brush during the initial start-up phase. Simultaneously, the liquid is preferentially applied to the disc brush body during the non-contact phase, reducing ineffective accumulation and direct spread of liquid on the surface to be cleaned, thus improving liquid utilization efficiency and consistency of liquid distribution along the cleaning path.

[0142] It should be understood that the above examples are merely illustrative and not limiting. Any technical means that can acquire a start signal, drive the brush to rotate, control the water pump assembly and spray assembly to turn on and maintain the operation for a preset time, and keep the brush isolated from the surface to be cleaned during the replenishment process can be applied to the technical concept of the embodiments of this application.

[0143] Optionally, the method further includes: in response to a start signal, controlling the disc brush to start working to clean the surface to be cleaned; wherein, before the disc brush starts working to clean the surface to be cleaned, controlling the disc brush to perform a first replenishment operation; and during the process of the disc brush cleaning the surface to be cleaned, controlling the disc brush to intermittently perform a second replenishment operation.

[0144] In this embodiment of the application, the second replenishment operation may refer to the operation in which the controller controls the water pump assembly and the spray assembly to be turned on intermittently (non-continuously) to replenish the moisture of the disc brush during the normal contact of the brush with the surface to be cleaned.

[0145] The second liquid replenishment operation is used to maintain the moisture of the brush bristles during continuous cleaning of the disc brush. The controller can periodically control the spray component to turn on and off according to a preset time interval, so that the liquid is replenished to the surface of the disc brush in an intermittent manner.

[0146] It should be noted that the second replenishment operation differs from the first. The first replenishment operation is a "pre-wetting" performed before the brush contacts the surface to be cleaned, but before the brush touches the surface; while the second replenishment operation is a "mid-process replenishment" performed after the brush has contacted the surface and is in normal cleaning mode. It uses an intermittent approach (e.g., turning it on once after a certain working time or after moving a certain distance, for a short duration) rather than a continuous water supply to avoid excessive water being shaken out.

[0147] For example, after the cleaning equipment receives a start signal, the controller first outputs a disc brush start command to put the disc brush into working mode. Before the disc brush contacts the surface to be cleaned, a first liquid replenishment operation is performed, ensuring the brush bristles have a stable liquid content before contact. Further, once the disc brush enters the cleaning state and contacts the surface, the controller performs a second liquid replenishment operation according to a preset duration and interval. This causes the spray assembly to open intermittently within multiple control cycles. For example, every 30 seconds of cleaning or every 2 meters of progress, the spray assembly is activated for 2 seconds to replenish water, then turned off, and this cycle repeats. This compensates for liquid loss caused by rotational spraying and friction with the surface during cleaning.

[0148] In this way, by adopting the above method, the disc brush can be pre-wetted at the initial stage of operation, avoiding insufficient cleaning power caused by directly cleaning with dry bristles. Furthermore, by intermittently replenishing liquid during the cleaning process, rather than continuously replenishing water, the probability of the disc brush splashing water onto the surface to be cleaned during rotation is significantly reduced, keeping the surface relatively dry and improving cleaning efficiency. Through intermittent water replenishment, the disc brush can maintain a suitable level of moisture during the cleaning process, preventing the brush body from drying out and reducing cleaning power due to prolonged use, while also avoiding water stains caused by excessive wetting. Compared to continuous water replenishment, this intermittent water replenishment significantly reduces total water consumption, thereby reducing water waste. Due to the reduced water consumption, the operating time of the cleaning equipment's clean water tank is extended, reducing the frequency of adding water or recharging mid-cleaning, thus improving the user experience. Therefore, by adopting the above control method, the adaptability of the disc brush to different cleaning scenarios and its overall cleaning stability can be greatly improved.

[0149] Optionally, the water pump assembly and the spray assembly are controlled to be in the on state, and remain in the on state for a first duration, to perform a first liquid replenishment operation on the disc brush, including:

[0150] In response to the start signal, it detects whether the previous completed operation on the cleaning equipment was a drying operation; if it is confirmed that the previous completed operation was a drying operation, it controls the water pump assembly and spray assembly to be turned on, and remains on for a first duration, so as to perform the first liquid replenishment operation on the disc brush.

[0151] In this context, a completed operation on the cleaning equipment can refer to the most recently completed functional task of the cleaning equipment before the current start signal arrives.

[0152] The drying operation refers to a working mode or operating procedure that uses hot air, ambient air, or heated airflow to dry residual moisture on the surface of the disc brush. For example, after the cleaning equipment receives a start signal, the controller can read the cleaning equipment's operation record, task log, or status flag to determine if the most recently completed task corresponds to a drying operation. If it is confirmed that the previous completed operation was a drying operation, it means that the disc brush is currently in a dry state with low bristle moisture content. Directly entering the cleaning operation would result in insufficient cleaning power or require a large amount of water replenishment. Therefore, the controller can control the water pump assembly and spray assembly to be in the on state and continuously perform a first replenishment operation (pre-wetting) on ​​the disc brush for a first duration. This first replenishment operation is performed under the condition that the disc brush does not contact the surface to be cleaned. If the previous completed operation was not a drying operation (e.g., it was after a normal cleaning without drying, or the cleaning equipment has just been turned on), the first replenishment operation may be skipped or other replenishment strategies (such as shortening the replenishment duration) may be adopted to avoid over-wetting.

[0153] In this way, after the first replenishment operation is completed, the brush can be controlled to descend to contact the surface to be cleaned, and normal cleaning operation can begin. During the cleaning process, an intermittent second replenishment operation can be optionally performed.

[0154] Therefore, by using whether the previous completed operation was a drying operation as the trigger, the current dryness or wetness of the disc brush can be accurately determined. This ensures that the first replenishment operation is only performed when the disc brush is indeed dry, avoiding water waste and over-wetting caused by adding water when there is still residual moisture on the disc brush. This ensures that the disc brush is in a stable wet state before starting the cleaning process.

[0155] It should be noted that if the disc brush is used directly for cleaning after drying, the dry bristles will have poor cleaning power. By adopting the above method, the insufficient cleaning ability caused by the dry bristles during the initial startup can be reduced, and the disc brush can be fully pre-wetted when starting up after drying, thereby maintaining a good cleaning effect. In addition, it can avoid excessive wear of the bristles caused by forcibly cleaning when the disc brush is dry, or the brush body aging due to repeated watering when it is wet, and reduce ineffective liquid consumption caused by blindly adding liquid, thereby improving the liquid supply adaptability of the cleaning equipment under different operating conditions and the startup cleaning effect.

[0156] In this way, the above-mentioned logical judgment automatically adapts the liquid replenishment strategy, eliminating the need for manual judgment or settings by the user, and greatly improving the automation level and ease of use of the cleaning equipment.

[0157] Optionally, the method further includes: if it is confirmed that the previous completed operation was not a drying operation, periodically controlling the water pump assembly and spray assembly to be in the on and off states to intermittently perform a second liquid replenishment operation on the disc brush.

[0158] In this embodiment of the application, the closed state can refer to the fact that the functional components in the cleaning equipment are powered off and stopped working, such as the water pump assembly and the spray assembly being powered off and stopped working, and not conveying or spraying liquid.

[0159] For example, after confirming that the previous completed operation was not a drying operation, the controller can periodically control the water pump assembly and spray assembly to switch between on and off states to intermittently perform a second liquid replenishment operation on the disc brush. Specifically, during the normal contact and cleaning process of the disc brush with the surface to be cleaned, the controller, according to a preset cycle (e.g., every 30 seconds or every 2 meters of advance), first controls the water pump assembly and spray assembly to enter the on state for a short period of time (e.g., 2 seconds) to replenish water, and then controls the water pump assembly and spray assembly to enter the off state to stop replenishing water, waiting for the next cycle to repeat the on-off cycle. In this way, throughout the cleaning process, the disc brush continues to rotate and contact the surface to be cleaned, and intermittent liquid replenishment continues until the cleaning is completed or a stop signal is received.

[0160] It should be noted that the above control method applies to cleaning scenarios where the brush is not dried, and the brush continues to receive on-demand replenishment of liquid after it has already reached a certain level of liquid content. This avoids problems such as liquid residue on the brush bristles, water stains on the surface to be cleaned, water stains caused by shaking, or increased liquid consumption caused by continuous liquid supply. By periodically opening and closing the water pump and spray components, the liquid can be delivered to the brush in stages and gradually diffuse into the brush body, thereby maintaining the stable cleaning ability of the brush.

[0161] By adopting the above method, the cleaning equipment can perform intermittent liquid replenishment based on the actual wetness of the disc brush without undergoing a drying process. This ensures that the disc brush remains moderately moist throughout the cleaning process, preventing it from drying out and reducing its cleaning power due to prolonged use. Simultaneously, it avoids affecting the dryness of the surface to be cleaned due to excessive water replenishment, and reduces waste and the risk of secondary contamination from excessive water spraying. This improves the adaptability and cleaning stability of the overall liquid supply control. Furthermore, compared to continuous water replenishment or pre-wetting at each start-up, intermittent liquid replenishment consumes less water in total, further reducing water waste.

[0162] Therefore, different liquid replenishment strategies are automatically selected based on the actual dry and wet state of the disc brush (indirectly determined by detecting the previous operation), enabling the cleaning equipment to adapt to different usage scenarios and user habits, thereby improving the level of intelligence and user experience.

[0163] Optionally, the first rotational speed of the disc brush when rotating in the first direction is less than the speed corresponding to the speed at which the disc brush cleans the surface to be cleaned.

[0164] In this embodiment, the first rotational speed is used to characterize the rotational speed of the disc brush during the first replenishment operation stage. Its value is less than the working speed when the disc brush contacts the surface to be cleaned, so as to reduce the centrifugal liquid ejection intensity at the tip of the brush bristles.

[0165] It should be noted that the first rotation speed is a relatively low value. This first rotation speed can be preset to coordinate with the liquid replenishment operation, so as to achieve uniform wetting while avoiding the liquid being thrown out by centrifugal force due to excessive rotation speed.

[0166] Optionally, the speed at which the disc brush cleans the surface can be determined by the controller based on feedback from the motor speed, which usually corresponds to the operating speed when the disc brush is in contact with the ground and the load increases.

[0167] For example, upon receiving a brush start signal, the controller of the cleaning equipment can output a drive command corresponding to a first rotational speed to the drive motor, causing the brush to rotate at a low speed in the first direction (reverse direction) before contacting the surface to be cleaned. The controller also controls the water pump and spray components to activate for a first duration to perform a first liquid replenishment operation on the brush, wetting the brush surface. Further, after the first liquid replenishment operation is completed, the brush is lowered to contact the surface to be cleaned (first position). At this point, the controller increases the brush's rotational speed to a higher speed corresponding to normal cleaning operations, giving the brush stronger scrubbing power to begin cleaning the surface. During the cleaning process, a second liquid replenishment operation is performed intermittently, while the brush maintains its normal cleaning rotational speed.

[0168] Because the initial rotation speed is relatively low, the centrifugal force generated by the disc brush during reverse rotation is small. This prevents the liquid sprayed onto the bristles from being flung out of the brush body, ensuring that more liquid is absorbed by the bristles and preventing liquid from splashing onto the surface to be cleaned or other parts of the equipment. Therefore, by setting the first speed of the first replenishment stage to be lower than the speed of the cleaning stage, the liquid has more time to penetrate to the base of the bristles, rather than just remaining on the surface. This achieves a more uniform and thorough pre-wetting effect, allowing the disc brush to complete liquid distribution in a more stable state before entering the formal cleaning process. This reduces ineffective liquid splashing before contact with the surface to be cleaned and improves cleaning power during subsequent cleaning.

[0169] Furthermore, using a lower initial rotation speed during the pre-wetting stage before cleaning reduces motor energy consumption and operating noise compared to directly using high-speed rotation for liquid replenishment, thus improving the economy of the cleaning equipment and the user experience. In addition, rotating at a lower initial speed for liquid replenishment when the disc brush is not in contact with the surface to be cleaned and is unloaded can also reduce wear caused by high-speed idling of the bristles in a dry or semi-dry state, extending the service life of the disc brush.

[0170] Optionally, the disc brush has a first position in contact with the surface to be cleaned and a second position separated from the surface to be cleaned, and the method further includes: controlling the disc brush to be in the second position for a first duration during which the water pump assembly and the spray assembly are continuously in the on state.

[0171] For example, while the water pump assembly and spray assembly are turned on and remain on for a first duration, the controller maintains the disc brush in a second position to ensure that the liquid primarily acts on the disc brush body rather than falling directly onto the surface to be cleaned. During the period when the disc brush is in the second position, the disc brush rotates in a first direction (reverse direction), while the water pump assembly and spray assembly are continuously turned on to spray liquid onto the disc brush, completing the first liquid replenishment operation.

[0172] Optionally, after the first duration ends, the controller moves the brush from the second position to the first position to begin normal cleaning operations.

[0173] In this way, by keeping the disc brush in the second raised position during the replenishment process, it is ensured that the liquid sprayed onto the disc brush will not drip or splash directly onto the surface to be cleaned, thereby avoiding the formation of local accumulation or watermarks on the surface to be cleaned, and ensuring that the disc brush has stable initial wetting conditions when it is subsequently moved down to the first position.

[0174] Because the disc brush remains in the second position during the initial liquid supply period, it switches to the first position to participate in cleaning only after completing the first liquid replenishment operation, thus separating the liquid replenishment process from the contact cleaning process. This control method improves the wetting consistency of the disc brush during the initial startup phase. It not only reduces insufficient cleaning power caused by the disc brush drying out, but also prevents contact with the surface to be cleaned when the disc brush is not fully wetted, rotates in an abnormal direction, or has uneven liquid distribution. This prevents damage or watermarks to the surface to be cleaned due to localized overwetting or dry brush friction, and reduces ineffective liquid consumption during the non-contact phase, thereby improving the cleaning stability and liquid utilization efficiency during the overall machine startup phase.

[0175] In addition, when the disc brush is in the second position (suspended state), it rotates and the bristles are fully spread out, so that the liquid can more fully contact and penetrate into all parts of the bristles, avoiding the problem that some bristles cannot be evenly liquidated due to obstruction by the surface to be cleaned, thus improving the liquid replenishment efficiency.

[0176] Optionally, the method further includes: after the water pump assembly and the spray assembly are in the on state for a first duration, controlling the disc brush to rotate in a second direction and controlling the disc brush to descend from a second position to a first position; the second direction is opposite to the first direction.

[0177] In this embodiment, the second direction may refer to the rotation direction of the disc brush after completing the first replenishment operation and starting normal cleaning work. The second direction is opposite to the first direction (the reverse rotation during replenishment).

[0178] Optionally, the second direction is the rotation direction of the disc brush during normal cleaning operations (e.g., towards the inside of the equipment or in a direction that helps to gather dirt), while the first direction is the opposite direction used when replenishing liquid, to avoid liquid being splashed out.

[0179] For example, after the controller of the cleaning equipment controls the water pump assembly and spray assembly to be in the on state and continuously performs the first liquid replenishment operation on the disc brush in the second position for a first duration, the controller can control the rotation direction of the disc brush to switch from the first direction to the second direction (i.e., the normal cleaning direction). And at the same time or after switching the rotation direction, the controller controls the disc brush to descend from the second position to the first position.

[0180] Once the disc brush rotates in the second direction and contacts the surface to be cleaned, normal cleaning operations can begin. Intermittent second liquid replenishment can then be performed as needed.

[0181] In this way, by rotating in the first direction during the replenishment phase, the liquid can be guided into the interior of the disc brush. When switching to the second direction and descending to contact the surface to be cleaned, the disc brush is already fully wetted and the rotation direction has been adjusted to the normal cleaning direction, thus avoiding the liquid being flung out due to a sudden change in direction at the moment of contact with the surface to be cleaned.

[0182] This design, which involves switching the rotation direction before descending to contact the surface to be cleaned, ensures that the disc brush is already in the correct rotation direction and wetted before actually contacting the surface. This reduces the impact of switching from replenishing liquid to cleaning, improves the smoothness and consistency of cleaning, and allows the bristles to immediately form an effective friction and liquid-laden cleaning effect when entering the cleaning state.

[0183] Because the disc brush contacts the surface to be cleaned in a second rotating direction, which aligns with the cleaning requirements, the cleaning equipment can immediately and effectively gather or lift dirt without needing to adjust its direction after contacting the surface, thus improving cleaning efficiency. It also avoids forcibly lowering the disc brush to contact the surface while it is still rotating in the first direction, preventing abnormal bristle wear or scratches on the surface due to a mismatch between the rotation direction and the direction of friction.

[0184] Optionally, the method also includes: periodically controlling the water pump assembly and the spray assembly to be in an on and off state after the disc brush descends to the first position.

[0185] In this embodiment, periodically controlling the water pump assembly and spray assembly to be in an on and off state means that the controller alternately outputs on and off control signals at preset time intervals, so that the liquid supply is intermittent. The on and off durations can be set according to the brush rotation speed, the material of the surface to be cleaned, the degree of dirt adhesion, and the speed of the cleaning equipment. This embodiment does not specifically limit this.

[0186] In this step, the controller activates intermittent liquid replenishment control only after confirming that the disc brush has reached the first position. During the continuous cleaning of the disc brush, the liquid supply and stop switching are repeatedly performed so that the liquid mainly adheres to the disc brush fibers or brush blades, avoiding the accumulation of water stains to be cleaned or liquid waste caused by continuous liquid supply.

[0187] For example, during the cleaning operation, the disc brush is in the first descending position. During this process, the controller does not continuously supply water to the water pump and spray components. Instead, it initiates periodic control, switching the water pump and spray components between on and off states according to preset time intervals or distances. Within each cycle, the controller first controls the water pump and spray components to be on for a short period (e.g., 2 seconds) to spray a small amount of liquid onto the disc brush for replenishment; then it controls the water pump and spray components to be off to stop replenishing water, waiting for the next cycle to repeat the on-off cycle. This process repeats until cleaning is complete or a stop signal is received.

[0188] In this way, during the cleaning process, the disc brush maintains a moderately moist state through periodic intermittent water replenishment. This prevents the brush from drying out and reducing its cleaning power due to prolonged use, while also preventing it from becoming overly wet due to continuous water replenishment, thus effectively reducing water stains. Compared to continuous water supply, periodic control of the liquid supply significantly reduces total water consumption, minimizing water waste and extending the clean water tank's runtime. It also ensures more stable cleaning results under different operating conditions, making it particularly suitable for cleaning equipment that requires balancing moisture control and surface cleanliness control.

[0189] In addition, using intermittent water replenishment can ensure that the brush is cleaned with appropriate moisture after each water replenishment, avoiding fluctuations in cleaning effect caused by untimely water replenishment, or problems such as slippery surfaces to be cleaned and prolonged drying time caused by excessive water replenishment.

[0190] It should also be noted that by adopting the above control method, the cleaning equipment does not need to monitor the humidity of the brush or the condition of the surface to be cleaned in real time, which reduces the complexity and cost of the cleaning equipment, while ensuring a stable water replenishment effect.

[0191] Optionally, the pump assembly and the spray assembly are periodically controlled to be in an on and off state, including: controlling the pump assembly and the spray assembly to perform the following operations multiple times: controlling the pump assembly and the spray assembly to be in an on state; after the pump assembly and the spray assembly have been in an on state for a second period of time, controlling the pump assembly and the spray assembly to be in a off state; and controlling the pump assembly and the spray assembly to be in a off state for a third period of time.

[0192] In this embodiment, the second duration refers to the duration during which the pump assembly and spray assembly are in the on state within one cycle of periodic intermittent liquid replenishment. The second duration is used to define the duration of a single liquid supply cycle.

[0193] The second duration is a preset short time value (e.g., 1-3 seconds) used to control the amount of water sprayed each time the liquid is replenished. The second duration determines the total amount of liquid injected into the brush each time the liquid is replenished, and its length can be set comprehensively based on factors such as the brush material, the humidity of the cleaning environment, and the type of surface to be cleaned, to ensure that the amount of liquid replenished is appropriate. This application embodiment does not specifically limit the specific value of the second duration.

[0194] The third duration can refer to the duration during which the pump assembly and spray assembly are in the off state within one cycle of periodic intermittent fluid replenishment. The third duration is used to define the pause interval between two fluid supply cycles.

[0195] The third duration is a preset, relatively long time value (e.g., 10-30 seconds) used to control the interval between two water replenishments. The third duration determines the frequency of water replenishment, and its length can be set according to the rate of water consumption by the brush during the cleaning process to ensure that the brush does not become excessively dry before the next water replenishment. This application does not specify a particular numerical value for the third duration.

[0196] For example, after the disc brush descends to the first position and begins normal cleaning operations, the controller of the cleaning equipment activates a periodic intermittent liquid replenishment control mode, which cycles through the following operations:

[0197] Step A: Control the water pump assembly and spray assembly to enter the on state, and start spraying liquid onto the rotating disc brush.

[0198] Step B: After running continuously in the on state for a second time, control the water pump assembly and spray assembly to switch to the off state and stop spraying liquid.

[0199] Step C: After running continuously in the off state for three hours, control the water pump assembly and spray assembly to turn on again and start the next cycle.

[0200] The above steps A, B, and C are repeated multiple times until the cleaning operation is completed or a stop signal is received. Each cycle consists of a second duration (on) and a third duration (off), forming a stable intermittent water replenishment rhythm.

[0201] It should be noted that the above-described cyclic control method, during operation, breaks down the continuous liquid supply into multiple short-term on / off cycles, preventing continuous liquid accumulation while keeping the brush moist, thus matching the replenishment volume to the cleaning status. Since each on / off cycle is constrained by a second duration, and each off cycle by a third duration, the total liquid supply per unit time can be stably controlled throughout the cleaning process, reducing ineffective liquid consumption. Optionally, the above cyclic control method can also adjust the circulation frequency based on brush humidity, equipment travel speed, or the degree of contamination on the surface to be cleaned, thereby improving the adaptability of the liquid supply control.

[0202] In this way, by setting a second duration (on time) and a third duration (off time), liquid can be supplied to the brush intermittently. This not only allows for precise control of the spray volume and frequency of each replenishment, enabling on-demand replenishment and avoiding over- or under-replenishment, but also maintains effective wettability on the brush surface, reducing unnecessary liquid accumulation around the brush and on the surface to be cleaned. This improves cleaning uniformity and reduces cleaning liquid consumption, thus maintaining a stable cleaning effect. Since the on / off and corresponding durations are clearly defined, the control logic is clear, easy to implement in existing cleaning equipment control systems, and beneficial for improving the overall operational stability and consistency of cleaning results.

[0203] It's also important to understand that by optimizing the ratio of the second and third cleaning durations, the total water consumption can be reduced to a suitable range while maintaining cleaning effectiveness, thus extending the clean water tank's runtime. Therefore, the second and third cleaning durations can be preset or dynamically adjusted according to different cleaning scenarios, enabling the cleaning equipment to adapt to diverse cleaning needs and enhancing its level of intelligence.

[0204] Optionally, the second duration is any value between 1 second and 3 seconds, and / or the third duration is any value between 80 seconds and 100 seconds.

[0205] Understandably, during normal cleaning, the bristles of the disc brush have already absorbed initial moisture through the first replenishment process (pre-wetting). During cleaning, the friction between the disc brush and the surface being cleaned continuously consumes moisture, but at a relatively slow rate. Each replenishment requires only a small amount of liquid to restore the moisture level of the bristles. The 1-3 second operating time, combined with the rated flow rate of the water pump (e.g., 50-100 ml / min), can spray approximately 0.8 ml-5 ml of liquid, sufficient to replenish the moisture consumed by the disc brush within 80-100 seconds without causing over-wetting.

[0206] In this application, the inventors tested the water evaporation and consumption rates of different materials (such as nylon and polyester fiber) on various surfaces to be cleaned (tiles, wooden floors). They found that each water replenishment time exceeding 3 seconds resulted in the brush becoming overly wet, producing noticeable water stains during rotation; while less than 1 second resulted in insufficient water replenishment, failing to maintain cleaning power. Therefore, setting the second time to 1-3 seconds is a suitable range for balancing the replenishment effect and avoiding water stains. Thus, setting the second time to any value between 1 and 3 seconds allows the amount of liquid supplied per cycle to be controlled within a small range, preventing excessive liquid accumulation on the brush during short-term replenishment.

[0207] At a normal cleaning speed (e.g., 0.3-0.5 m / s), the disc brush advances approximately 24-50 meters (corresponding to 80-100 seconds of continuous cleaning time). The moisture on the bristles is then consumed to near the dryness threshold due to friction, evaporation, and dirt adsorption. At this point, rehydration is necessary to maintain cleaning effectiveness. If the interval is too short (<80 seconds), the disc brush has not fully consumed the moisture, and rehydration will result in over-wetting; if the interval is too long (>100 seconds), the disc brush may have become excessively dry, reducing its cleaning power.

[0208] In this application, the inventors monitored the humidity change curve of the disc brush during the cleaning process using a humidity sensor. They found that after approximately 90 seconds of continuous cleaning, the brush bristle humidity dropped to 40%-50% of its initial moisture level, at which point the rehydration effect was good. An interval of 80-100 seconds ensured that the disc brush was replenished in time before the humidity dropped to a critical point. Therefore, setting the third duration to any value between 80 and 100 seconds allows for a longer interval between two consecutive rehydration cycles, thus enabling the disc brush to remain moist without over-supplying liquid during a longer operating cycle.

[0209] For example, after the disc brush is pre-wetted by the first liquid replenishment operation, it descends to a first position, rotates in a second direction, and begins cleaning the surface to be cleaned. During the cleaning process, the controller of the cleaning equipment cyclically performs the following operations according to a preset cycle:

[0210] Control the water pump assembly and spray assembly to enter the on state and continue for a second duration (e.g., 2 seconds) to spray a small amount of liquid onto the disc brush for water replenishment.

[0211] The water pump assembly and spray assembly are switched off for a third duration (e.g., 90 seconds), during which the disc brush continues cleaning using the replenished water.

[0212] The above-mentioned on-off cycle is repeated until cleaning is completed or a stop signal is received.

[0213] By setting a short water replenishment interval of 1-3 seconds, it ensures that only the amount of water needed for the disc brush is replenished each time, preventing excessive liquid from being splashed onto the surface to be cleaned and forming water stains. Setting a water replenishment interval of 80-100 seconds matches the water consumption rate of the disc brush, keeping the brush moderately moist throughout the cleaning process and ensuring stable cleaning results. Therefore, compared to continuous or more frequent water replenishment strategies, the above parameter combination can reduce total water consumption by 60%-80% and extend the clean water tank's runtime.

[0214] Furthermore, because the second duration setting is relatively short, the spray assembly only supplies liquid to the surface of the disc brush for a limited time. Combined with the longer third duration setting for shut-off, this allows the disc brush to achieve a balance between moisture retention and liquid consumption. This combination of parameters enables the disc brush to maintain a stable liquid content during continuous cleaning and reduces the probability of residual liquid accumulation on the surface to be cleaned, thereby improving cleaning continuity and reducing ineffective liquid consumption.

[0215] Optionally, the method further includes: controlling the disc brush to rotate in a second direction and controlling the disc brush to be in a first position before periodically controlling the water pump assembly and the spray assembly to be in an on and off state.

[0216] For example, the controller of the cleaning equipment controls the water pump assembly and the spray assembly to be turned on for a first duration to perform a first liquid replenishment operation on the disc brush in the second position. During this period, the disc brush rotates in a first direction. After the first liquid replenishment operation is completed, the controller controls the rotation direction of the disc brush to switch from the first direction to the second direction, and simultaneously controls the disc brush to descend from the second position to the first position.

[0217] After the disc brush rotates in the second direction and contacts the surface to be cleaned, normal cleaning operations begin. That is, the disc brush is in the first position. At this point, the controller can initiate periodic control, periodically controlling the water pump assembly and spray assembly to be on and off, performing intermittent second liquid replenishment operations.

[0218] In this way, by clearly defining the sequence of first descending to the first position and changing direction before initiating the periodic replenishment of liquid, before the disc brush enters the cleaning phase of the second periodic replenishment operation, the intermittent liquid supply state can be avoided if the disc brush enters the cleaning state before the direction change is completed or before it has contacted the surface to be cleaned. This allows the disc brush to begin cleaning immediately upon contact with the surface, followed by periodic replenishment, making the cleaning process continuous and stable. No additional position adjustments or direction changes are needed during cleaning, which not only improves cleaning efficiency but also reduces ineffective liquid consumption during the non-contact phase and helps improve the brushing consistency and cleaning stability when the disc brush enters the continuous cleaning phase.

[0219] Optionally, the second rotational speed of the disc brush when rotating in the second direction is less than the speed corresponding to the speed at which the disc brush cleans the surface to be cleaned.

[0220] In this embodiment, the second rotation speed can refer to the speed at which the disc brush rotates in the second direction after completing the first replenishment operation, during the transition phase from the second position to the first position, and before starting periodic intermittent replenishment. In other words, the second rotation speed is the actual rotation speed of the disc brush during the transition adjustment phase.

[0221] The second rotational speed is a relatively low value, lower than the operating speed of the disc brush when it is in normal contact with the surface to be cleaned. This second rotational speed is used for the transition phase from the suspended state to contact with the surface to be cleaned, aiming to achieve smooth contact, avoid impact or liquid splashing caused by excessive rotational speed, and prevent excessive mechanical impact on the disc brush before contact with the surface to be cleaned.

[0222] For example, the disc brush completes the first liquid replenishment operation in the second position in the first direction and at the first rotation speed. After the first liquid replenishment operation is completed, the controller of the cleaning device switches the rotation direction of the disc brush from the first direction to the second direction, and sets the rotation speed to the second rotation speed (lower speed, such as 30%-50% of the normal cleaning speed).

[0223] With the disc brush rotating at the second speed, control the disc brush to descend from the second position to the first position. After the disc brush smoothly contacts the surface to be cleaned, control the speed of the disc brush to increase from the second speed to a higher speed corresponding to normal cleaning operations (e.g., 100% of the normal cleaning speed). With the disc brush rotating at the normal cleaning speed and in contact with the surface to be cleaned, initiate the periodic second liquid replenishment operation.

[0224] In practice, the disc brush is driven by a motor through a reduction gear, and the controller outputs different target speed commands based on the working stage of the disc brush. When the disc brush is rotating in the second direction, the controller sends a low-speed control signal to the motor, causing the motor to operate at a set value lower than the cleaning speed. This set value can be achieved through pulse width modulation, frequency conversion speed regulation, or closed-loop feedback control. The controller can limit the second speed based on whether the disc brush is in the descent process, whether it has separated from the surface to be cleaned, and whether liquid replenishment has been completed, so as to ensure that the disc brush maintains stable operation during position adjustment and stable liquid adhesion.

[0225] Therefore, by setting the rotation speed in the second direction to be lower than the cleaning speed during normal cleaning, the disc brush can complete the posture adjustment and state switching in a gentler way during the transition phase. That is, it descends to contact the surface to be cleaned at a lower second speed, which can reduce the impact force at the moment of contact between the disc brush and the surface to be cleaned. This avoids abnormal wear of the bristles, motor overload or equipment vibration caused by high-speed rotation contact, as well as brush body shaking and liquid splashing caused by high-speed reverse rotation. At the same time, it helps the disc brush maintain a more uniform liquid state before performing cleaning operations.

[0226] Furthermore, when the disc brush descends to contact the surface to be cleaned at the second rotation speed, the lower speed results in less centrifugal force, making it less likely for residual liquid on the bristles to be flung out, thus avoiding water stains or liquid splashing upon contact. It also reduces the friction and shearing force between the bristles and the surface to be cleaned, preventing scratches on sensitive surfaces (such as wooden floors and tiles) and slowing down the wear rate of the bristles.

[0227] Therefore, when switching to the cleaning speed, the disc brush can establish brushing contact more smoothly, improving cleaning stability and reducing ineffective liquid consumption and the risk of contamination to the surrounding area.

[0228] In addition, it can make the brush descent process smoother and quieter, reducing noise and vibration caused by high-speed contact, and improving the comfort and quality of equipment operation.

[0229] Optionally, the activation signal is generated by detecting that the distance between the cleaning device and a side obstacle is less than or equal to a preset distance; or, in response to a user's operation on the cleaning device.

[0230] In this embodiment, the lateral obstacle may be a wall, the side of furniture, a door frame, the edge of a step, or other obstacles located on the side of the path of the cleaning equipment.

[0231] The preset distance refers to a pre-defined distance threshold between the cleaning device (usually the side where the brush is located or the edge of the device) and obstacles on the side. This preset distance is used to determine whether the cleaning device has approached the edge or corner area and needs to activate the brush refill operation for edge cleaning.

[0232] The preset distance is typically set to a small value (e.g., 5-15 cm) to ensure that liquid replenishment is only triggered when the cleaning device is actually close to an obstacle, thus avoiding false triggering. This preset distance can be set according to the device size, lateral obstacle avoidance accuracy, brush extension distance, and cleaning scenario. This application does not specifically limit this value.

[0233] Optionally, the cleaning equipment can be equipped with an infrared ranging sensor, an ultrasonic sensor, a time-of-flight (TOF) sensor, or a vision detection module to collect distance information between the side of the equipment and obstacles. The controller then performs threshold judgment on the distance information. When the detection distance is less than or equal to a preset distance, the controller determines that the equipment is in edge cleaning, adjacent wall cleaning, or corner cleaning state, and generates a start signal to start the disk brush operation.

[0234] To generate a start signal in response to user operations on the cleaning equipment, the cleaning equipment can be equipped with buttons on the device body, a touch panel, a lever, a voice receiving unit, or a communication module to receive control commands initiated by the user. When the user triggers the start button on the device body or sends a cleaning start command via a mobile terminal, the controller can generate a start signal accordingly and output it to the disc brush control logic to initiate subsequent liquid replenishment and rotation control. In practical applications, this user operation can also be remote wake-up, mode switching, or task confirmation; this application embodiment does not limit this.

[0235] Therefore, by generating start-up signals through either lateral obstacle distance triggering or user operation triggering, the disc brush's start-up mechanism can accommodate both automated and manual intervention scenarios. Specifically, by automatically detecting the distance to lateral obstacles, the cleaning device can automatically activate the disc brush to replenish liquid when approaching edges such as walls and furniture, ensuring that even edge areas are thoroughly cleaned without manual intervention. Especially when near edges or obstacles, the cleaning device can automatically enter start-up control based on environmental conditions, facilitating timely pre-wetting of the disc brush. When the user actively initiates a cleaning task, it can directly enter disc brush start-up control, meeting cleaning needs in specific scenarios (such as targeted cleaning). This provides flexible control methods, thereby improving the machine's adaptability to different usage scenarios and ensuring that the first liquid replenishment operation is performed at the appropriate time, reducing fluctuations in cleaning effect caused by dryness during the initial disc brush start-up phase, and minimizing ineffective liquid supply during the non-contact phase.

[0236] In this way, the two start-up methods complement each other: automatic detection is suitable for edge coverage in daily cleaning, while manual operation is suitable for special cleaning needs specified by the user, which greatly improves the adaptability and ease of use of the cleaning equipment.

[0237] In the foregoing embodiments, the control method for the cleaning equipment provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the electronic device serving as the execution subject may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0238] For example, Figure 6 This is a schematic diagram of a control device for a cleaning equipment provided in an embodiment of this application. The cleaning equipment includes a floor brush assembly, a water pump assembly, and a spray assembly. The floor brush assembly includes a roller brush and a disc brush. With the forward direction of the cleaning equipment as a reference, the disc brush is positioned behind the roller brush. The spray assembly is used to spray liquid onto the disc brush. Figure 6 As shown, the control device 600 of the cleaning equipment includes:

[0239] The acquisition module 601 is used to acquire the start signal of the disk brush;

[0240] The control module 602 is used to control the disc brush to rotate in a first direction, and to control the water pump assembly and the spray assembly to be in the on state for a first duration, so as to perform a first liquid replenishment operation on the disc brush. During the first liquid replenishment operation, the disc brush does not contact the surface to be cleaned.

[0241] Optionally, the control module 602 is also used for:

[0242] In response to the start signal, the control disc brush begins to work to clean the surface to be cleaned;

[0243] Specifically, before the disc brush starts working to clean the surface to be cleaned, the disc brush is controlled to perform the first liquid replenishment operation;

[0244] While the disc brush is cleaning the surface to be cleaned, control the disc brush to perform a second liquid replenishment operation intermittently.

[0245] Optional, control module 602, specifically used for:

[0246] In response to the start signal, detect whether the last completed operation on the cleaning equipment was a drying operation;

[0247] If it is confirmed that the previous completed operation was a drying operation, the water pump assembly and spray assembly are turned on and remain on for a first duration to perform the first liquid replenishment operation on the disc brush.

[0248] Optionally, the control module 602 is also used for:

[0249] If it is confirmed that the previous completed operation was not a drying operation, the water pump assembly and spray assembly are periodically controlled to be in the on and off states to intermittently perform a second liquid replenishment operation on the disc brush.

[0250] Optionally, the first rotational speed of the disc brush when rotating in the first direction is less than the speed corresponding to the speed at which the disc brush cleans the surface to be cleaned.

[0251] Optionally, the disc brush has a first position in contact with the surface to be cleaned and a second position separated from the surface to be cleaned. The control module 602 is also used for:

[0252] During the first duration when the water pump assembly and the spray assembly are continuously in the on state, the control disk brush is in the second position.

[0253] Optionally, the control module 602 is also used for:

[0254] After the water pump assembly and the spray assembly have been in the on state for a first duration, the control brush rotates in a second direction and the control brush descends from the second position to the first position; the second direction is opposite to the first direction.

[0255] Optionally, the control module 602 is also used for:

[0256] After the disc brush descends to the first position, the water pump assembly and spray assembly are periodically controlled to be in the on and off states.

[0257] Optional, control module 602, specifically used for:

[0258] Control the water pump assembly and spray assembly to perform the following operations repeatedly:

[0259] The water pump assembly and sprinkler assembly are kept in the on state;

[0260] After the water pump assembly and the sprinkler assembly have been running in the on state for a second period of time, the water pump assembly and the sprinkler assembly are controlled to be in the off state.

[0261] The water pump assembly and sprinkler assembly are kept in the off state for the third time.

[0262] Optionally, the second duration is any value between 1 second and 3 seconds, and / or the third duration is any value between 80 seconds and 100 seconds.

[0263] Optionally, the disc brush has a first position in contact with the surface to be cleaned and a second position separated from the surface to be cleaned. The control module 602 is also used for:

[0264] Before periodically controlling the water pump assembly and spray assembly to be in the on and off states, the control disc brush is rotated in the second direction and controlled to be in the first position.

[0265] Optionally, the second rotational speed of the disc brush when rotating in the second direction is less than the speed corresponding to the speed at which the disc brush cleans the surface to be cleaned.

[0266] Optionally, the start signal is generated in the following way:

[0267] The distance between the cleaning equipment and a side obstacle was detected to be less than or equal to a preset distance;

[0268] Alternatively, it may respond to user actions on the cleaning equipment.

[0269] It should be noted that the specific implementation principle and effect of the control device 600 of the above-mentioned cleaning equipment can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0270] This application also provides an electronic device. Figure 7This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 7 As shown, the electronic device may include: a processor 701 and a memory 702 communicatively connected to the processor 701; the memory 702 stores a computer program; the processor 701 executes the computer program stored in the memory 702, causing the processor 701 to perform the method described in any of the above embodiments.

[0271] The memory 702 and the processor 701 can be connected via bus 703.

[0272] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0273] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0274] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0275] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0276] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0277] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0278] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0279] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0280] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0281] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0282] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0283] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0284] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0285] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0286] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0287] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0288] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a floor brush assembly, a water pump assembly, and a spray assembly. The floor brush assembly includes a roller brush and a disc brush. With the forward direction of the cleaning equipment as a reference, the disc brush is located behind the roller brush. The spray assembly is used to spray liquid onto the disc brush. The method includes: The system acquires a start signal for the disc brush, controls the disc brush to rotate in a first direction, and controls the water pump assembly and the spray assembly to be in an on state for a first duration, so as to perform a first liquid replenishment operation on the disc brush. During the first liquid replenishment operation, the disc brush does not contact the surface to be cleaned.

2. The method of claim 1, wherein, The method further includes: In response to the start signal, the disc brush is controlled to start working to clean the surface to be cleaned; Specifically, before the disc brush starts working to clean the surface to be cleaned, the disc brush is controlled to perform a first liquid replenishment operation; During the cleaning process of the disc brush on the surface to be cleaned, the disc brush is controlled to perform a second liquid replenishment operation intermittently.

3. The method of claim 1, wherein, The control of the water pump assembly and the spray assembly to be in the on state, and to remain in the on state for a first duration, to perform a first liquid replenishment operation on the disc brush, includes: In response to the start signal, detect whether the last completed operation on the cleaning equipment was a drying operation; If it is confirmed that the previous completed operation was a drying operation, the water pump assembly and the spray assembly are controlled to be in the on state, and the on state is maintained for a first duration, so as to perform a first liquid replenishment operation on the disc brush.

4. The method of claim 3, wherein, The method further includes: If it is confirmed that the previous completed operation was not a drying operation, the water pump assembly and the spray assembly are periodically controlled to be in the on and off states to intermittently perform a second liquid replenishment operation on the disc brush.

5. The method of claim 1, wherein, The first rotational speed of the disc brush when rotating in the first direction is less than the speed at which the disc brush cleans the surface to be cleaned.

6. The method of claim 1, wherein, The disc brush has a first position in contact with the surface to be cleaned and a second position separated from the surface to be cleaned; the method further includes: During a first duration during which the water pump assembly and the spray assembly remain in the on state, the disc brush is controlled to be in the second position.

7. The method of claim 6, wherein, The method further includes: After the water pump assembly and the spray assembly have been in the on state for a first duration, the disc brush is controlled to rotate in a second direction and the disc brush is controlled to descend from the second position to the first position; the second direction is opposite to the first direction.

8. The method of claim 7, wherein, The method further includes: After the brush descends to the first position, the water pump assembly and the spray assembly are periodically controlled to be in an on and off state.

9. The method according to claim 4 or 8, characterized in that, The periodic control of the water pump assembly and the spray assembly to be in an on and off state includes: Control the water pump assembly and the spray assembly to perform the following operations repeatedly: Control the water pump assembly and the spray assembly to be in the "on" state; After the water pump assembly and the spray assembly have been running in the on state for a second period of time, the water pump assembly and the spray assembly are controlled to be in the off state. The water pump assembly and the spray assembly are controlled to operate in the off state for a third period of time.

10. The method of claim 9, wherein, The second duration is any value between 1 second and 3 seconds, and / or the third duration is any value between 80 seconds and 100 seconds.

11. The method of claim 4 or 8, wherein, The disc brush has a first position in contact with the surface to be cleaned and a second position separated from the surface to be cleaned; the method further includes: Before periodically controlling the water pump assembly and the spray assembly to be in the on and off states, the disc brush is controlled to rotate in the second direction and controlled to be in the first position.

12. The method of claim 11, wherein, The second rotational speed of the disc brush when rotating in the second direction is less than the speed at which the disc brush cleans the surface to be cleaned.

13. The method of claim 1, wherein, The activation signal is generated in the following manner: The distance between the cleaning equipment and the lateral obstacle is detected to be less than or equal to a preset distance; Alternatively, in response to a user's action on the cleaning device.

14. A control device for cleaning equipment, characterized in that, The cleaning equipment includes a floor brush assembly, a water pump assembly, and a spray assembly. The floor brush assembly includes a roller brush and a disc brush. With the forward direction of the cleaning equipment as a reference, the disc brush is located behind the roller brush. The spray assembly is used to spray liquid onto the disc brush. The device includes: An acquisition module is used to acquire the start signal of the disk brush; The control module is used to control the disc brush to rotate in a first direction, and to control the water pump assembly and the spray assembly to be in an on state, and to be in the on state for a first duration, so as to perform a first liquid replenishment operation on the disc brush. During the first liquid replenishment operation, the disc brush does not contact the surface to be cleaned.

15. A cleaning device, characterized in that, The cleaning equipment includes a floor brush assembly, a water pump assembly, and a spray assembly. The floor brush assembly includes a roller brush and a disc brush. With the forward direction of the cleaning equipment as a reference, the disc brush is located behind the roller brush. The spray assembly is used to spray liquid onto the disc brush. The cleaning equipment is used to perform the method as described in any one of claims 1-13.

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