Control method of a cleaning device and cleaning device

Abstract

The application relates to the technical field of floor cleaning, and particularly relates to a control method of a cleaning device and the cleaning device, and aims to solve the problems that the existing washing floor cleaning device relies on a built-in baffle in a sewage tank to prevent water surge, has a complex structure, a small effective volume, is inconvenient to clean, is still prone to sewage backflow damage to a fan when violent impact occurs, and a fixed water spraying distance is easy to splash the surface of furniture. The application divides impact risk grades by detecting the distance of an obstacle in front, adjusts fan power and walking power output correspondingly, actively suppresses sewage surge generated by impact, and can also adaptively adjust spraying parameters according to the distance of the obstacle to avoid cleaning solution splashing. The scheme can simplify the structure of the sewage tank, improve the reliability of surge protection, and optimize the use experience.

Description

Technical Field

[0001] This application relates to the technical field of floor cleaning, and more particularly to a control method for a cleaning device and a cleaning device. Background Technology

[0002] With the development and popularization of smart home technology, various cleaning devices such as robot vacuums, sweeping and mopping machines, and handheld floor scrubbers have been widely used in household and commercial cleaning scenarios. They can replace manual labor in completing tasks such as floor sweeping, mopping, and wastewater recycling, significantly reducing the intensity of cleaning work.

[0003] Floor cleaning devices with wastewater recovery functions typically rely on a blower to generate negative pressure and collect wastewater from the ground into a wastewater tank. However, during rapid movement, turning, or collisions with obstacles, the wastewater in the tank can easily generate violent surges. If these surges are sucked into the blower, they can damage core components. Therefore, the surge protection performance of the wastewater tank directly affects the reliability and service life of the entire machine. Summary of the Invention

[0004] This application provides a control method and a cleaning device for a cleaning apparatus, which aims to solve the problem in the prior art where the sewage tank is prone to surges that damage the internal fan.

[0005] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description or may be learned by practice of this application.

[0006] In some exemplary embodiments of this application, a control method for a cleaning device is provided. The cleaning device includes a device body, a first detection element, a cleaning component, and a wastewater tank. The cleaning component is connected to the wastewater tank, and both are disposed on the device body. The first detection element is disposed on the cleaning component or at the front end of the device body in the forward direction. The control method includes: The location information of the obstacle in front of the cleaning device is obtained through the first detection device, and the distance between the cleaning device and the obstacle is determined based on the location information; The distance is compared with a preset first parameter; if the distance is greater than the first parameter, the cleaning device is controlled to operate in normal working mode. If the distance is less than or equal to the first parameter, the cleaning device will enter the risk control mode to suppress the sewage surge caused by the impact inside the sewage tank.

[0007] In this type of embodiment, by using proactive control logic that detects the distance to obstacles in advance and switches the operating mode accordingly, the operating state can be adjusted before the equipment collides with an obstacle, mitigating the surge phenomenon caused by the impact within the sewage tank and reducing the probability of sewage entering the blower assembly. Simultaneously, this solution does not rely on internal barriers within the sewage tank, simplifying the tank's internal structure, improving space utilization, and facilitating daily cleaning and maintenance.

[0008] The first detection element is deployed at the front of the equipment, allowing it to collect obstacle signals close to the work area. This shortens the transmission path of the detection signal and improves the response speed and accuracy of distance detection. Based on the location information, the distance to the obstacle is calculated, converting the obstacle's proximity into a quantifiable value. This provides a clear basis for mode switching and gives the control logic a achievable execution standard.

[0009] Using the first parameter as the risk assessment threshold, the equipment operation can be divided into two modes. The control logic is simple and stable, and it is compatible with the computing power of embedded controllers. When the distance is greater than the first parameter, the normal operating mode is maintained, which can ensure the normal performance of cleaning operations in open areas without impact risk and avoid the protection mechanism interfering with normal cleaning efficiency.

[0010] When the distance is less than or equal to the first parameter, the risk control mode is activated. This allows for adjustments to operating parameters before an impact occurs, reducing the surge intensity generated by the impact at its source and improving the effectiveness of surge suppression. By controlling the sewage surge caused by the impact, the possibility of sewage entering the blower's air path can be indirectly reduced, thus protecting the internal suction components.

[0011] In some exemplary embodiments of this application, a second detection element is also provided inside the sewage tank, the second detection element being used to acquire water level information inside the sewage tank; after entering the risk control mode, it includes: Obtain the real-time water level inside the sewage tank; The real-time water level is compared with a preset second parameter, which is the safe water level threshold of the sewage tank. If the real-time water level is less than the second parameter, exit the risk control mode and control the cleaning device to operate in normal working mode. If the real-time water level is greater than or equal to the second parameter, the risk control mode will be maintained.

[0012] In this type of embodiment, a secondary water level verification is introduced based on the distance determination. The protection strategy can be adjusted according to the actual water storage capacity of the sewage tank to avoid over-triggering the risk control mode in low water level scenarios, thus balancing the surge protection effect with the user experience of cleaning operations.

[0013] The second detection device is installed inside the wastewater tank, directly collecting water level data to provide a reliable physical basis for water level determination. Setting the second parameter as the water level safety threshold defines the water level boundary for surge risk, giving water level determination a clear quantitative standard. When the real-time water level falls below the threshold, the risk control mode is exited, allowing the equipment to resume normal performance in scenarios with low surge risk at low water levels, reducing the impact of the protection mechanism on cleaning efficiency.

[0014] When the real-time water level is above or equal to the threshold, the risk control mode is maintained, ensuring protection in high-water-level scenarios and guaranteeing the effectiveness of surge suppression. The water level verification step is placed after entering risk control mode, so water level detection can be initiated only in scenarios with collision risk, reducing the computational load on the controller.

[0015] In some exemplary embodiments of this application, controlling the cleaning device to enter a risk control mode includes: The distance is compared with a preset third parameter, and the third parameter is less than the first parameter; If the distance is greater than the third parameter, the cleaning device will operate in the second power mode. If the distance is less than or equal to the third parameter, the cleaning device will operate in the third power mode. The power of the cleaning device when it is operating in normal working mode is the first power, which is greater than the second power, and the second power is greater than the third power.

[0016] In this type of embodiment, the risk control mode is divided into two power levels, and the corresponding control intensity can be matched according to the distance of the obstacle, so as to realize the gradient correspondence between the risk level and the power output and improve the precision of the control strategy.

[0017] Using a third parameter as the tiered threshold within the risk control mode allows for the separation of two operating states within a single risk mode, refining the control granularity. When the distance exceeds the third parameter, the second power level is used, which can appropriately reduce power in mid-range risk scenarios, balancing protection requirements with cleaning performance.

[0018] When the distance is less than or equal to the third parameter, the third power level is used for operation. This can further reduce the power in high-risk scenarios at close range, thus enhancing the surge suppression effect. Setting three power gradients with progressively decreasing power values ​​allows the equipment's operating state to transition smoothly as the distance increases, avoiding operational jerks caused by sudden parameter changes.

[0019] In some exemplary embodiments of this application, the cleaning device includes a fan and a walking assist motor. The fan is disposed on the device body to generate negative pressure, and the walking assist motor is disposed on the device body to assist the device body in moving. The control method includes: Controlling the cleaning device to operate in a second power mode includes: reducing the fan operating power to the second operating power, and simultaneously reducing the output force of the walking assist motor to the second output force; The cleaning device is controlled to operate in a third power mode, including: reducing the fan operating power to the third operating power and simultaneously reducing the output force of the walking assist motor to the third output force; Among them, the second operating power is greater than the third operating power, and the second output force is greater than the third output force.

[0020] In this type of embodiment, the coordinated adjustment of the fan power and the output force of the walking assist motor can work together from two dimensions: surge generation and sewage suction, thereby improving the overall effect of surge protection. The negative pressure generated by the fan provides power for sewage recycling, and reducing the fan's operating power can weaken the negative pressure intensity in the sewage tank, reducing the tendency for sewage to be sucked into the air path under surge conditions.

[0021] The travel assist motor provides auxiliary thrust for equipment movement. Reducing its output force weakens the impact force when the equipment collides with obstacles, reduces the sloshing amplitude of sewage in the sewage tank, and reduces surge intensity at the source. Synchronously adjusting the parameters of the fan and motor allows both adjustments to take effect simultaneously, avoiding the protective limitations of adjusting a single parameter. Two sequentially decreasing operating parameters correspond to different risk levels, ensuring that the protection strength matches the degree of risk.

[0022] In some exemplary embodiments of this application, the first detection element includes a distance sensor, and the second detection element includes one or more of a liquid level sensor and a pressure sensor.

[0023] In this type of embodiment, clearly defining the optional types of detection devices provides multiple hardware implementation paths for the solution, adapting to different cost and accuracy requirements. Distance sensors can directly output distance values ​​to obstacles, meeting the functional requirements of front-end ranging, and the technology is highly mature.

[0024] Liquid level sensors can directly contact the water body to detect water level, providing intuitive and accurate results. Pressure sensors calculate water level by detecting changes in air pressure in the gas phase space of the wastewater tank; they do not require contact with wastewater, reducing the probability of sensor contamination and extending their lifespan. The availability of multiple selectable sensing components allows the solution to adapt to different product positioning and application scenarios.

[0025] In some exemplary embodiments of this application, a control method for a cleaning device is provided. The cleaning device includes a device body, a third detection element, and a cleaning component. The cleaning component includes a water spraying mechanism. The cleaning component is disposed on the device body, and the third detection element is disposed on the cleaning component or at the front end of the device body in the forward direction. The control method includes: The third detection device obtains the location information of obstacles in front of the cleaning device, and determines the distance between the cleaning device and the obstacles based on the location information; Compare the distance with the preset fourth parameter; If the distance is greater than the fourth parameter, the cleaning device will operate in normal working mode. If the distance is less than or equal to the fourth parameter, the cleaning device will enter the spray risk protection control mode to prevent the cleaning solution from being sprayed onto the surface of the obstacle.

[0026] In this type of embodiment, by detecting the distance to obstacles in advance and adaptively adjusting the spraying state, the spraying strategy can be actively adjusted when approaching obstacles, reducing the occurrence of cleaning solution splashing onto the surface of obstacles and reducing the workload of subsequent secondary wiping.

[0027] The third detection element, deployed at the front of the equipment, can detect obstacles in advance, allowing sufficient response time for spray adjustments. The distance to obstacles is calculated based on location information, quantifying their proximity and providing a clear basis for switching spray modes. A fourth parameter is used as the threshold for determining spray risk, classifying the spraying state into two modes, resulting in a simple and stable control logic.

[0028] When the distance is greater than the fourth parameter, normal spraying mode is maintained, ensuring coverage and cleaning effectiveness in open areas. When the distance is less than or equal to the fourth parameter, spray protection mode is activated, adjusting the spray pattern when approaching obstacles to reduce the possibility of solution splashing onto them. With the goal of preventing cleaning solution from spraying onto obstacle surfaces, this mode protects the appearance of furniture, walls, and other obstacles, enhancing the user experience.

[0029] In some exemplary embodiments of this application, the control method includes: When acquiring information about the location of obstacles in front of the cleaning device, the type information of the obstacles is acquired through a third detection device; When the obstacle is determined to be of the type requiring spray protection, subsequent distance assessment and motion control of the obstacle are performed.

[0030] In this type of embodiment, an obstacle type screening mechanism is introduced, which can adjust the spraying only for obstacles that need protection, avoid triggering spraying restrictions for obstacles that do not need protection, and balance the spraying protection effect with the cleaning coverage.

[0031] By acquiring both location and type information simultaneously using the same detection device, detection hardware can be reused, eliminating the need for additional sensors and controlling overall hardware costs. Placing the type determination step before distance determination allows for the early filtering of obstacles that do not require protection, reducing the computational load for subsequent distance calculations and control adjustments. Executing protection logic for obstacles of the designated spray protection type makes the control strategy more targeted, preventing indiscriminate spraying from affecting cleaning effectiveness.

[0032] In some exemplary embodiments of this application, entering the spraying risk protection control mode includes adjusting the spraying parameters of the cleaning device, including the spraying water volume and the spraying distance.

[0033] In this type of embodiment, by adjusting two core parameters—the spray volume and the spray distance—the spraying status can be controlled from two dimensions: solution output and spray range, adapting to protection needs at different distances. The spray volume directly affects the total amount of solution output per unit time; reducing the volume reduces the total amount of solution splashed onto obstacles.

[0034] The spraying distance directly affects the coverage area of ​​the solution. Shortening the spraying distance reduces the area where the solution lands, preventing it from extending onto the surface of obstacles. Adjusting these two parameters simultaneously creates a multi-dimensional protective effect, enhancing the effectiveness of spray protection.

[0035] In some exemplary embodiments of this application, a control method for a cleaning device is provided. The cleaning device includes a water pump disposed within the device body. Adjusting the spraying parameters of the cleaning device includes adjusting the duty cycle of the water pump.

[0036] In this type of embodiment, the spraying parameters are controlled by adjusting the working duty cycle of the water pump. The output flow rate of the water pump can be directly adjusted by an electrical signal. The adjustment method is simple and direct, the technology is mature, and it is easy to implement on existing water pump drive circuits.

[0037] The water pump provides power for the delivery of the cleaning solution, and its duty cycle directly determines the amount of solution delivered per unit time, thus affecting the spray volume and spray distance. Adjusting the duty cycle allows for continuous adjustment of spray parameters, adapting to the gradual protection needs at different distances. This adjustment method eliminates the need for additional mechanical regulating valves, simplifying the water circuit structure and reducing hardware costs and the probability of failure.

[0038] In some exemplary embodiments of this application, the control method includes: When the distance is less than or equal to the fourth parameter, compare the distance with the preset fifth parameter; if the fourth parameter is greater than the fifth parameter, then... If the distance is greater than the fifth parameter, the water pump will be controlled to reduce its duty cycle, thereby reducing the spray volume and spray distance accordingly. If the distance is less than or equal to the fifth parameter, the water pump will be shut off to stop spraying the cleaning solution.

[0039] In this type of embodiment, the spray protection mode is divided into two levels, which can match different spray control intensities according to the distance to the obstacle, realizing a gradient protection strategy that balances protection effectiveness and cleaning continuity. Using a fifth parameter as the grading threshold within the spray protection mode allows for the separation of two control states within a single protection mode, refining the control granularity.

[0040] When the distance is greater than the fifth parameter, the pump duty cycle is reduced, allowing for a slight decrease in spray volume in mid-range scenarios, balancing protection needs with ground moisture levels. When the distance is less than or equal to the fifth parameter, the pump is shut off, completely stopping spraying in close-range scenarios and preventing solution splashing onto obstacles. These two control logics advance sequentially, allowing the spraying status to gradually adjust as the distance increases, avoiding abrupt parameter changes.

[0041] In some exemplary embodiments of this application, reducing the operating duty cycle of the water pump further includes: The pump's duty cycle is linearly reduced from the maximum duty cycle to the minimum duty cycle according to a preset linear mapping relationship.

[0042] In this type of embodiment, the water pump duty cycle is adjusted linearly, which can achieve a smooth transition of spraying parameters, avoid sudden changes in spraying effect caused by graded adjustment, and improve the uniformity of the cleaning process and the user experience.

[0043] The linear mapping relationship allows the pump duty cycle to change continuously with distance, and the spray volume and spray distance are also adjusted accordingly, resulting in a more uniform solution distribution on the ground. The linear transition from the maximum to the minimum duty cycle ensures a smooth adjustment process, avoiding sudden increases or decreases in spray volume. This adjustment method allows the protective intensity to gradually increase with increasing distance, achieving a gradual transition in protective effect.

[0044] In some exemplary embodiments of this application, the third detection element includes one or more of a distance sensor and a visual acquisition sensor.

[0045] In this type of embodiment, the optional types of the third detection element are clearly defined, providing multiple hardware implementation paths for spray protection solutions and adapting to different detection accuracy and cost requirements. Distance sensors can directly output distance values ​​to obstacles, meeting basic ranging protection needs; the technology is mature and cost-effective.

[0046] Visual acquisition sensors can acquire information such as the type and outline of obstacles through image recognition, adapting to the refined protection needs that require type identification. The design with multiple sensor options allows the spray protection solution to be adapted to products in different locations, demonstrating strong adaptability.

[0047] In some exemplary embodiments of this application, the cleaning device includes a device body, a fourth detection element, a cleaning component, a wastewater tank, and a water spraying mechanism. The cleaning component is connected to the wastewater tank, and the water spraying mechanism is located at the front end of the cleaning component. The cleaning component, wastewater tank, and water spraying mechanism are all located on the device body. The fourth detection element is located on the cleaning component or at the front end of the device body in the forward direction. The control method includes: The fourth detection device synchronously acquires the location and type information of obstacles in front of the cleaning device, and determines the distance between the cleaning device and the obstacles based on the location information; Based on the type of obstacle, the collision risk protection process and the spraying risk protection process are executed simultaneously. The collision risk protection process includes: Whether to enter collision risk control mode is determined based on distance; If the collision risk control mode is entered, the operating power of the blower and the output force of the walking assist motor will be reduced accordingly to suppress the sewage surge inside the sewage tank caused by the impact. The spraying risk protection process includes: Whether to enter the spraying risk control mode is determined based on distance; If the spraying risk control mode is entered, the spraying parameters of the water spraying mechanism will be adjusted accordingly to prevent the cleaning solution from being sprayed onto the surface of the obstacle.

[0048] In this type of embodiment, the distance and type information of obstacles are acquired synchronously by the same detection component, and two protection processes are executed in parallel. This enables dual protection functions based on a single detection hardware setup, reducing component redundancy and improving overall system integration. Furthermore, since both protection processes operate based on the same detection data, control coordination is better, and the effectiveness of both surge protection and spray protection can be achieved.

[0049] The fourth detection component simultaneously collects location and type information, allowing for the reuse of detection hardware and reducing the overall sensor cost and wiring complexity. Simultaneous execution of two protection processes enables both types of protection actions to be triggered and operate collaboratively, avoiding the time lag issue caused by two independent logic systems.

[0050] The impact protection process adjusts the fan and motor parameters based on distance thresholds to suppress sewage surges caused by impacts, protecting the internal suction components. The spray protection process adjusts the spray mechanism parameters based on distance thresholds to prevent solution splashing onto obstacles, improving the user experience. Both processes share the same distance data, ensuring consistency in judgment criteria and improving the coordination of control logic.

[0051] In some exemplary embodiments of this application, determining whether to enter the collision risk control mode based on distance includes: The distance is compared with the preset sixth parameter, which is the threshold for determining the collision risk. If the distance is greater than the sixth parameter, control the fan and the walking assist motor to operate at the rated parameters; If the distance is less than or equal to the sixth parameter, then enter collision risk control mode; and / or, Determining whether to enter spraying risk control mode based on distance includes: The distance is compared with the preset eighth parameter, which is the spraying risk assessment threshold. If the distance is greater than the eighth parameter, the water spraying mechanism will be controlled to operate at the rated spraying parameters; If the distance is less than or equal to the eighth parameter, then the spraying risk control mode is entered.

[0052] In this type of embodiment, the risk assessment of the two types of protection is completed by comparing preset thresholds. The assessment logic is simple and clear, with low computational load, and can be adapted to the computing power of embedded controllers. At the same time, each type of protection has its own independent assessment threshold, which can be matched with the corresponding risk triggering time, thereby improving the flexibility of the protection strategy.

[0053] Using a sixth parameter as the impact risk assessment threshold clarifies the trigger boundary for impact protection, providing a quantifiable standard for when impact protection will activate. Maintaining rated parameters when the distance is greater than the threshold ensures cleaning performance in scenarios without impact risk, preventing the protection mechanism from affecting cleaning efficiency. Entering impact risk control mode when the distance is less than or equal to the threshold triggers protection actions in advance, allowing parameter adjustments to be completed before an impact occurs.

[0054] Using the eighth parameter as the spray risk assessment threshold clearly defines the trigger boundary for spray protection, providing a quantifiable standard for when to initiate spray protection. Maintaining rated spray parameters when the distance is greater than the threshold ensures coverage and cleaning effectiveness in open areas. Entering spray risk control mode when the distance is less than or equal to the threshold allows for advance adjustment of the spray status, reducing the possibility of solution splashing onto obstacles. The two thresholds can be set independently, allowing for parameter calibration based on the different risk characteristics of impact and spraying, making the protection strategy more aligned with actual needs.

[0055] In some exemplary embodiments of this application, a cleaning apparatus is provided, the cleaning apparatus including a controller configured to perform the control method of the cleaning apparatus described in any of the preceding claims.

[0056] In this type of embodiment, integrating the aforementioned control method into the controller of the cleaning device enables the cleaning device to have active surge protection and spray adaptive adjustment capabilities. This improves the reliability of equipment operation and optimizes the cleaning user experience without the need for additional complex mechanical barrier structures.

[0057] As the core of the entire machine, the controller can uniformly receive data collected by the detection components, execute logical operations, and output control commands, achieving centralized management and control of the protection logic. By embedding the control methods within the controller, the protection logic can automatically run upon power-on, eliminating the need for manual user intervention and ensuring ease of use. The controller can reuse the existing main control hardware of the cleaning device, eliminating the need for an additional independent control unit and facilitating implementation on existing product architectures.

[0058] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0059] 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. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0060] Figure 1 A schematic diagram of a cleaning device provided in one embodiment of this application is shown.

[0061] Figure 2 A schematic flowchart of a control method for a cleaning device provided in one embodiment of this application is shown.

[0062] Figure 3 This illustration shows a detailed flowchart of step S22 in a control method for a cleaning device provided in one embodiment of this application.

[0063] Figure 4 This illustration shows a detailed flowchart of step S223 in a control method for a cleaning device provided in one embodiment of this application.

[0064] Figure 5 A schematic flowchart of a control method for a cleaning device provided in one embodiment of this application is shown.

[0065] Figure 6 This illustration shows a detailed flowchart of step S30 in a control method for a cleaning device provided in one embodiment of this application.

[0066] Figure 7 This illustration shows a detailed flowchart of step S43 in a control method for a cleaning device provided in one embodiment of this application.

[0067] The above figures include the following reference numerals: 1. Equipment body; 2. First inspection component; 3. Cleaning components; 4. Wastewater tank; 5. Second inspection component; 6. Water spraying mechanism. Detailed Implementation

[0068] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0070] In the description of the embodiments of this application, the technical terms "first," "second," "third," "fourth," "fifth," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0071] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0072] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0073] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0074] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0075] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0076] Please see Figure 1 and Figure 2 In some exemplary embodiments of this application, the cleaning device includes a device body, a first detection element, a cleaning component, and a wastewater tank. The cleaning component is connected to the wastewater tank, and both are disposed on the device body. The first detection element is disposed on the cleaning component or at the front end of the device body in the forward direction. The control method includes: S10: Obtain the position information of the obstacle in front of the cleaning device through the first detection element, and determine the distance between the cleaning device and the obstacle based on the position information.

[0077] S20, compare the distance with the preset first parameter.

[0078] S21, if the distance is greater than the first parameter, control the cleaning device to operate in normal working mode.

[0079] S22, if the distance is less than or equal to the first parameter, the cleaning device is controlled to enter the risk control mode to suppress the sewage surge caused by the impact inside the sewage tank.

[0080] The core logic of this embodiment is active surge protection based on forward ranging. The equipment body serves as the supporting foundation, providing installation and support for the cleaning components, wastewater tank, first detection element, and control unit. The cleaning components contact the ground to remove stains and scrape wastewater, and then transport the wastewater to the wastewater tank for temporary storage through a connected flow channel.

[0081] The first detection element is positioned facing the direction the equipment is moving forward. It continuously collects obstacle signals within the forward field of view and transmits them to the controller, which calculates the straight-line distance between the equipment and the obstacle. The controller has pre-stored threshold data for the first parameter. After comparing the real-time distance with the threshold, it outputs the corresponding control command to drive the equipment to switch to the corresponding operating mode.

[0082] The combination of distance detection and mode switching features can form a "predictive and proactive adjustment" protection logic, which can suppress surges without adding mechanical barriers inside the sewage tank, freeing up storage space inside the tank. At the same time, the pre-detection design can reserve sufficient response time for parameter adjustment, so that the control action is completed before the impact occurs.

[0083] In some alternative embodiments, the first detection element can specifically be a laser rangefinder sensor, which calculates the distance to the obstacle by emitting a laser beam and receiving the flight time of the reflected light. It has high detection accuracy and can be adapted to application scenarios with high ranging accuracy requirements.

[0084] In some alternative embodiments, the first detection element may specifically be an ultrasonic ranging sensor, which calculates the distance by emitting ultrasonic waves and receiving the time difference of the echo. It has good adaptability to the detection of transparent and dark obstacles and can cover more types of obstacle scenarios.

[0085] In some alternative embodiments, under risk control mode, the suction power can be adjusted by reducing the fan speed, so that the negative pressure intensity in the sewage tank decreases synchronously with the fan speed, thereby weakening the suction effect on the water in the tank.

[0086] This solution can be applied to cleaning scenarios in open indoor areas. When the cleaning device moves forward and detects a wall 1.2 meters ahead, it determines that the distance is greater than a preset threshold and maintains normal operation to ensure cleaning efficiency. When it moves to a distance of 0.8 meters from the wall, it determines that the distance is less than or equal to the threshold and automatically switches to risk control mode to adjust the operating status in advance to mitigate potential surges.

[0087] It is understood that the solutions proposed in this application can be various types of floor cleaning equipment with wastewater recycling and cleaning liquid spraying functions, including but not limited to automatic sweeping and mopping robots, handheld floor scrubbers, carpet cleaners, upright cordless floor scrubbers, commercial walk-behind floor scrubbers, ride-on floor scrubbers, intelligent edge cleaning robots, etc. They can also be adapted to other cleaning equipment with travel mechanisms and liquid recycling systems.

[0088] Please see Figure 3 In some exemplary embodiments of this application, a second detection element is also provided inside the sewage tank, the second detection element being used to acquire water level information within the sewage tank. After entering the risk control mode, the control method includes: S221, obtain the real-time water level inside the sewage tank.

[0089] S222 compares the real-time water level with a preset second parameter, which is the safe water level threshold of the sewage tank.

[0090] S2221, if the real-time water level is less than the second parameter, exit the risk control mode and control the cleaning device to operate in normal working mode.

[0091] S2222: If the real-time water level is greater than or equal to the second parameter, the risk control mode is maintained.

[0092] This embodiment supplements the risk control mode with a water level verification mechanism. The second detection device is installed inside the sewage tank and can collect water level-related data in real time and transmit it to the controller. When the device enters the risk control mode due to distance determination, the controller calls the water level data from the second detection device and compares it with the pre-stored water level safety threshold. Based on the comparison result, it decides whether to maintain the risk control state.

[0093] This mechanism incorporates water level factors into the risk assessment system, making the protection strategy more aligned with actual surge risks. The combination of water level verification features and prior distance assessment features forms a two-level judgment logic of "initial distance judgment - water level verification," which can ensure the protection effect in high-risk scenarios while avoiding unnecessary speed reduction in low-water-level scenarios, thus achieving a balance between protection effectiveness and cleaning efficiency.

[0094] In some alternative embodiments, the second detection element can specifically be a capacitive liquid level sensor, which identifies the water level by detecting changes in capacitance between the electrodes. The sensor can be attached to the outer wall of the sewage tank without extending into the tank, facilitating the disassembly and cleaning of the sewage tank.

[0095] In some alternative embodiments, the water level safety threshold can be dynamically adjusted according to the device's travel speed. The faster the travel speed, the lower the water level safety threshold is, triggering the high water level protection logic in advance, which can adapt to the stronger surge trend under high-speed travel.

[0096] This solution can be applied to cleaning scenarios with a small amount of wastewater. When the equipment enters the risk control mode due to proximity to an obstacle, it detects that the wastewater tank level is only one-third of the rated volume, which is below the safety threshold. It then determines that the surge risk is low and exits the risk mode to resume normal operation, thus avoiding excessive speed reduction that could affect the cleaning progress.

[0097] Please see Figure 4 In some exemplary embodiments of this application, controlling the cleaning device to enter a risk control mode includes: S223, compare the distance with the preset third parameter, the third parameter is less than the first parameter.

[0098] S2231, if the distance is greater than the third parameter, control the cleaning device to operate in the second power mode.

[0099] S2232, if the distance is less than or equal to the third parameter, control the cleaning device to operate in the third power mode.

[0100] The power of the cleaning device when it is operating in normal working mode is the first power, which is greater than the second power, and the second power is greater than the third power.

[0101] This embodiment further subdivides the risk control mode into two levels. Within the risk range defined by the first parameter, two sub-risk levels are further divided by a smaller third parameter, corresponding to two different power output levels.

[0102] After determining that the risk control mode has been entered, the controller continues to compare the real-time distance with the third parameter, and outputs the corresponding power control command based on the comparison result, so that the power output intensity corresponds to the distance of the obstacle.

[0103] The combination of multi-level power division and dual threshold judgment features enables gradient adjustment of protection intensity, avoiding the problem of excessive parameter adjustment in a single risk mode, and allowing the equipment operating status to gradually transition as the distance approaches, thus improving the smoothness of operation.

[0104] In some alternative embodiments, the value of the third parameter can be dynamically adjusted according to the ground friction coefficient. When the ground friction coefficient is low, the braking distance of the equipment is longer, and the value of the third parameter is increased accordingly to trigger the low-gear power control in advance.

[0105] In some alternative embodiments, the difference between the second and third power can be adjusted according to the user's cleaning mode. In deep cleaning mode, the power difference is reduced to prioritize cleaning suction power. In standard cleaning mode, the power difference is increased to prioritize protective effects.

[0106] This solution can be applied to scenarios involving a gradual approach to obstacles. After the device enters risk mode at a distance of 0.8 meters from the obstacle, it initially operates at the second power level to retain most of its cleaning performance. When it moves to a distance of 0.4 meters from the obstacle, it switches to the third power level to further enhance protection, thus gradually increasing the strength of protection.

[0107] In some exemplary embodiments of this application, the cleaning device includes a fan and a walking assist motor. The fan is disposed on the device body to generate negative pressure, and the walking assist motor is disposed on the device body to assist the device body in moving. The control method includes: Controlling the cleaning device to operate in a second power mode includes: Reduce the fan operating power to the second operating power, and simultaneously reduce the output force of the walking assist motor to the second output force.

[0108] Controlling the cleaning device to operate in the third power mode includes: Reduce the fan operating power to the third operating power, and simultaneously reduce the output force of the walking assist motor to the third output force.

[0109] Among them, the second operating power is greater than the third operating power, and the second output force is greater than the third output force.

[0110] This embodiment clarifies the specific components and adjustment method for power regulation. The blower is connected to the sewage tank via an air passage, creating a negative pressure environment inside the tank during operation to provide power for sewage recycling. The walking assist motor is connected to the walking wheel drive, providing auxiliary thrust for the equipment to move forward and reducing the effort required for the user to push it.

[0111] When the controller outputs a control signal, it simultaneously sends adjustment commands to the fan drive circuit and the motor drive circuit, ensuring that the fan power and motor output force are adjusted synchronously, with both adjustments maintaining a consistent timing. The combination of fan power adjustment and travel assist motor output force adjustment works together to improve surge protection from two dimensions: reducing motor output force weakens impact force and reduces surge intensity; reducing fan power reduces negative pressure inside the enclosure, decreasing the probability of sewage being drawn into the air path. The synergy of these two measures enhances overall protection.

[0112] In some alternative embodiments, the walking assist motor can specifically be a geared DC motor, which can continuously adjust the output force by adjusting the armature voltage, and can output smooth assist changes, avoiding jerky pushing feel.

[0113] This solution can be applied to medium- to high-risk impact scenarios. When the equipment approaches an obstacle, the suction power of the blower and the walking assistance are reduced simultaneously. This reduces the amplitude of sewage sloshing during impact and also reduces the probability of surges being sucked into the blower, thus achieving surge suppression from two aspects.

[0114] In some exemplary embodiments of this application, the water level safety threshold is a preset proportion of the rated effective volume of the sewage tank.

[0115] This embodiment defines the water level safety threshold using a relative proportion. The rated effective volume of the sewage tank is used as a benchmark, and the corresponding water level height is calculated according to a preset proportion, which serves as the dividing point for risk assessment.

[0116] Setting a proportional value based on the rated effective volume ensures that the threshold setting matches the actual water storage capacity of the wastewater tank, making the rationality of water level determination unaffected by differences in tank size. The preset proportional value can be adjusted according to the surge characteristics of different models, providing strong adaptability and covering the application needs of multiple product series.

[0117] This definition method does not rely on absolute height values, making it adaptable to sewage tanks of different sizes and shapes, thus improving the versatility of threshold settings. The combination of proportional thresholds and secondary water level determination features enables the water level determination logic to have cross-model adaptability; the same control algorithm can be applied to sewage tank products of different volumes, reducing the development workload for algorithm adaptation.

[0118] In some alternative embodiments, the preset ratio can be set to one-half, corresponding to a half-full water level in the sewage tank. In this state, there is sufficient space for water to slosh around, and the probability of surges reaching the blower inlet is low, which can serve as a general safety demarcation.

[0119] In some exemplary embodiments of this application, the first detection element includes a distance sensor, and the second detection element includes one or more of a liquid level sensor and a pressure sensor.

[0120] This embodiment clarifies the optional hardware types for two types of detection devices. The first detection device has distance detection as its core function and can utilize various mature distance sensing solutions. The second detection device has water level detection as its core function and can utilize contact or non-contact water level sensing solutions. Different types of sensors can meet different cost, accuracy, and installation requirements.

[0121] The air pressure sensor is installed in the gas phase space at the top of the wastewater tank, without direct contact with the wastewater. When the water level in the tank rises, the volume of the gas phase space decreases, and the air pressure correspondingly increases. After the sensor detects the change in air pressure, the controller can calculate the real-time water level height using a pre-stored air pressure-water level correlation. This method avoids sensor contamination by wastewater and extends its service life. The combination of various detection component types and corresponding detection functions provides diversified hardware selection paths for solution implementation, enabling the solution to adapt to different product positioning from entry-level to high-end, and possessing strong market adaptability.

[0122] In some alternative embodiments, the second detection element can specifically be a photoelectric liquid level sensor, which determines the water level by the difference in refraction of infrared light in water and air. It has a fast detection response speed and can be adapted to scenarios with rapid changes in water level.

[0123] In some alternative embodiments, the first and second detection devices can both be connected to the same controller's acquisition port, and the detection data can be processed uniformly by the same control unit, reducing hardware redundancy.

[0124] This solution can be applied to product selection for different positioning. Entry-level products can use infrared distance sensors combined with contact liquid level sensors to control costs, while high-end products can use laser rangefinders combined with barometric pressure sensors to improve performance and service life.

[0125] In some exemplary embodiments of this application, the second operating power is W2, which satisfies 50W≤W2≤70W, the second output force is F2, which satisfies 13.5N≤F2≤16.5N, and / or, the third operating power is W3, which satisfies W3≤40W, and the third output force is F3, which satisfies F3≤10N.

[0126] This embodiment limits the numerical range of the two operating parameters. The range of the second operating power and the second output force is set around the medium-range operating parameters of conventional floor cleaning equipment, covering a reasonable adjustment range under medium-risk scenarios. This can achieve a certain protective effect while retaining most of the cleaning and assisting performance.

[0127] The upper limits of the third operating power and the third output force correspond to the protection requirements in high-risk scenarios, effectively reducing impact and suction intensity. This parameter range is set with fluctuations based on the calibration values ​​of the preferred embodiment, covering tolerances in manufacturing and parameter differences between different models, thus improving the feasibility of the solution.

[0128] The combination of numerical range limitation and dual-component coordinated adjustment features enables the parameter range of coordinated control to have clear quantitative boundaries, providing a reference for product calibration while ensuring the consistency of protection effect.

[0129] In some alternative embodiments, the second operating power can be specifically 60W and the second output force can be specifically 15N. This combination of parameters can balance cleaning suction and propulsion assistance in medium-risk scenarios, taking into account both protection effect and user experience.

[0130] In some alternative embodiments, the third operating power can be 40W and the third output force can be 10N. This combination of parameters can effectively reduce the impact force and suction intensity in close-range high-risk scenarios, and adapt to extreme protection requirements.

[0131] This solution can be applied to production calibration scenarios. Manufacturers can fine-tune specific values ​​within this parameter range according to the actual surge characteristics of the model to ensure that the protection effect of different batches of products is stable and consistent, while covering the parameter tolerances brought about by production and assembly.

[0132] In some exemplary embodiments of this application, the first parameter is set to 1m and the third parameter is set to 0.5m.

[0133] This embodiment provides specific values ​​for two levels of distance thresholds. The first parameter of 1 meter can serve as the boundary for long-distance risk warning, allowing sufficient deceleration response distance for the equipment. The third parameter of 0.5 meters can serve as the boundary for close-range enhanced protection, corresponding to scenarios with a high probability of impact.

[0134] This set of values ​​is calibrated based on the typical travel speed and response delay of household floor cleaning equipment, making it adaptable to most indoor home cleaning scenarios and ensuring that the timing of protection triggering matches the actual level of risk. The specific distance threshold, combined with the characteristics of the secondary risk classification, forms a clear distance-risk correspondence, facilitating the solidification and implementation of control logic while ensuring consistency in protection triggering logic across different devices.

[0135] In some alternative embodiments, the first and third parameters can be dynamically scaled according to the device's travel speed. The faster the travel speed, the larger the threshold value, so that the protection triggering time is adapted to the braking distance requirement.

[0136] In some alternative embodiments, users can adjust the values ​​of the first and third parameters within a preset range through the device's user interface to adapt to different usage environments and operating habits.

[0137] This solution can be applied to cleaning scenarios in ordinary family living rooms. When the device is 1 meter away from the wall, it triggers an early warning and slows down. When it is 0.5 meters away from the wall, it further strengthens protection. This matches the user's daily operating rhythm, ensuring the protective effect without affecting the cleaning experience too frequently.

[0138] The cleaning device sprays cleaning solution onto the ground in front of it during cleaning operations. When cleaning along walls or near obstacles such as sofas, coffee tables, and cabinets, the sprayed cleaning solution can easily splash onto the surface of these obstacles, leaving water stains or dirt. This requires the user to wipe them again, increasing the cleaning workload and affecting the user experience. To address this, some exemplary embodiments of this application provide... Please see Figure 5In some exemplary embodiments of this application, a control method for a cleaning device is provided. The cleaning device includes a device body, a third detection element, and a cleaning component. The cleaning component includes a water spraying mechanism. The cleaning component is disposed on the device body, and the third detection element is disposed on the cleaning component or at the front end of the device body in the forward direction. The control method includes: S30: Obtain the location information of the obstacle in front of the cleaning device through the third detection device, and determine the distance between the cleaning device and the obstacle based on the location information.

[0139] S40, compare the distance with the preset fourth parameter.

[0140] S41, if the distance is greater than the fourth parameter, control the cleaning device to operate in normal working mode.

[0141] S42, if the distance is less than or equal to the fourth parameter, control the cleaning device to enter the spray risk protection control mode to prevent the cleaning solution from being sprayed onto the surface of the obstacle.

[0142] The core logic of this embodiment is adaptive spray control based on forward ranging. The equipment body provides an installation carrier for each component. The cleaning component has a built-in water spraying mechanism. The nozzles of the water spraying mechanism are arranged facing the ground in the direction of equipment movement to spray cleaning solution onto the ground to be cleaned.

[0143] The third detection element is positioned facing forward of the equipment and continuously collects the location data of obstacles, transmitting it to the controller. The controller has pre-stored threshold data for a fourth parameter. After comparing the real-time distance with the threshold, it outputs the corresponding spray control command to drive the water spray mechanism to switch operating modes.

[0144] The combination of distance detection and spray mode switching features can form a protective logic of early perception and proactive spray adjustment. It can achieve adaptive adjustment of the spray range without modifying the mechanical structure of the nozzle, and can dynamically match the spray state according to the distance to the obstacle, reducing the impact of solution splash on the obstacle.

[0145] In some alternative embodiments, the third detection element may specifically be an infrared ranging sensor, which can be integrated into the housing at the front end of the cleaning component and arranged adjacent to the water spraying mechanism. The detection position and the spraying position highly overlap, improving the accuracy of distance determination.

[0146] In some alternative embodiments, in normal operating mode, the spraying mechanism sprays the solution at a rated flow rate to ensure the ground is moistened and cleaned effectively. In spray risk protection mode, the spray coverage area can be reduced by decreasing the water flow rate to prevent the solution from reaching obstacle surfaces.

[0147] This solution can be applied to cleaning along the edges of furniture. When the device approaches a fabric sofa and detects that the distance is less than a preset threshold, it automatically enters the spray protection mode to reduce the spray range and prevent the cleaning solution from splashing onto the sofa fabric and leaving water stains.

[0148] Please see Figure 6 In some exemplary embodiments of this application, the control method includes: S31, when obtaining the location information of an obstacle in front of the cleaning device, the type information of the obstacle is obtained through a third detection element.

[0149] S32, when determining that the type of obstacle is spray protection, performs subsequent obstacle distance judgment and action control.

[0150] This embodiment adds a type filtering mechanism to the spray protection logic. While collecting obstacle location information, the third detection device can identify the type of obstacle through reflected signal characteristics or image features. The controller has a pre-stored library of obstacle types that require spray protection. Only after identifying the corresponding type of obstacle will subsequent distance determination and spray adjustment be initiated.

[0151] If the obstacle is identified as not requiring protection, the normal spraying mode will be maintained, and the protection logic will not be triggered. For example, when vertical obstacles such as sofas, cabinets, and walls are detected, they will be determined as requiring spray protection, and distance determination and spray adjustment will be initiated.

[0152] When low obstacles such as steps and mats are detected, they are classified as non-sprayable protection types and spray restrictions are not triggered. The combination of obstacle type recognition and distance determination features enables targeted spraying protection, avoiding unnecessary spray restrictions triggered on obstacles that do not affect the spraying effect, and maximizing the coverage of cleaning spray while ensuring the protective effect.

[0153] In some alternative embodiments, the need for protection can be determined based on the height characteristics of the obstacle combined with the spray head's reach. When the obstacle height is higher than the spray head's maximum spray head, it is determined to be a type requiring spray protection. When the obstacle height is lower than the spray head, it is determined to be a type that does not require protection.

[0154] In some alternative embodiments, the third detection element can specifically be a visual acquisition sensor that identifies the category and outline of obstacles through image semantic segmentation. The accuracy of type recognition is high and it can be adapted to complex home scenarios.

[0155] This solution can be applied to complex floor cleaning scenarios. When both a floor mat and a wall are present in front of the equipment, if the floor mat is not identified as a protection type, spray restrictions will not be triggered on it. If the wall is identified as a protection type, distance determination and spray adjustment will be performed on the wall, balancing floor cleaning effectiveness and obstacle protection.

[0156] In some exemplary embodiments of this application, entering the spraying risk protection control mode includes adjusting the spraying parameters of the cleaning device, including the spraying water volume and the spraying distance.

[0157] This embodiment clarifies the adjustment objects of the spray protection mode. The spray volume refers to the volume of solution sprayed by the nozzle per unit time, and the spray distance refers to the farthest distance the solution sprayed by the nozzle lands. These two parameters together determine the coverage area and solution concentration of the spray.

[0158] Once the controller enters the spray protection mode, it simultaneously adjusts two parameters, narrowing the spray effect in both the total amount and the coverage area to achieve the protective objective. The combination of these two parameters—spray volume and spray distance—creates a multi-dimensional protective effect: reducing the spray volume decreases the total amount of solution, making it less likely for even small splashes to form noticeable water stains. Shortening the spray distance reduces the coverage area, preventing the solution from reaching the obstacle surface at the source; the synergy of both enhances the overall protective effect.

[0159] In some alternative embodiments, the spraying distance can be synchronously changed simply by adjusting the spraying water volume. By utilizing the positive correlation between water pressure and range, the two parameters can be adjusted in a coordinated manner without the need for additional mechanical structures.

[0160] This solution can be applied to precise spraying protection scenarios. When approaching obstacles, the spray volume is reduced and the spraying distance is shortened simultaneously. This reduces both the total amount of solution that may be splashed and the landing area of ​​the solution. The dual effect reduces the probability of obstacles being sprayed wet.

[0161] In some exemplary embodiments of this application, the cleaning device includes a water pump disposed within the device body, and adjusting the spraying parameters of the cleaning device includes adjusting the duty cycle of the water pump.

[0162] This embodiment clarifies the method for adjusting the spraying parameters. The water pump inlet is connected to the clean water tank, and the outlet is connected to the spraying mechanism. During operation, the cleaning solution is pressurized and delivered to the nozzles for spraying. The water pump's duty cycle refers to the percentage of time the water pump is powered on within a working cycle. The higher the duty cycle, the greater the total water delivery per unit time, and the corresponding increase in the spray volume and spraying distance of the nozzles.

[0163] The controller adjusts the spraying parameters by regulating the power output of the water pump. The combination of pump duty cycle adjustment and spraying parameter control allows for continuous adjustment of spraying parameters via a purely electrical method, eliminating the need for mechanical components such as regulating valves in the water circuit. This simplifies the water circuit structure and reduces hardware costs and the risk of leakage.

[0164] In some alternative embodiments, the water pump can specifically be a diaphragm pump, whose output flow rate has an approximately linear relationship with the working duty cycle, which facilitates precise control of the spraying water volume through the duty cycle and improves the adjustment accuracy.

[0165] In some alternative embodiments, the water pump drive circuit can specifically adopt a constant pressure drive mode, where the duty cycle adjustment directly corresponds to the change in water flow rate, the water pressure remains stable, and the spray pattern remains consistent.

[0166] This solution can be applied to the circuit design of mass-produced products. The spraying parameters can be adjusted directly on the existing water pump drive circuit by adjusting the duty cycle through software, without the need for additional hardware costs, which facilitates the implementation and promotion of the solution.

[0167] Please see Figure 7 In some exemplary embodiments of this application, the control method includes: S43, when the distance is less than or equal to the fourth parameter, compare the distance with the preset fifth parameter.

[0168] S431, if the distance is greater than the fifth parameter, control the water pump to reduce the working duty cycle, and correspondingly reduce the spraying water volume and spraying distance.

[0169] S432, if the distance is less than or equal to the fifth parameter, control the water pump to shut off and stop spraying the cleaning solution.

[0170] The fourth parameter is greater than the fifth parameter.

[0171] This embodiment further subdivides the spray protection mode into two levels. Within the protection range defined by the fourth parameter, two sub-protection levels are further divided by the smaller fifth parameter, corresponding to two control states: reduced spraying and stopped spraying.

[0172] After the controller determines that it has entered the spray protection mode, it continues to compare the real-time distance with the fifth parameter. Based on the comparison result, it outputs the corresponding water pump control command to match the spray control intensity with the distance to the obstacle. The combination of the two-level spray division and the dual threshold judgment feature enables gradient control of spray protection, avoiding abrupt changes from either full spraying or full stop in a single protection mode. The spray state gradually transitions as the distance approaches, balancing the protective effect and the continuity of cleaning.

[0173] In some alternative embodiments, the value of the fifth parameter can be adjusted according to the cleaning mode. In wet mopping mode, increasing the fifth parameter stops spraying earlier and enhances the protective effect. In dry mopping mode, decreasing the fifth parameter extends the spray coverage area.

[0174] In some alternative embodiments, the water pump can be turned off while the device reduces its travel speed to prevent damage to the floor or cleaning roller from dry wiping.

[0175] This solution can be applied to cleaning scenarios where the device gradually approaches the wall. When the device is 0.4 meters away from the wall, the spray volume begins to decrease, and the spraying stops completely when the device is 0.08 meters away from the wall. The protection intensity gradually increases while ensuring the cleanliness and humidity of the transition area.

[0176] In some exemplary embodiments of this application, reducing the operating duty cycle of the water pump further includes: linearly reducing the operating duty cycle of the water pump from the maximum operating duty cycle to the minimum operating duty cycle according to a preset linear mapping relationship.

[0177] This embodiment introduces linear adjustment logic. Within the reduced spraying range, the pump duty cycle changes linearly and continuously with the distance to the obstacle. The controller has a pre-stored linear mapping table of distance and duty cycle. It queries the corresponding duty cycle value based on the real-time distance and outputs a control signal, so that the duty cycle smoothly transitions from the maximum value to the minimum value of the range as the distance decreases.

[0178] The combination of linear mapping adjustment and graded protection features allows for further refinement of adjustment granularity based on graded control, achieving a stepless and smooth transition of spraying parameters. This avoids abrupt changes in spraying effects caused by graded adjustment, resulting in a more uniform distribution of the ground solution and a more consistent cleaning effect.

[0179] In some alternative embodiments, the linear mapping relationship can specifically adopt a direct proportional correspondence, where the greater the distance, the higher the pump duty cycle, and the smaller the distance, the lower the duty cycle, which conforms to the logic that the closer the distance, the stronger the protection requirement.

[0180] In some alternative embodiments, the slope of the linear mapping can be adjusted according to user preference. A preference for a cleaner effect results in a smaller slope, causing the duty cycle to decrease more slowly. A preference for a protective effect results in a larger slope, causing the duty cycle to decrease more quickly.

[0181] This solution can be applied to scenarios where high uniformity of cleaning is required. As the equipment approaches an obstacle, the spray volume decreases smoothly, and there is no obvious dry-wet boundary on the ground. After cleaning, the ground has a uniform color and a better visual effect.

[0182] In some exemplary embodiments of this application, the third detection element includes one or more of a distance sensor and a visual acquisition sensor.

[0183] This embodiment clarifies the optional hardware types for the third detection component. A distance sensor enables basic distance measurement, suitable for simple spray protection solutions requiring only distance determination, and is relatively low-cost. A visual acquisition sensor can simultaneously perform distance measurement and type recognition, suitable for more refined protection solutions requiring type selection, offering richer functionality. Both sensors can be used individually or in combination to improve detection reliability. The combination of various detection component types with spray protection functions provides diverse hardware options for spray solutions, enabling solutions to cover different product positioning from entry-level to high-end, possessing strong market adaptability.

[0184] In some alternative embodiments, the third detection element may specifically adopt a combination of a distance sensor and a visual acquisition sensor. The distance sensor is responsible for rapid distance measurement, while the visual sensor is responsible for type recognition. The fusion of the two data improves the accuracy and response speed of the detection.

[0185] In some alternative embodiments, the third detection element may specifically be a TOF distance sensor, which can simultaneously output depth distance images and obstacle contour information, taking into account both ranging and type recognition requirements, and has a high degree of integration.

[0186] In some exemplary embodiments of this application, the fourth parameter is set to 0.5 meters and the fifth parameter is set to 0.1 meters. When the distance between the cleaning device and the obstacle decreases linearly from 0.5 meters to 0.1 meters, the water pump duty cycle decreases linearly from 100% to 0%, and the corresponding spraying distance decreases linearly from 0.5 meters to 0.1 meters.

[0187] This embodiment provides specific values ​​for the two-level threshold of spray protection, as well as a complete linear mapping relationship. The fourth parameter of 0.5 meters can be used as the trigger point for long-distance spray protection, and the fifth parameter of 0.1 meters can be used as the trigger point for stopping spray at close range. This set of values ​​is based on the conventional spray range calibration of household floor cleaning equipment and can be adapted to most indoor furniture cleaning scenarios.

[0188] The linear mapping relationship clearly defines the correspondence between distance, duty cycle, and spraying distance, providing a clear quantitative standard for the adjustment process and ensuring the consistency of control logic across different devices. Combining specific thresholds with the characteristics of the linear mapping can form a complete and readily implementable spraying control scheme. The parameters are clearly calibrated, facilitating product development and production debugging, while simultaneously ensuring the stability of the protective effect.

[0189] In some alternative embodiments, the linear mapping relationship can specifically employ a piecewise linear design, with a slower decrease in duty cycle in the 0.5-meter to 0.3-meter range to prioritize cleaning effectiveness. In the 0.3-meter to 0.1-meter range, the duty cycle decreases more rapidly to prioritize protection effectiveness.

[0190] In some alternative embodiments, the fourth and fifth parameters can be adjusted according to the ground material. On smooth surfaces, the threshold can be increased appropriately to prevent the solution from flowing and spreading to obstacles. On rough surfaces, the threshold can be decreased appropriately to ensure cleanliness and moisture.

[0191] This solution can be applied to standardized production scenarios. The fixed threshold and linear relationship ensure that the spraying protection effect of different batches of products is consistent, and users can obtain a stable and predictable protection experience.

[0192] In actual operation scenarios, cleaning devices often face two problems simultaneously: sewage surges caused by impacts and water splashing onto obstacles. If separate detection components and control logic are used to address these two problems, it leads to component redundancy, low overall integration, and poor coordination between the two control logics, making it difficult to balance protection and cleaning efficiency. Therefore, some exemplary embodiments of this application provide... In some exemplary embodiments of this application, the cleaning device includes a device body, a fourth detection element, a cleaning component, a wastewater tank, and a water spraying mechanism. The cleaning component is connected to the wastewater tank, and the water spraying mechanism is located at the front end of the cleaning component. The cleaning component, wastewater tank, and water spraying mechanism are all mounted on the device body, and the fourth detection element is located on the cleaning component or at the front end of the device body in the forward direction. The control method includes: S50: The fourth detection element synchronously acquires the location and type information of the obstacle in front of the cleaning device, and determines the distance between the cleaning device and the obstacle based on the location information.

[0193] S60 simultaneously executes the collision risk protection process and the spraying risk protection process based on the type information of the obstacle.

[0194] The impact risk protection process includes: S61 determines whether to enter collision risk control mode based on distance. S611, if it enters the impact risk control mode, will reduce the operating power of the blower and the output force of the walking assist motor to suppress the sewage surge inside the sewage tank caused by the impact.

[0195] The spraying risk protection process includes: S62 determines whether to enter the spraying risk control mode based on distance; S621, if the spraying risk control mode is entered, the spraying parameters of the spraying mechanism are adjusted accordingly to prevent the cleaning solution from being sprayed onto the surface of the obstacle.

[0196] This embodiment presents an integrated dual-protection control scheme. A single fourth detection element serves as the sensing entry point, synchronously outputting obstacle location and type data to the controller. The controller determines whether the dual-protection process needs to be activated based on the obstacle type. For obstacles posing both impact and spray risks, it concurrently invokes two sets of control logic: impact protection and spray protection. These two sets of logic share the same distance data and output control commands to the corresponding execution components, achieving synchronous triggering and coordinated operation of the two types of protection.

[0197] The combination of single-detector reuse and dual-process synchronous operation enables efficient utilization of hardware resources, reduces the number of sensors and wiring complexity, and lowers the overall cost. Simultaneously, the two processes operate based on the same detection benchmark, resulting in stronger coordination between control timing and judgment logic. This avoids judgment deviations and response time differences that can occur with two independent systems, improving the overall coordination of protection.

[0198] The impact protection process controls the output of the fan and the travel assist motor, while the spray protection process controls the output of the water spray mechanism. These two actions operate independently and synchronously. The combination of single-detector reuse and dual-process synchronous operation enables efficient use of hardware resources, reduces the number of sensors and wiring complexity, and lowers the overall cost. Furthermore, since both processes operate based on the same detection benchmark, the coordination of control timing and judgment logic is stronger, avoiding judgment deviations and response time differences that can occur with two independent systems, thus improving the overall coordination of protection.

[0199] In some alternative embodiments, the determination of the impact risk control mode can be made by combining the equipment's travel speed and distance. The braking distance is calculated by the travel speed, and the distance to the obstacle is combined to make a comprehensive judgment on whether protection needs to be activated, which can adapt to the risk differences under different travel speeds.

[0200] In some alternative embodiments, the determination of the spraying risk control mode can be made by combining the ground material and distance. The determination criteria can be adjusted according to the flow characteristics of the ground solution to adapt to the differences in solution diffusion under different ground materials.

[0201] In some alternative embodiments, the fourth detection element can specifically be an integrated TOF sensor, which can simultaneously output depth and distance data and obstacle contour features. A single chip can complete ranging and type recognition, with high integration and small footprint.

[0202] This solution can be applied to high-end integrated cleaning equipment. A single front-end sensor can simultaneously achieve surge protection and spray protection. The front-end structure of the whole machine is simple and the wiring is easy. The two types of protection actions are triggered synchronously. When it is close to the wall, it simultaneously reduces speed and suction and narrows the spray range, resulting in good protection coordination.

[0203] In some exemplary embodiments of this application, determining whether to enter the collision risk control mode based on distance includes: The distance is compared with the preset sixth parameter, which is the threshold for determining the collision risk.

[0204] If the distance is greater than the sixth parameter, the control fan and the walking assist motor will operate at their rated parameters.

[0205] If the distance is less than or equal to the sixth parameter, then enter collision risk control mode. And / or, Determining whether to enter the spraying risk control mode based on distance includes...

[0206] The distance is compared with the preset eighth parameter, which is the spraying risk assessment threshold.

[0207] If the distance is greater than the eighth parameter, the water spraying mechanism will be controlled to operate at the rated spraying parameters.

[0208] If the distance is less than or equal to the eighth parameter, then the spraying risk control mode is entered.

[0209] This embodiment specifies the determination method for both types of protection processes, using a fixed threshold comparison method to complete risk assessment. The controller internally stores two sets of independent threshold data: a sixth parameter and an eighth parameter. The sixth parameter corresponds to the trigger distance for impact risk, and the eighth parameter corresponds to the trigger distance for spray risk. After acquiring the obstacle distance, the controller compares the data with the two sets of thresholds and outputs control commands for the two types of protection based on the comparison results, thus completing the mode switching. The two sets of thresholds are independent of each other and can be calibrated separately according to the different characteristics of the two types of risks, without interfering with each other.

[0210] The combination of independent comparison of dual thresholds and synchronous operation of dual processes can achieve independent calibration of the triggering time of each while ensuring the synergy of the two types of protection. This allows both impact protection and spray protection to match their optimal triggering distance, avoiding the problem that a single threshold cannot cover both types of risks, and improving the rationality and accuracy of the protection strategy.

[0211] In some alternative embodiments, the sixth parameter and the eighth parameter can be set to different values ​​to differentiate the trigger distance based on the degree of impact of the two types of risks. For example, if the impact of the collision risk is greater, a larger sixth parameter can be set to trigger the collision protection earlier.

[0212] In some alternative embodiments, the threshold comparison judgment logic can be specifically supplemented with a hysteresis interval to avoid frequent mode switching when the obstacle distance fluctuates around the threshold, thereby improving the stability of device operation.

[0213] This solution can be applied to standardized, mass-produced cleaning equipment. Two sets of fixed thresholds can be calibrated before shipment, ensuring consistent protection triggering logic across different batches of products. During daily operation, the equipment maintains full performance when the distance is greater than the corresponding threshold, and automatically enters the corresponding protection mode when the distance is less than or equal to the threshold. The judgment logic is stable and reliable, providing users with a consistent protection experience.

[0214] In some exemplary embodiments of this application, entering the impact risk control mode further includes: The distance is compared with the preset seventh parameter, which is less than the sixth parameter.

[0215] If the distance is greater than the seventh parameter, reduce the fan operating power to the sixth operating power, and simultaneously reduce the walking assist motor output force to the sixth output force.

[0216] If the distance is less than or equal to the seventh parameter, reduce the fan operating power to the seventh operating power and simultaneously reduce the walking assist motor output force to the seventh output force.

[0217] Among them, the sixth operating power is greater than the seventh operating power, and the sixth output force is greater than the seventh output force.

[0218] This embodiment further subdivides the impact risk control mode in the integrated solution into two levels. Within the impact risk range defined by the sixth parameter, the seventh parameter further divides the control intensity into two levels, corresponding to different combinations of fan power and motor output force. This allows the intensity of impact protection to gradually change with the distance to the obstacle, improving control precision. The combination of the two-level impact classification and the synchronous dual protection feature enables the gradient control of impact protection to correspond with the graded control of spray protection. The intensity of both types of protection changes progressively with distance, resulting in a more unified overall control logic and better operational smoothness.

[0219] In some alternative embodiments, the numerical ratio of the sixth parameter to the seventh parameter can be consistent with the first parameter and the third parameter of the first scheme, so that the impact protection logic has consistency across schemes and facilitates algorithm reuse.

[0220] In some alternative embodiments, the switching between the two power levels and output force can be carried out in a smooth transition manner, gradually adjusting the parameters within a set distance range to avoid operational jerks caused by gear switching.

[0221] This solution can be applied to progressive protection scenarios in integrated solutions. As the equipment approaches an obstacle, the impact protection gradually reduces its power in two levels, which is synchronized with the graded adjustment of the spray protection. The equipment's operating status transitions smoothly, and the user can push it without any obvious jerking.

[0222] In some exemplary embodiments of this application, a fifth detection element is also installed inside the sewage tank, and after entering the impact risk control mode, the control method further includes: Obtain the real-time water level inside the wastewater tank. Compare the real-time water level with the preset tenth parameter, which is the safe water level threshold of the wastewater tank.

[0223] If the real-time water level is less than the tenth parameter, exit the impact risk control mode and control the fan and walking assist motor to operate at rated parameters.

[0224] If the real-time water level is greater than or equal to the tenth parameter, the collision risk control mode will be maintained.

[0225] This embodiment supplements the impact protection process of the integrated solution with a water level verification mechanism. A fifth detection element is deployed inside the wastewater tank to collect water level data in real time. Upon entering the impact risk control mode, the controller compares the water level data with the tenth parameter. Based on the water level, it determines whether to maintain the protection state. At low water levels, protection is deactivated and normal performance is restored; at high water levels, protection is maintained, achieving a balance between protection effectiveness and cleaning efficiency. The combination of the water level verification feature and the dual-protection synchronization feature allows the impact protection strategy to better reflect actual surge risks, avoiding over-protection that could affect cleaning performance. Simultaneously, the spray protection process is unaffected by the water level verification, maintaining independent operation and ensuring the effectiveness of the spray protection.

[0226] In some alternative embodiments, the fifth detection element may specifically be a pressure sensor, installed in the gas phase space at the top of the sewage tank, which does not come into contact with sewage, can operate stably for a long time, and reduces maintenance requirements.

[0227] In some alternative embodiments, the value of the tenth parameter can be dynamically adjusted according to the spray flow rate. In the high-flow spray mode, the wastewater is generated quickly, so the tenth parameter is lowered accordingly to trigger the high water level protection in advance.

[0228] This solution can be applied to intelligent protection scenarios in integrated solutions. After the equipment approaches an obstacle and enters the impact protection, it detects that the water level in the sewage tank is low and determines that the surge risk is small. Then, it restores the normal power of the fan and motor, retaining only the spray protection, maximizing cleaning efficiency while ensuring safety.

[0229] In some exemplary embodiments of this application, the water level safety threshold is a preset proportion of the rated effective volume of the sewage tank.

[0230] This embodiment uses a volume ratio method to define the water level safety threshold in the integrated solution. The ratio value is set based on the rated effective volume of the sewage tank, and the corresponding water level height is calculated as the judgment boundary. This method can be adapted to sewage tanks of different specifications, improves the universality of threshold setting, and does not require separate calibration for different models.

[0231] The combination of proportional water level threshold and integrated dual protection features enables the water level determination logic to be adaptable across different models. The same integrated control algorithm can be applied to products with different capacities, reducing the development workload of algorithm adaptation.

[0232] In some alternative embodiments, the preset ratio value can be specifically set to one-half, corresponding to a half-full water level, which can serve as a general surge risk demarcation and is compatible with the wastewater tank design of most household cleaning equipment.

[0233] In some alternative embodiments, the preset ratio value can be modified through the device's accompanying application, allowing users to adjust the water level threshold and customize the protection strategy according to their own usage habits.

[0234] This solution can be applied to the adaptation of multiple models in the integrated solution. When the same integrated control algorithm is applied to products with different capacities, it can be reused simply by proportionally converting the water level threshold, which reduces the development cost of multiple product lines.

[0235] In some exemplary embodiments of this application, entering the spraying risk control mode further includes: The distance is compared with the preset ninth parameter, which is less than the eighth parameter.

[0236] If the distance is greater than the ninth parameter, the working duty cycle of the water spraying mechanism will be reduced, correspondingly reducing the spraying water volume and spraying distance.

[0237] If the distance is less than or equal to the ninth parameter, the water spray mechanism will be turned off and the spraying of cleaning solution will stop.

[0238] This embodiment further subdivides the spraying risk control mode in the integrated solution into two levels. Within the spraying risk range defined by the eighth parameter, the ninth parameter further divides it into two states: reduced spraying and stopped spraying. This allows the intensity of spraying protection to gradually change with the distance to the obstacle, improving the precision of control.

[0239] The combination of two-level spraying classification and simultaneous dual protection features allows for a correspondence between the gradient control of spray protection and the graded control of impact protection. The intensity of the two types of protection increases synchronously, resulting in a more coordinated overall control logic and a smoother user experience.

[0240] In some alternative embodiments, the numerical ratio of the eighth parameter to the ninth parameter can be consistent with the fourth and fifth parameters of the second scheme, so that the spray protection logic has consistency across schemes and facilitates algorithm reuse.

[0241] In some alternative embodiments, the start-up and shutdown of the water spray mechanism and the adjustment of the fan power can be triggered synchronously, aligning the timing of the two types of protective actions and improving the coordination of control.

[0242] This solution can be applied to edge cleaning scenarios in integrated solutions. When the equipment moves along the wall, the spray protection gradually reduces the spray volume in two levels until it stops spraying. This is triggered synchronously with the power reduction action of the impact protection. The two types of protection work together and the control logic is unified.

[0243] In some exemplary embodiments of this application, reducing the working duty cycle of the water spray mechanism further includes: linearly reducing the working duty cycle of the water spray mechanism from the maximum working duty cycle to the minimum working duty cycle according to a preset linear mapping relationship, and the working duty cycle is positively correlated with the distance.

[0244] This embodiment introduces linear adjustment logic into the integrated spray protection solution. Within the reduced spray range, the duty cycle of the spray mechanism changes linearly with distance. The farther the distance, the higher the duty cycle, and the closer the distance, the lower the duty cycle. This achieves smooth and stepless adjustment of spray parameters, avoiding abrupt changes in spray effect caused by graded adjustment.

[0245] The combination of linear spray adjustment and dual protection synchronization features makes the transition of spraying effect smoother. At the same time, the power adjustment of impact protection can also be linear. The synchronous linear change of the two types of parameters makes the overall operation of the equipment smoother, improving the user experience and cleaning uniformity.

[0246] In some alternative embodiments, the linear adjustment slope of the spray duty cycle can specifically correspond to the adjustment slope of the fan power, so that the intensity change rate of the two types of protection is consistent and the overall control is more coordinated.

[0247] In some alternative embodiments, the linear mapping relationship can be switched according to the cleaning mode, with different adjustment slopes corresponding to different cleaning modes to adapt to different cleaning needs.

[0248] This solution can be applied to integrated solutions with high requirements for user experience. As the equipment approaches an obstacle, the spray volume and suction power change synchronously and smoothly, the ground transitions evenly between dry and wet, the pushing feel is stable, and the overall user experience is better.

[0249] In some exemplary embodiments of this application, the fourth detection element includes one or more of a distance sensor and a visual acquisition sensor for simultaneously acquiring distance data and type characteristics of obstacles.

[0250] This embodiment clarifies the optional hardware type of the fourth detection component in the integrated scheme. A single type of sensor can achieve basic synchronous detection, while a combination of multiple sensors can improve the accuracy and functionality of the detection.

[0251] The detection component performs both ranging and type identification functions, reducing the number of sensors required, simplifying front-end structure design, and improving overall integration. Multiple types of detection components can be selected and combined with the dual-protection integration feature, providing diverse hardware selection paths for integrated solutions, adapting to products with different cost and functional positioning, and giving the integrated dual-protection solution strong market adaptability.

[0252] In some alternative embodiments, the fourth detection element can specifically be a visual acquisition sensor, which simultaneously calculates the obstacle distance and identification type through a monocular vision algorithm. A single camera can complete all perception functions, resulting in the simplest structure.

[0253] In some alternative embodiments, the fourth detection element may specifically be a lidar sensor, which can simultaneously output high-precision distance data and obstacle point cloud contours, balancing ranging accuracy and type recognition capabilities, and meeting the needs of high-end products.

[0254] This solution can be applied to differentiated product layouts in integrated solutions. The cost-effective version uses a single distance sensor combined with algorithms to achieve basic shape recognition, while the high-end version uses LiDAR to achieve high-precision perception, covering different market needs.

[0255] In some exemplary embodiments of this application, a cleaning device is provided, the cleaning device including a controller configured to perform the control method of any of the aforementioned cleaning devices.

[0256] Please see Figure 1 In some alternative embodiments, the hardware structure of the cleaning device mainly includes a device body 1, a first detection element 2, a cleaning component 3, a wastewater tank 4, a second detection element 5, and a water spraying mechanism 6. The device body 1 serves as the supporting base for the entire machine, and all other functional components are integrated and installed on it. Internally, it has reserved electrical installation cavities, water circuit installation cavities, and component housing space, providing installation support, power supply circuits, and wiring foundations for each component. The first detection element 2 is installed at the front end of the cleaning component 3 or the device body 1 in the forward direction, with its detection direction facing forward. It is used to collect the position information of obstacles ahead and transmit the detection signal to the controller. The cleaning component 3 is located at the bottom of the device body 1, contacting and cooperating with the ground during operation to remove dirt from the ground and scrape and collect wastewater. It also serves as the mounting carrier for the water spraying mechanism 6 and is the direct execution unit for the cleaning operation.

[0257] Wastewater tank 4 is detachably installed inside the equipment body 1 and connected to the cleaning component 3 through a recycling channel. It is used to temporarily store wastewater recovered during cleaning operations. Its top air passage is connected to a blower to form a negative pressure recycling environment. The second detection element 5 is set inside the wastewater tank 4 or at the corresponding side wall position. It is used to collect water level-related data in the wastewater tank 4 and transmit the water level signal to the controller to provide data basis for the water level verification logic.

[0258] In some exemplary embodiments of this application, a control device for a cleaning apparatus is provided, including a processor and a storage unit electrically connected to the processor. The storage unit stores control instructions executable by the processor. When the processor executes the control instructions, it implements the aforementioned control method for the cleaning apparatus.

[0259] This embodiment describes the hardware control platform corresponding to the aforementioned control method. The processor, acting as the computational core, receives obstacle and water level data collected by various detection devices, executes threshold comparison and logical judgment processes, and outputs corresponding control signals to actuators such as fans, motors, and water pumps. The storage unit stores the control program, preset threshold parameters, and operational data, providing data support for the processor's calculations. The control device can be integrated and installed on the main control board of the cleaning device, interfacing with the detection and execution components of the entire machine to fully replicate the control logic of surge protection and spray protection.

[0260] In some alternative embodiments, the control device may specifically employ an embedded microcontroller chip, integrating the computing core, storage resources, and peripheral interfaces into a single chip. This results in high integration, small footprint, and adaptability to the compact layout space within the cleaning device.

[0261] In some alternative embodiments, the control device may be equipped with a wireless communication module to establish a data connection with the user terminal, enabling the user to view the operating status and adjust threshold parameters, thereby improving the flexibility of the solution.

[0262] In some exemplary embodiments of this application, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the aforementioned control method for the cleaning device.

[0263] This embodiment is a software storage carrier corresponding to the aforementioned control method. All control logic, judgment rules and parameter configurations can be stored in the form of program code. The processor can read and run the program to completely reproduce the control process, which is convenient for burning, porting and version iteration of the control program.

[0264] In some alternative embodiments, the computer-readable storage medium may specifically be a non-volatile flash memory chip, which can be directly soldered onto the main control circuit board of the cleaning device. It has a fast read and write response speed, and the stored program data is not lost after power failure, which is suitable for the long-term use needs of household cleaning equipment.

[0265] In some alternative embodiments, the computer-readable storage medium may specifically be a removable storage medium that supports individual program reading, writing, and upgrades, facilitating device function iteration and after-sales maintenance.

[0266] In some exemplary embodiments of this application, a computer program product is provided, the computer program product comprising program instructions that, when executed on a processor, cause the processor to perform the control method of the aforementioned cleaning device.

[0267] This embodiment is the program form carrier corresponding to the aforementioned control method. The program product can encapsulate the complete control logic, such as ranging determination, risk classification, and parameter adjustment, into an executable set of program instructions. It supports batch pre-installation, online upgrades, and cross-platform porting, facilitating the functional iteration and mass production deployment of the cleaning device. When the program instructions are executed, they can directly call the processor's computing resources and peripheral interfaces to complete the entire process of detection data acquisition, logic operation, and control signal output, thus reproducing all surge protection and spray protection functions.

[0268] While this application has been described and illustrated in detail with reference to the accompanying drawings and the foregoing description, such description and illustration are intended to be illustrative or exemplary, not restrictive, and the application is not limited to the disclosed embodiments. Based on a study of the drawings, the disclosure, and the appended claims, those skilled in the art will understand and implement other embodiments and variations in carrying out the claimed invention. New embodiments can be obtained by combining any of the foregoing teachings.

[0269] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A control method for a cleaning device, characterized in that, The cleaning device includes a device body, a first detection element, a cleaning component and a wastewater tank. The cleaning component is connected to the wastewater tank and both are mounted on the device body. The first detection element is mounted on the cleaning component or at the front end of the device body in the forward direction. The control method includes: The location information of the obstacle in front of the cleaning device is obtained through the first detection device, and the distance between the cleaning device and the obstacle is determined based on the location information; The distance is compared with a preset first parameter; If the distance is greater than the first parameter, the cleaning device is controlled to operate in normal working mode; If the distance is less than or equal to the first parameter, the cleaning device is controlled to enter the risk control mode to suppress the sewage surge caused by the impact inside the sewage tank.

2. The control method for the cleaning device according to claim 1, characterized in that, The wastewater tank is also equipped with a second detection device, which is used to acquire water level information within the wastewater tank; the entry into risk control mode includes: Obtain the real-time water level inside the sewage tank; The real-time water level is compared with a preset second parameter, which is the safe water level threshold of the sewage tank. If the real-time water level is less than the second parameter, the risk control mode is exited and the cleaning device is controlled to operate in normal working mode. If the real-time water level is greater than or equal to the second parameter, the risk control mode is maintained.

3. The control method for the cleaning device according to claim 1, characterized in that, The control cleaning device enters the risk control mode, including: The distance is compared with a preset third parameter, where the third parameter is less than the first parameter; If the distance is greater than the third parameter, the cleaning device is controlled to operate in the second power mode. If the distance is less than or equal to the third parameter, the cleaning device is controlled to operate in the third power mode. The power of the cleaning device when it is operating in normal working mode is the first power, which is greater than the second power, and the second power is greater than the third power.

4. The control method for the cleaning device according to claim 3, characterized in that, The cleaning device includes a fan and a walking assist motor. The fan is installed on the device body to generate negative pressure, and the walking assist motor is installed on the device body to assist the device body in moving. The control method includes: The control cleaning device operates in a second power mode, including: reducing the operating power of the fan to the second operating power, and simultaneously reducing the output force of the walking assist motor to the second output force; The control cleaning device operates in a third power mode, including: reducing the operating power of the fan to the third operating power, and simultaneously reducing the output force of the walking assist motor to the third output force; Wherein, the second operating power is greater than the third operating power, and the second output force is greater than the third output force.

5. The control method for the cleaning device according to claim 2, characterized in that, The first detection element includes a distance sensor, and the second detection element includes one or more of a liquid level sensor and a pressure sensor.

6. A control method for a cleaning device, characterized in that, The cleaning device includes a device body, a third detection element, and a cleaning component. The cleaning component includes a water spraying mechanism. The cleaning component is disposed on the device body, and the third detection element is disposed on the cleaning component or at the front end of the device body in the forward direction. The control method includes: The third detection device acquires the location information of the obstacle in front of the cleaning device, and determines the distance between the cleaning device and the obstacle based on the location information. The distance is compared with a preset fourth parameter; If the distance is greater than the fourth parameter, the cleaning device is controlled to operate in normal working mode; If the distance is less than or equal to the fourth parameter, the cleaning device is controlled to enter the spray risk protection control mode to prevent the cleaning solution from being sprayed onto the surface of the obstacle.

7. The control method for the cleaning device according to claim 6, characterized in that, The control method includes: When acquiring the location information of obstacles in front of the cleaning device, the type information of the obstacles is acquired through the third detection element; When it is determined that the type of obstacle is spray protection, subsequent distance judgment and action control of the obstacle are performed.

8. The control method for the cleaning device according to claim 6, characterized in that, Entering the spraying risk protection control mode includes adjusting the spraying parameters of the cleaning device, including the spraying water volume and spraying distance.

9. The control method for the cleaning device according to claim 8, characterized in that, The cleaning device includes a water pump, which is disposed within the device body. Adjusting the spraying parameters of the cleaning device includes: Adjust the duty cycle of the cleaning device's water pump.

10. The control method for the cleaning device according to claim 9, characterized in that, The control method includes: If the distance is less than or equal to the fourth parameter, compare the distance with a preset fifth parameter, where the fourth parameter is greater than the fifth parameter; If the distance is greater than the fifth parameter, then control the water pump to reduce its duty cycle, thereby reducing the spray volume and spray distance accordingly. If the distance is less than or equal to the fifth parameter, then the water pump is controlled to shut down, and the spraying of the cleaning solution is stopped.

11. The control method for the cleaning device according to claim 10, characterized in that, The reduction of the operating duty cycle of the water pump also includes: The pump's duty cycle is linearly reduced from the maximum duty cycle to the minimum duty cycle according to a preset linear mapping relationship.

12. The control method for the cleaning device according to claim 7, characterized in that, The third detection element includes one or more of a distance sensor and a visual acquisition sensor.

13. A control method for a cleaning device, characterized in that, The cleaning device includes a device body, a fourth detection element, a cleaning component, a wastewater tank, and a water spraying mechanism. The cleaning component is connected to the wastewater tank. The water spraying mechanism is located at the front end of the cleaning component. The cleaning component, wastewater tank, and water spraying mechanism are all mounted on the device body. The fourth detection element is located on the cleaning component or at the front end of the device body in the forward direction. The control method includes: The fourth detection element synchronously acquires the position and type information of obstacles in front of the cleaning device, and determines the distance between the cleaning device and the obstacles based on the position information; Based on the type information of the obstacle, the collision risk protection process and the spraying risk protection process are executed simultaneously. The impact risk protection process includes: Whether to enter the collision risk control mode is determined based on the distance; If the collision risk control mode is entered, the operating power of the blower and the output force of the walking assist motor will be reduced accordingly to suppress the sewage surge inside the sewage tank caused by the impact. The spraying risk protection process includes: Whether to enter the spraying risk control mode is determined based on the distance; If the spraying risk control mode is entered, the spraying parameters of the water spraying mechanism will be adjusted accordingly to prevent the cleaning solution from being sprayed onto the surface of the obstacle.

14. The control method for the cleaning device according to claim 13, characterized in that, The step of determining whether to enter the collision risk control mode based on the distance includes: The distance is compared with a preset sixth parameter, which is a threshold for determining the impact risk. If the distance is greater than the sixth parameter, then control the fan and the walking assist motor to operate at the rated parameters; If the distance is less than or equal to the sixth parameter, then enter the collision risk control mode; and / or, The method of determining whether to enter the spraying risk control mode based on the distance includes: The distance is compared with a preset eighth parameter, which is a spraying risk assessment threshold. If the distance is greater than the eighth parameter, the water spraying mechanism is controlled to operate at the rated spraying parameters; If the distance is less than or equal to the eighth parameter, then the spraying risk control mode is entered.

15. A cleaning device, characterized in that, Includes a controller configured to perform the control method of the cleaning apparatus according to any one of claims 1 to 14.

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