Cleaning device, cleaning system and control method

Abstract

The application provides a cleaning device, a cleaning system and a control method, relates to the technical field of cleaning, and the control method comprises the following steps: judging the contact state between a ground brush and a surface to be cleaned. When the ground brush is separated from the surface to be cleaned, the position of a rolling brush assembly is judged. When the rolling brush assembly moves out relative to the ground brush body, the rolling brush assembly is retracted into the ground brush body. When the rolling brush assembly is located in the ground brush body, the rolling brush assembly is prohibited from moving out relative to the ground brush body. The control method of the cleaning device provided by the application can effectively avoid the collision between the rolling brush assembly and external obstacles in the moving process of the ground brush, can effectively prevent the rolling brush assembly from being damaged due to the collision with external obstacles, can effectively improve the protection of the rolling brush assembly, and can prolong the service life of the rolling brush assembly.

Description

Technical Field

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

[0002] With the development of technology and the improvement of people's quality of life, cleaning equipment is increasingly used in people's lives, greatly reducing the burden of manpower.

[0003] Taking floor scrubbers as an example, with the continuous development and updates of floor scrubbers, their functions are becoming more and more abundant. In order to improve the cleaning of low areas (such as under beds, under cabinet doors, etc.), most floor scrubbers now have roller brush components that can extend to the side to reach into low areas for cleaning.

[0004] However, when the user lifts the floor scrubber off the ground to move it, if the roller brush assembly is in the lateral extension state or is accidentally triggered to extend the roller brush assembly, the extended roller brush assembly is likely to collide with external obstacles (such as furniture, walls, etc.) during the movement of the floor scrubber, thereby damaging the roller brush assembly. Summary of the Invention

[0005] This application provides a cleaning device, cleaning system, and control method that can effectively prevent the roller brush assembly from colliding with external obstacles during the movement of the floor brush, prevent damage to the roller brush assembly due to collision with external obstacles, effectively improve the protection of the roller brush assembly, and extend the service life of the roller brush assembly.

[0006] The first aspect of this application provides a cleaning equipment control method for controlling and operating a cleaning equipment, the cleaning equipment including a floor brush, the floor brush comprising:

[0007] The main body of the floor brush;

[0008] A roller brush assembly includes a roller brush for cleaning a surface to be cleaned; the roller brush assembly is movably connected to the floor brush body, and the roller brush assembly is configured to move out or retract relative to the floor brush body along the axial direction of the roller brush; the control method includes:

[0009] Determine the contact state between the floor brush and the surface to be cleaned;

[0010] When the floor brush separates from the surface to be cleaned, the position of the roller brush assembly is determined;

[0011] When the roller brush assembly moves out relative to the floor brush body, the roller brush assembly is retracted into the floor brush body;

[0012] When the roller brush assembly is located inside the floor brush body, the roller brush assembly is prohibited from moving out relative to the floor brush body.

[0013] The cleaning equipment control method provided in this application determines the contact state between the floor brush and the surface to be cleaned, and determines the removal state of the roller brush assembly when the floor brush separates from the surface. When the roller brush assembly is in the removed state, it is retracted into the floor brush body; when it is inside the floor brush body, it is prohibited from moving out relative to the floor brush body. This effectively prevents the roller brush assembly from extending outside the floor brush body during the process of the floor brush separating from the ground. In other words, the roller brush assembly is always retracted into the floor brush body during the process of the floor brush being lifted and moved relative to the ground. This effectively prevents the roller brush assembly from colliding with external obstacles during the movement of the floor brush, effectively preventing damage caused by collisions, improving the protection of the roller brush assembly, and extending its service life.

[0014] In one possible implementation, the floor brush includes a booster wheel and a booster motor connected to the booster wheel, the booster motor driving the booster wheel to rotate, thereby driving the floor brush to move, and the control method includes:

[0015] The contact state between the floor brush and the surface to be cleaned is determined by the assist motor.

[0016] In other words, by observing the working status and parameters of the assist motor, the contact state between the floor brush and the surface to be cleaned can be indirectly determined, and the corresponding control of the roller brush assembly can be made based on the contact state between the floor brush and the surface to be cleaned.

[0017] The assist wheel and assist motor are both structural components originally present in the floor brush. In this embodiment, only real-time detection of the assist motor is needed to promptly obtain the contact status between the floor brush and the surface to be cleaned. This eliminates the need for an additional detection device specifically designed to monitor the contact status between the floor brush and the surface, and also eliminates the need to modify the overall structural design of the floor brush. This effectively simplifies the structural design of the floor brush, thereby reducing the overall design and production costs.

[0018] In one possible implementation, the control method includes:

[0019] When the load on the assist motor is less than a preset value, it indicates that the floor brush is separated from the surface to be cleaned.

[0020] When the floor brush contacts the surface to be cleaned, the pressure between the brush and the surface creates a certain workload on the assist motor. When the floor brush separates from the surface, i.e., when it lifts off the ground, there is no force between the brush and the ground, significantly reducing the load on the assist motor. Therefore, when the load on the assist motor falls below a certain value, it indicates that the floor brush is separated from the surface. At this point, the system can further determine the position of the roller brush assembly and proceed with the next step based on its location.

[0021] The system determines whether the floor brush is separated from the surface to be cleaned by judging that the load of the assist motor is lower than a preset value. This judgment is reliable and highly accurate, which can effectively reduce or avoid misjudgments and improve the accuracy of judging the separation state between the floor brush and the surface to be cleaned. This, in turn, effectively improves the reliability and stability of the overall performance of the cleaning equipment.

[0022] In one possible implementation, the roller brush includes a roller brush body and a drive motor, the drive motor being used to drive the roller brush body to rotate in order to clean the surface to be cleaned, and the control method includes:

[0023] The contact state between the floor brush and the surface to be cleaned is determined by the drive motor.

[0024] In other words, by observing the working status and parameters of the drive motor, the contact state between the floor brush and the surface to be cleaned can be indirectly determined, and the roller brush assembly can be controlled accordingly based on the contact state between the floor brush and the surface to be cleaned.

[0025] Both the roller brush body and the drive motor are structural components inherent to the floor brush. In this embodiment, only real-time detection of the drive motor is needed to promptly obtain the contact status between the floor brush and the surface to be cleaned. This eliminates the need for an additional detection device specifically designed to monitor the contact status between the floor brush and the surface, and also eliminates the need to modify the overall structural design of the floor brush. This effectively simplifies the structural design of the floor brush, thereby reducing the overall design and production costs.

[0026] In one possible implementation, the control method includes:

[0027] When the load on the drive motor is less than a preset value, it indicates that the floor brush is separated from the surface to be cleaned.

[0028] When the roller brush contacts the surface to be cleaned, pressure exists between the brush body and the surface, placing a certain workload on the drive motor. When the roller brush separates from the surface, i.e., when it lifts off the ground, there is no force between the brush body and the ground, significantly reducing the load on the drive motor. Therefore, when the drive motor load falls below a certain value, it indicates that the roller brush is separated from the surface. At this point, the system can further determine the position of the roller brush assembly and proceed with the next step based on that position.

[0029] The system determines whether the floor brush is separated from the surface to be cleaned by judging that the load of the drive motor is lower than a preset value. This judgment is reliable and highly accurate, which can effectively reduce or avoid misjudgments and improve the accuracy of judging the separation state between the floor brush and the surface to be cleaned. This, in turn, effectively improves the reliability and stability of the overall performance of the cleaning equipment.

[0030] In one possible implementation, the floor brush further includes a detection element for detecting the positional relationship between the bottom of the floor brush and the surface to be cleaned, and the control method includes:

[0031] The contact state between the floor brush and the surface to be cleaned is determined by the detection device.

[0032] In other words, by setting up a detection device in the floor brush specifically for detecting the contact state between the floor brush and the surface to be cleaned, the detection device can be placed in a more appropriate position according to its type, so that the detection device can accurately detect the contact state between the floor brush and the surface to be cleaned, which can effectively improve the accuracy of floor brush status monitoring.

[0033] In one possible implementation, the detection element is a distance detection element used to detect the distance between the bottom of the floor brush and the surface to be cleaned, and the control method includes:

[0034] When the distance detection device detects that the distance between the bottom of the floor brush and the surface to be cleaned is greater than a preset value, it indicates that the floor brush has separated from the surface to be cleaned.

[0035] When the distance detector detects that the distance between the bottom of the floor brush and the surface to be cleaned is greater than a preset value, it indicates that the floor brush has separated from the surface to be cleaned.

[0036] When the sensor detects that the distance between the bottom of the floor brush and the surface to be cleaned is less than a preset value, it indicates that the floor brush and the surface to be cleaned are in contact, meaning the cleaning equipment is in normal working condition. In this case, there is no need to detect the position of the roller brush assembly.

[0037] When the detection device detects that the distance between the bottom of the floor brush and the surface to be cleaned is greater than the preset value, it indicates that the distance between the floor brush and the surface to be cleaned has increased and the floor brush is in a state of being lifted off the ground. At this time, the system can quickly detect the position of the roller brush assembly and then control the next step based on the position of the roller brush assembly.

[0038] By incorporating a distance sensor in the floor brush, the sensor can accurately detect the distance between the bottom of the brush and the surface to be cleaned. If the distance between the brush and the surface is less than a preset value, the sensor determines that the brush and the surface are separated. The sensor is highly sensitive and accurate, effectively reducing or avoiding misjudgments and improving the accuracy of determining the separation state between the brush and the surface. This, in turn, enhances the reliability and stability of the overall cleaning equipment.

[0039] Moreover, the distance detection component is small in size and occupies little space in the floor brush. It will not affect the overall layout of the floor brush, which can effectively reduce the need to modify the floor brush structure, simplify the structural design of the floor brush, reduce the structural design difficulty of the floor brush, and thus effectively reduce the design cost of the floor brush.

[0040] In one possible implementation, the detection element is a force detection element used to detect the force between the bottom of the floor brush and the surface to be cleaned, and the control method includes:

[0041] When the detection element detects that the force between the bottom of the floor brush and the surface to be cleaned is less than a preset value, it indicates that the floor brush has separated from the surface to be cleaned.

[0042] When the bottom of the floor brush contacts the surface to be cleaned, a force is generated between the bottom of the brush and the surface. This pressure is transmitted to the force sensor, allowing it to detect a relatively large force. However, once the floor brush separates from the surface, the force between the bottom of the brush and the surface disappears, and the force detected by the force sensor decreases rapidly, resulting in a smaller force being detected.

[0043] Therefore, when the force detection device detects that the force between the bottom of the floor brush and the surface to be cleaned is greater than the preset value, it indicates that the floor brush and the surface to be cleaned are in contact, meaning that the cleaning equipment is in normal working condition. At this time, it is not necessary to detect the position of the roller brush assembly.

[0044] When the force detection device detects that the force between the bottom of the floor brush and the surface to be cleaned is less than the preset value, it means that the force between the floor brush and the surface to be cleaned has decreased and the floor brush is in a state of being lifted off the ground. At this time, the system can quickly detect the position of the roller brush assembly and then control the next step based on the position of the roller brush assembly.

[0045] By incorporating a force detection element into the floor brush, the element can accurately detect the force between the bottom of the brush and the surface to be cleaned. If this force is less than a preset value, the brush is judged to be separated from the surface. The force detection element is highly sensitive and accurate, effectively reducing or avoiding misjudgments and significantly improving the accuracy of determining the separation state. This, in turn, enhances the overall reliability and stability of the cleaning equipment.

[0046] Moreover, the force sensing component is relatively small in size and occupies little space in the floor brush. It will not affect the overall layout of the floor brush, which can effectively reduce the need for modifications to the floor brush structure, simplify the structural design of the floor brush, reduce the structural design difficulty of the floor brush, and thus effectively reduce the design cost of the floor brush.

[0047] In one possible implementation, when the floor brush is separated from the surface to be cleaned, and when the roller brush assembly is located within the floor brush body, if a move-out command for the roller brush assembly is triggered, the roller brush assembly is prevented from moving out relative to the floor brush body.

[0048] For example, if a user accidentally presses a button while the floor brush is being lifted off the ground, triggering the command to move the roller brush assembly out, the system can prevent the roller brush assembly from moving out relative to the floor brush. This effectively reduces or avoids collisions between the roller brush assembly and external obstacles (such as walls, furniture, etc.) during the process of lifting the floor brush off the ground, thus effectively preventing damage to the roller brush assembly and significantly improving its protection.

[0049] A second aspect of this application provides a method for controlling a cleaning device, used to control and operate the cleaning device, the cleaning device including a floor brush, the floor brush comprising:

[0050] The main body of the floor brush;

[0051] A roller brush assembly includes a roller brush for cleaning a surface to be cleaned; the roller brush assembly is movably connected to the floor brush body, and the roller brush assembly is configured to move out or retract relative to the floor brush body along the axial direction of the roller brush; the control method includes:

[0052] Detect the distance between the floor brush and the surface to be cleaned;

[0053] When the distance between the floor brush and the surface to be cleaned is greater than a preset value, the relative position between the roller brush assembly and the floor brush body is detected.

[0054] When the roller brush assembly moves out relative to the floor brush body, the roller brush assembly is retracted into the floor brush body;

[0055] When the roller brush assembly is located inside the floor brush body, the roller brush assembly is prohibited from moving out relative to the floor brush body.

[0056] The distance between the floor brush and the surface to be cleaned is measured, and the removal status of the roller brush assembly is determined when the distance exceeds a preset value. When the roller brush assembly is in the removed state, it is retracted into the floor brush body; when it is inside the floor brush body, it is prohibited from moving out relative to the body. This effectively prevents the roller brush assembly from extending beyond the brush body during the floor brush's movement after separation from the ground. In other words, the roller brush assembly remains retracted within the brush body throughout the floor brush's lifting and movement relative to the ground. This effectively prevents collisions between the roller brush assembly and external obstacles during movement, thus protecting the roller brush assembly and extending its lifespan.

[0057] In one possible implementation, when the distance between the floor brush and the surface to be cleaned is greater than a preset value, and when the roller brush assembly is located inside the floor brush body, if the removal command of the roller brush assembly is triggered, the action of removing the roller brush assembly relative to the floor brush body is prohibited.

[0058] For example, if a user accidentally presses a button while the floor brush is being lifted off the ground, triggering the command to move the roller brush assembly out, the system can prevent the roller brush assembly from moving out relative to the floor brush. This effectively reduces or avoids collisions between the roller brush assembly and external obstacles (such as walls, furniture, etc.) during the process of lifting the floor brush off the ground, thus effectively preventing damage to the roller brush assembly and significantly improving its protection.

[0059] A third aspect of this application provides a cleaning device, including a floor brush and a body, wherein the body and the floor brush are rotatably connected, and the cleaning device is controlled using any of the control methods described above.

[0060] By employing the control method described above, the brush assembly can be effectively prevented from extending beyond the main body of the cleaning equipment during its movement away from the ground. In other words, the brush assembly remains retracted within the main body of the cleaning equipment as it is lifted and moved relative to the ground. This effectively prevents collisions between the brush assembly and external obstacles during movement, thus protecting the brush assembly from damage and extending its lifespan.

[0061] A fourth aspect of this application provides a cleaning system, including a base station or base, and the cleaning equipment described above, the cleaning equipment being placed on the base station or base.

[0062] By including the aforementioned cleaning equipment in the cleaning system, the number of times the cleaning equipment is returned to the base station or pedestal while the roller brush assembly is in a state of relative removal from the brush body can be effectively reduced or avoided. This effectively prevents the roller brush assembly from colliding with the base station or pedestal during placement, thus avoiding damage caused by such collisions and significantly improving the protection of the roller brush assembly.

[0063] The cleaning equipment control method provided in this application determines the contact state between the floor brush and the surface to be cleaned, and determines the removal state of the roller brush assembly when the floor brush separates from the surface. When the roller brush assembly is in the removed state, it is retracted into the floor brush body; when it is inside the floor brush body, it is prohibited from moving out relative to the floor brush body. This effectively prevents the roller brush assembly from extending outside the floor brush body during the process of the floor brush separating from the ground. In other words, the roller brush assembly is always retracted into the floor brush body during the process of the floor brush being lifted and moved relative to the ground. This effectively prevents the roller brush assembly from colliding with external obstacles during the movement of the floor brush, effectively preventing damage caused by collisions, improving the protection of the roller brush assembly, and extending its service life.

[0064] The contact state between the floor brush and the surface to be cleaned is determined by the assist motor in the floor brush. In other words, the contact state between the floor brush and the surface to be cleaned can be indirectly determined by the working state and parameters of the assist motor, so that the roller brush assembly can be controlled accordingly based on the contact state between the floor brush and the surface to be cleaned.

[0065] The assist wheel and assist motor are both structural components originally present in the floor brush. In this embodiment, only real-time detection of the assist motor is needed to promptly obtain the contact status between the floor brush and the surface to be cleaned. This eliminates the need for an additional detection device specifically designed to monitor the contact status between the floor brush and the surface, and also eliminates the need to modify the overall structural design of the floor brush. This effectively simplifies the structural design of the floor brush, thereby reducing the overall design and production costs.

[0066] Alternatively, the contact state between the floor brush and the surface to be cleaned can be determined by the drive motor in the roller brush. In other words, the contact state between the floor brush and the surface to be cleaned can be indirectly determined by the working state and parameters of the drive motor, so that the roller brush assembly can be controlled accordingly.

[0067] Both the roller brush body and the drive motor are structural components inherent to the floor brush. In this embodiment, only real-time detection of the drive motor is needed to promptly obtain the contact status between the floor brush and the surface to be cleaned. This eliminates the need for an additional detection device specifically designed to monitor the contact status between the floor brush and the surface, and also eliminates the need to modify the overall structural design of the floor brush. This effectively simplifies the structural design of the floor brush, thereby reducing the overall design and production costs.

[0068] Alternatively, force sensors, distance sensors, or other detection devices can be installed in the floor brush to determine the contact state between the brush and the surface to be cleaned. In other words, by incorporating dedicated sensors into the floor brush to detect the contact state, the sensors can be positioned appropriately based on their type, ensuring accurate detection of the contact state and effectively improving the accuracy of brush status monitoring.

[0069] Moreover, the detection component is relatively small in size and occupies little space in the floor brush. It will not affect the overall layout of the floor brush, which can effectively reduce the need for modifications to the floor brush structure, simplify the structural design of the floor brush, reduce the structural design difficulty of the floor brush, and thus effectively reduce the design cost of the floor brush. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0071] Figure 1 This is a schematic diagram of the structure of the floor brush when the roller brush assembly is retracted, provided in an embodiment of this application.

[0072] Figure 2 This is a schematic diagram of the structure of a floor brush when the roller brush assembly is removed, provided in an embodiment of this application.

[0073] Figure 3 A control flowchart of the first control method provided in the embodiments of this application;

[0074] Figure 4 A control flowchart for the second control method provided in the embodiments of this application;

[0075] Figure 5 A control flowchart for the third control method provided in the embodiments of this application;

[0076] Figure 6The control flowchart is for the fourth control method provided in the embodiments of this application.

[0077] Figure label:

[0078] 100-Ground Brush;

[0079] 110 - Ground brush body;

[0080] 120 - Roller brush assembly; 121 - Slide; 122 - Roller brush. Detailed Implementation

[0081] As described in the background section above, taking floor scrubbers as an example, with the continuous development and updates of floor scrubbers, their functions are becoming increasingly diverse. To improve the cleaning of low-lying areas (such as under beds, under cabinet doors, etc.), most floor scrubbers now feature roller brush assemblies that can extend laterally to reach these areas for cleaning.

[0082] However, when the user lifts the floor scrubber off the ground to move it, if the roller brush assembly is in the lateral extension state or is accidentally triggered to extend the roller brush assembly, the extended roller brush assembly is likely to collide with external obstacles (such as furniture, walls, etc.) during the movement of the floor scrubber, thereby damaging the roller brush assembly.

[0083] To address the aforementioned issues, this application provides a cleaning equipment control method. This method determines the contact state between the floor brush and the surface to be cleaned, and further determines the removal state of the roller brush assembly when the floor brush separates from the surface. When the roller brush assembly is in the removed state, it is retracted into the floor brush body; when it is inside the floor brush body, it is prohibited from moving out relative to the floor brush body. This effectively prevents the roller brush assembly from extending beyond the floor brush body during the floor brush's movement after separation from the ground. In other words, the roller brush assembly remains retracted into the floor brush body throughout the process of the floor brush being lifted and moved relative to the ground. This effectively prevents the roller brush assembly from colliding with external obstacles during movement, thus preventing damage and improving protection for the roller brush assembly, extending its service life.

[0084] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0085] Figure 1This is a schematic diagram of the structure of the floor brush when the roller brush assembly is retracted, according to an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a floor brush when the roller brush assembly is removed, provided in an embodiment of this application. Figure 3 This is a control flowchart of the first control method provided in the embodiments of this application. Figure 4 The control flowchart is provided for the second control method in the embodiments of this application.

[0086] This application provides a cleaning device, which can be a household handheld floor scrubber. The cleaning device is mainly used to clean stains and dust on the surface to be cleaned. The surface to be cleaned can be a floor, wall, or the surface of an object to be cleaned with different degrees of roughness. This application does not specifically limit the type of surface to be cleaned.

[0087] The cleaning device may include a floor brush 100 and a body, the floor brush 100 being rotatably connected to the body, for example, the floor brush 100 may be rotatably connected to the bottom of the body. During the cleaning process, the user can hold the device and rotate the floor brush 100 relative to the body by swinging the body, allowing the floor brush 100 to travel to different areas (e.g., under tables, under cabinets, etc.), cleaning the surface by contacting and rubbing the floor brush 100 with the surface to be cleaned.

[0088] See Figure 1 and Figure 2 As shown, the floor brush 100 may include a floor brush body 110 and a roller brush assembly 120. The roller brush assembly 120 may include a slide 121 and a roller brush 122. The roller brush 122 may be rotatably mounted on the slide 121 and may be used to clean the surface to be cleaned.

[0089] For example, when the cleaning equipment is cleaning, the roller brush 122 can come into contact with the surface to be cleaned. The motor installed inside the roller brush 122 drives the roller brush 122 to rotate at high speed, so that the roller brush 122 can make frictional contact with the surface to be cleaned in order to clean the surface.

[0090] Along the direction of travel of the floor brush 100, the roller brush 122 can be installed at the front end of the housing, so that the roller brush 122 can preferentially contact the surface to be cleaned. The front of the roller brush 122 is unobstructed, which is conducive to the cleaning of the surface to be cleaned by the roller brush 122.

[0091] The roller brush assembly 120 and the floor brush body 110 can be movably connected. The roller brush assembly 120 can be configured to move out or retract relative to the floor brush body 110 along the axis of the roller brush 122. That is, the roller brush assembly 120 can move relative to the floor brush body 110. For example, the floor brush 100 may also include a drive member (not shown in the figure), which can be mounted on the floor brush body 110 and connected to the roller brush assembly 120. The drive member can be used to drive the roller brush assembly 120 to move relative to the floor brush body 110 along the axis of the roller brush 122, so that the roller brush assembly 120 can move out or retract relative to the floor brush body 110 along the axis of the roller brush 122.

[0092] The height of the roller brush assembly 120 can be lower than the height of the floor brush body 110. After the roller brush assembly moves out of the floor brush body 110, since the height of the roller brush assembly 120 is lower than the height of the floor brush body 110, the roller brush assembly 120 can clean low areas that are lower than the floor brush 100, such as under cabinets, thereby increasing the cleaning coverage of the floor brush 100 and effectively improving the overall performance of the cleaning equipment.

[0093] For example, the driving component can be a drive motor, and the output shaft of the drive motor can be connected to the roller brush assembly 120 through a transmission assembly to drive the roller brush assembly 120 to move through the transmission assembly.

[0094] The control method provided in this application embodiment can control the above-mentioned cleaning equipment. See also... Figure 3 As shown, the control method may include:

[0095] S101: Determine the contact status between the floor brush 100 and the surface to be cleaned.

[0096] The surface to be cleaned can be understood as the ground. The system of the cleaning equipment can detect and judge the contact state between the floor brush 100 and the surface to be cleaned (i.e., the ground) in real time. The system can determine whether the floor brush 100 has been lifted off the ground by judging the contact state between the floor brush 100 and the surface to be cleaned. For example, when the bottom of the floor brush 100 is in contact with the surface to be cleaned, it means that the floor brush 100 is performing the regular cleaning work on the surface to be cleaned.

[0097] When the cleaning equipment is not in contact with the surface to be cleaned, it indicates that the floor brush 100 is in a lifted-off-ground state. At this time, the system can promptly issue the next instruction to improve the normal operation of the cleaning equipment system.

[0098] S102: When the local brush 100 separates from the surface to be cleaned, determine the position of the roller brush assembly 120.

[0099] When the ground brush 100 separates from the surface to be cleaned, it means that the ground brush 100 has been lifted off the ground by the user, for example, lifted off the ground and moved to another location, or moved towards the base station to be put back on the base station.

[0100] At this point, the system can further determine the position of the roller brush assembly 120, that is, whether the roller brush assembly 120 has moved outside the main body of the floor brush 10, so as to perform the next action according to the position of the roller brush assembly 120, so as to reduce or avoid the collision between the roller brush assembly 120 and external obstacles during the movement of the floor brush 100, thereby effectively improving the protection of the roller brush assembly 120.

[0101] S103: When the roller brush assembly 120 moves out relative to the ground brush body 110, the roller brush assembly 120 is retracted into the ground brush body 110.

[0102] When the floor brush 100 is separated from the surface to be cleaned (i.e., the ground), and it is determined that the roller brush assembly 120 is also in a removed state relative to the floor brush body 110, that is, the roller brush assembly 120 moves out of the floor brush body 110 along the axis of the roller brush 122 relative to the floor brush body 110 (for example, the user forgets to retract the roller brush assembly 120), so that at least a portion of the roller brush assembly 120 protrudes out of the floor brush body 110.

[0103] At this time, the system can promptly retract the roller brush assembly 120 into the brush body 110, so that the end of the roller brush assembly 120 is flush with the outer surface of the brush body 110, thus preventing the roller brush assembly 120 from protruding from the brush body 110. In this way, when the user lifts the brush 100 off the ground and moves it, since the roller brush assembly 120 has been retracted into the brush body 110, it can effectively prevent the roller brush assembly 120 from colliding with walls, furniture, or other parts, effectively preventing damage from such collisions, thereby effectively improving the protection of the roller brush assembly 120 and extending its service life.

[0104] S104: When the roller brush assembly 120 is located inside the floor brush body 110, the roller brush assembly 120 is prohibited from moving out relative to the floor brush body 110.

[0105] That is, when the floor brush 100 is separated from the surface to be cleaned (i.e. the ground), if it is determined that the roller brush assembly 120 is located inside the floor brush body 110, that is, the roller brush assembly 120 has not moved out relative to the floor brush body 110, the system can prevent the roller brush assembly 120 from moving out relative to the floor brush body 110.

[0106] For example, when the floor brush 100 is separated from the ground and the roller brush assembly 120 is located within the floor brush body 110, if the user selects the option to remove the roller brush assembly 120, the system can forcibly prevent the roller brush assembly 120 from moving relative to the floor brush body 110. This effectively reduces or avoids collisions between the roller brush assembly 120 and external obstacles (such as walls, furniture, etc.) during the process of the floor brush 100 being lifted off the ground and moving. It effectively prevents damage to the roller brush assembly 120 caused by collisions with external obstacles, thereby effectively improving the protection of the roller brush assembly 120.

[0107] Steps S104 and S103 can be as follows: Figure 3 The diagram shows parallel execution, or see [link to other diagrams]. Figure 4 As shown, after executing step S103, step S104 can be executed. That is, when the floor brush 100 is separated from the surface to be cleaned, and when it is determined that the roller brush assembly 120 is also in a removed state relative to the floor brush body 110, the system can retract the roller brush assembly 120 into the floor brush body 110. Furthermore, the system must continue to prevent the roller brush assembly 120 from moving out relative to the floor brush body 110 thereafter.

[0108] For example, when the roller brush assembly 120 is retracted into the floor brush body 110, if the user accidentally touches the move-out button of the roller brush assembly 120 while moving the floor brush 100, the system receives the move-out command of the roller brush assembly 120. At this time, the system can continue to prevent the roller brush assembly 120 from moving out, so that the roller brush assembly 120 can remain in the retracted state.

[0109] This can effectively reduce or avoid the roller brush assembly 120 from moving out during the process of the floor brush 100 being lifted off the ground due to accidental touch by the user, and can effectively prevent the roller brush assembly 120 from moving out and colliding with external obstacles, thus preventing damage to the roller brush assembly 120 from collision with external obstacles.

[0110] The cleaning equipment control method provided in this application determines the contact state between the floor brush 100 and the surface to be cleaned, and determines the removal state of the roller brush assembly 120 when the floor brush 100 separates from the surface. When the roller brush assembly 120 is in the removed state, it is retracted into the floor brush body 110; when the roller brush assembly 120 is inside the floor brush body 110, it is prohibited from moving out relative to the floor brush body 110. This effectively prevents the roller brush assembly 120 from extending outside the floor brush body 110 during the process of the floor brush 100 separating from the ground and moving. That is, during the process of the floor brush 100 being lifted and moved relative to the ground, the roller brush assembly 120 is always in the state of being retracted into the floor brush body 110. This effectively prevents the roller brush assembly 120 from colliding with external obstacles during the movement of the ground brush 100, thus effectively preventing damage to the roller brush assembly 120 due to collisions with external obstacles, improving the protection of the roller brush assembly 120, and extending the service life of the roller brush assembly 120.

[0111] In this embodiment, the floor brush 100 includes a support wheel and a support motor connected to the support wheel. The support motor drives the support wheel to rotate, thereby driving the floor brush 100 forward. For example, during the operation of the cleaning equipment, the user only needs to use a light force to push the floor brush 100 forward or backward. At this time, after the support motor detects the movement of the floor brush 100, it can drive the support wheel to rotate. Through the frictional contact between the support wheel and the surface to be cleaned, the floor brush 100 can be driven to move forward or backward. This can effectively reduce the force required by the user, reduce the burden on the user's arms, and thus effectively improve the user experience.

[0112] In one possible implementation, the control method provided in this application embodiment may include:

[0113] The contact status between the floor brush 100 and the surface to be cleaned is determined by the assist motor.

[0114] That is, by the working status and working parameters of the assist motor, the contact state between the floor brush 100 and the surface to be cleaned can be indirectly determined, so as to control the roller brush assembly 120 accordingly based on the contact state between the floor brush 100 and the surface to be cleaned.

[0115] Both the assist wheel and the assist motor are structural components already present in the floor brush 100. In this embodiment, only real-time detection of the assist motor is needed to promptly obtain the contact state between the floor brush 100 and the surface to be cleaned. This eliminates the need for an additional detection device specifically designed to monitor the contact state between the floor brush 100 and the surface to be cleaned, and also eliminates the need to modify the overall structural design of the floor brush 100. This effectively simplifies the structural design of the floor brush 100, thereby reducing the overall design and production costs of the floor brush 100.

[0116] The control method may include:

[0117] When the load on the assist motor is less than the preset value, it indicates that the floor brush 100 separates from the surface to be cleaned.

[0118] When the floor brush 100 contacts the surface to be cleaned, the pressure between the floor brush 100 and the surface causes a certain workload on the assist motor. When the floor brush 100 separates from the surface, that is, when the floor brush 100 is lifted off the ground, there is no force between the floor brush 100 and the ground, greatly reducing the load on the assist motor. Therefore, when the load on the assist motor falls below a certain value, it indicates that the floor brush 100 is separated from the surface to be cleaned. At this point, the system can further determine the position of the roller brush assembly 120 to perform the next operation based on the position of the roller brush assembly 120.

[0119] The system determines that the floor brush 100 is separated from the surface to be cleaned based on the load of the assist motor being lower than a preset value. This method is reliable and highly accurate, effectively reducing or avoiding misjudgments and improving the accuracy of determining the separation state between the floor brush 100 and the surface to be cleaned. This, in turn, enhances the overall reliability and stability of the cleaning equipment.

[0120] In this embodiment, the roller brush 122 may include a roller brush body and a drive motor. The drive motor can be used to drive the roller brush body to rotate in order to clean the surface to be cleaned. For example, the drive motor may be located inside the roller brush body, and the drive motor can drive the roller brush body to rotate around its own center inside the roller brush body to generate frictional contact with the surface to be cleaned, thereby cleaning the surface.

[0121] In another possible implementation, the control method may also include:

[0122] The contact status between the floor brush 100 and the surface to be cleaned is determined by the drive motor.

[0123] That is, by the working status and working parameters of the drive motor, the contact state between the floor brush 100 and the surface to be cleaned can be indirectly determined, so as to control the roller brush assembly 120 accordingly based on the contact state between the floor brush 100 and the surface to be cleaned.

[0124] Both the roller brush body and the drive motor are structural components already present in the floor brush 100. In this embodiment, only real-time detection of the drive motor is needed to promptly obtain the contact state between the floor brush 100 and the surface to be cleaned. This eliminates the need for an additional detection device specifically designed to monitor the contact state between the floor brush 100 and the surface to be cleaned, and also eliminates the need to modify the overall structural design of the floor brush 100. This effectively simplifies the structural design of the floor brush 100, thereby reducing the overall design and production costs of the floor brush 100.

[0125] The control methods may include:

[0126] When the load on the drive motor is less than the preset value, it indicates that the floor brush 100 separates from the surface to be cleaned.

[0127] When the floor brush 100 contacts the surface to be cleaned, the pressure between the brush body and the surface creates a certain workload on the drive motor. When the floor brush 100 separates from the surface, i.e., when it lifts off the ground, there is no force between the brush body and the ground, significantly reducing the load on the drive motor. Therefore, when the drive motor load falls below a certain value, it indicates that the floor brush 100 is separated from the surface. At this point, the system can further determine the position of the brush assembly 120 to perform the next operation based on its position.

[0128] The system determines that the floor brush 100 is separated from the surface to be cleaned by judging that the load of the drive motor is lower than a preset value. This judgment is reliable and highly accurate, which can effectively reduce or avoid misjudgments and improve the accuracy of judging the separation state between the floor brush 100 and the surface to be cleaned. This, in turn, effectively improves the reliability and stability of the overall performance of the cleaning equipment.

[0129] Alternatively, in some other embodiments, the floor brush 100 may also include a detection element, which can be used to detect the positional relationship between the bottom of the floor brush 100 and the surface to be cleaned.

[0130] Control methods may include:

[0131] The contact status between the floor brush 100 and the surface to be cleaned is determined by the detection component.

[0132] In other words, by setting a detection component in the floor brush 100 specifically for detecting the contact state between the floor brush 100 and the surface to be cleaned, the detection component can be placed in a more appropriate position according to its type, so that the detection component can accurately detect the contact state between the floor brush 100 and the surface to be cleaned, which can effectively improve the accuracy of monitoring the status of the floor brush 100.

[0133] In some instances, the detection element can be a distance detection element, which can be used to detect the distance between the bottom of the floor brush 100 and the surface to be cleaned. For example, the distance detection element can be set at or near the bottom of the floor brush 100, which allows the distance detection element to quickly and accurately detect the distance between the bottom of the floor brush 100 and the surface to be cleaned, effectively improving the accuracy of the detection element.

[0134] In this example, the control method may include:

[0135] When the distance detection device detects that the distance between the bottom of the floor brush 100 and the surface to be cleaned is greater than a preset value, it indicates that the floor brush 100 has separated from the surface to be cleaned.

[0136] When the detector detects that the distance between the bottom of the floor brush 100 and the surface to be cleaned is less than a preset value, it indicates that the floor brush 100 is in contact with the surface to be cleaned, meaning that the cleaning equipment is in normal working condition. At this time, it is not necessary to detect the position of the roller brush assembly 120.

[0137] When the detection device detects that the distance between the bottom of the floor brush 100 and the surface to be cleaned is greater than the preset value, it indicates that the distance between the floor brush 100 and the surface to be cleaned has increased and the floor brush 100 is in a state of being lifted off the ground. At this time, the system can quickly detect the position of the roller brush assembly 120 and perform the next step of control based on the position of the roller brush assembly 120.

[0138] By incorporating a distance detection element into the floor brush 100, the element can accurately detect the distance between the bottom of the floor brush 100 and the surface to be cleaned. If the distance is less than a preset value, the element determines that the floor brush 100 is separated from the surface. The detection element is highly sensitive and accurate, effectively reducing or avoiding misjudgments and improving the accuracy of determining the separation state between the floor brush 100 and the surface. This, in turn, enhances the overall reliability and stability of the cleaning equipment.

[0139] Moreover, the distance detection component is small in size and occupies little space in the floor brush 100. It will not affect the overall layout of the floor brush 100, which can effectively reduce the need for modifications to the structure of the floor brush 100, simplify the structural design of the floor brush 100, reduce the structural design difficulty of the floor brush 100, and thus effectively reduce the design cost of the floor brush 100.

[0140] In other examples, the detection element can also be a force detection element, which can be used to detect the force between the bottom of the floor brush 100 and the surface to be cleaned. For example, the force detection element can be located at the bottom of the floor brush 100, or it can be located inside the floor brush 100. When the bottom of the floor brush 100 contacts the surface to be cleaned, a force is generated between the bottom of the floor brush 100 and the surface to be cleaned, and this force can be transmitted to the force detection element so that the force detection element can detect the force between the bottom of the floor brush 100 and the surface to be cleaned.

[0141] The control methods may include:

[0142] When the detection component detects that the force between the bottom of the floor brush 100 and the surface to be cleaned is less than a preset value, it indicates that the floor brush 100 has separated from the surface to be cleaned.

[0143] Specifically, when the bottom of the floor brush 100 contacts the surface to be cleaned, a force is generated between the bottom of the floor brush 100 and the surface. This pressure can be transmitted to the force detection device, allowing the device to detect a relatively large force. However, once the floor brush 100 separates from the surface, the force between the bottom of the floor brush 100 and the surface disappears, and the force detected by the force detection device decreases rapidly, resulting in a smaller force being detected.

[0144] Therefore, when the force detection device detects that the force between the bottom of the floor brush 100 and the surface to be cleaned is greater than the preset value, it indicates that the floor brush 100 and the surface to be cleaned are in contact, that is, the cleaning equipment is in normal working condition. At this time, it is not necessary to detect the position of the roller brush assembly 120.

[0145] When the force detection device detects that the force between the bottom of the floor brush 100 and the surface to be cleaned is less than the preset value, it means that the force between the floor brush 100 and the surface to be cleaned has decreased and the floor brush 100 is in a state of being lifted off the ground. At this time, the system can quickly detect the position of the roller brush assembly 120 and perform the next step of control based on the position of the roller brush assembly 120.

[0146] By incorporating a force detection element into the floor brush 100, the element can accurately detect the force between the bottom of the floor brush 100 and the surface to be cleaned. If this force is less than a preset value, the element determines that the floor brush 100 is separated from the surface. The force detection element is highly sensitive and accurate, effectively reducing or avoiding misjudgments and improving the accuracy of determining the separation state between the floor brush 100 and the surface. This, in turn, enhances the overall reliability and stability of the cleaning equipment.

[0147] Moreover, the force detection component is relatively small in size and occupies little space in the floor brush 100. It will not affect the overall internal layout of the floor brush 100, which can effectively reduce the modification of the structure of the floor brush 100, simplify the structural design of the floor brush 100, reduce the structural design difficulty of the floor brush 100, and thus effectively reduce the design cost of the floor brush 100.

[0148] In this embodiment of the application, when the floor brush 100 is separated from the surface to be cleaned, and when the roller brush assembly 120 is located inside the floor brush body 110, if the removal command of the roller brush assembly 120 is triggered, the roller brush assembly 120 is prohibited from moving out relative to the floor brush body 110.

[0149] For example, if the user accidentally presses a button while lifting the floor brush 100 off the ground, triggering the movement command of the roller brush assembly 120, the system can prevent the roller brush assembly 120 from moving relative to the floor brush 100. This effectively reduces or avoids collisions between the roller brush assembly 120 and external obstacles (such as walls, furniture, etc.) during the lifting and movement of the floor brush 100. It effectively prevents damage to the roller brush assembly 120 from collisions with external obstacles, thus significantly improving the protection of the roller brush assembly 120.

[0150] Figure 5 This is a control flowchart of the third control method provided in the embodiments of this application. Figure 6 The control flowchart is for the fourth control method provided in the embodiments of this application.

[0151] This application also provides another cleaning equipment control method, which can control the aforementioned cleaning equipment. See [link to relevant documentation]. Figure 5 As shown, the control method may include:

[0152] S101: Detects the distance between the floor brush 100 and the surface to be cleaned.

[0153] The cleaning equipment system can detect and judge the distance between the floor brush 100 and the surface to be cleaned in real time. It can determine whether the floor brush 100 has been lifted off the ground by the distance between the floor brush 100 and the surface to be cleaned. For example, when the distance between the bottom of the floor brush 100 and the surface to be cleaned is small or close to zero, it means that the floor brush 100 has not been lifted off the ground and the floor brush 100 is performing the regular cleaning work on the surface to be cleaned.

[0154] When the distance between the cleaning equipment and the surface to be cleaned is large, it indicates that the floor brush 100 is in a state of being lifted off the ground. At this time, the system can promptly issue the next instruction to improve the normal operation of the cleaning equipment system.

[0155] S102: When the distance between the floor brush 100 and the surface to be cleaned is greater than a preset value, the relative position between the roller brush assembly 120 and the floor brush body 110 is detected.

[0156] When the distance between the ground brush 100 and the surface to be cleaned is greater than a preset value, it indicates that the ground brush 100 has been lifted off the ground by the user. For example, it may be lifted off the ground and moved to another location, or moved towards the base station to be put back on the base station.

[0157] At this point, the system can further determine the position of the roller brush assembly 120, that is, whether the roller brush assembly 120 has moved outside the main body of the floor brush 10, so as to perform the next action according to the position of the roller brush assembly 120, so as to reduce or avoid the collision between the roller brush assembly 120 and external obstacles during the movement of the floor brush 100, thereby effectively improving the protection of the roller brush assembly 120.

[0158] S103: When the roller brush assembly 120 moves out relative to the ground brush body 110, the roller brush assembly 120 is retracted into the ground brush body 110.

[0159] When the distance between the floor brush 100 and the surface to be cleaned is greater than a preset value, that is, when the floor brush 100 is in a state of being lifted off the ground, when it is determined that the roller brush assembly 120 is also in a state of being moved out relative to the floor brush body 110, that is, when the roller brush assembly 120 moves out relative to the floor brush body 110 along the axis of the roller brush 122 to the outside of the floor brush body 110 (for example, when the user forgets to retract the roller brush assembly 120), at least a portion of the roller brush assembly 120 protrudes out of the floor brush body 110.

[0160] At this time, the system can promptly retract the roller brush assembly 120 into the brush body 110, so that the end of the roller brush assembly 120 is flush with the outer surface of the brush body 110, thus preventing the roller brush assembly 120 from protruding from the brush body 110. In this way, when the user lifts the brush 100 off the ground and moves it, since the roller brush assembly 120 has been retracted into the brush body 110, it can effectively prevent the roller brush assembly 120 from colliding with walls, furniture, or other parts, effectively preventing damage from such collisions, thereby effectively improving the protection of the roller brush assembly 120 and extending its service life.

[0161] S104: When the roller brush assembly 120 is located inside the floor brush body 110, the roller brush assembly 120 is prohibited from moving out relative to the floor brush body 110.

[0162] When the distance between the floor brush 100 and the surface to be cleaned is greater than a preset value, that is, when the floor brush 100 is in a state of lifting off the ground, when it is determined that the roller brush assembly 120 is inside the floor brush body 110, that is, the roller brush assembly 120 has not moved out relative to the floor brush body 110, at this time, the system can prevent the roller brush assembly 120 from moving out relative to the floor brush body 110.

[0163] This effectively reduces or avoids collisions between the roller brush assembly 120 and external obstacles (such as walls, furniture, etc.) during the process of the floor brush 100 being lifted off the ground and moving. It can effectively prevent the roller brush assembly 120 from being damaged by collisions with external obstacles, thereby effectively improving the protection of the roller brush assembly 120.

[0164] Steps S104 and S103 can be as follows: Figure 5 The diagram shows parallel execution, or see [link to other diagrams]. Figure 6 As shown, after executing step S103, step S104 can be executed. That is, when the floor brush 100 is separated from the surface to be cleaned, and when it is determined that the roller brush assembly 120 is also in a removed state relative to the floor brush body 110, the system can retract the roller brush assembly 120 into the floor brush body 110. Furthermore, the system must continue to prevent the roller brush assembly 120 from moving out relative to the floor brush body 110 thereafter.

[0165] For example, when the roller brush assembly 120 is retracted into the floor brush body 110, if the user accidentally touches the move-out button of the roller brush assembly 120 while moving the floor brush 100, the system receives the move-out command of the roller brush assembly 120. At this time, the system can continue to prevent the roller brush assembly 120 from moving out, so that the roller brush assembly 120 can remain in the retracted state.

[0166] This can effectively reduce or avoid the roller brush assembly 120 from moving out during the process of the floor brush 100 being lifted off the ground due to accidental touch by the user, and can effectively prevent the roller brush assembly 120 from moving out and colliding with external obstacles, thus preventing damage to the roller brush assembly 120 from collision with external obstacles.

[0167] The distance between the floor brush 100 and the surface to be cleaned is measured, and the removal state of the roller brush assembly 120 is determined when the distance exceeds a preset value. When the roller brush assembly 120 is in the removed state, it is retracted into the floor brush body 110. When the roller brush assembly 120 is inside the floor brush body 110, it is prohibited from moving out relative to the floor brush body 110. This effectively prevents the roller brush assembly 120 from extending outside the floor brush body 110 during the process of the floor brush 100 separating from the ground and moving. In other words, during the process of the floor brush 100 being lifted and moved relative to the ground, the roller brush assembly 120 is always retracted into the floor brush body 110. This effectively prevents the roller brush assembly 120 from colliding with external obstacles during the movement of the ground brush 100, thus effectively preventing damage to the roller brush assembly 120 due to collisions with external obstacles, improving the protection of the roller brush assembly 120, and extending the service life of the roller brush assembly 120.

[0168] In the above example, when the distance between the floor brush 100 and the surface to be cleaned is greater than a preset value, and when the roller brush assembly 120 is located inside the floor brush body 110, if the move-out command of the roller brush assembly 120 is triggered, the action of moving the roller brush assembly 120 relative to the floor brush body 110 is prohibited.

[0169] For example, if the user accidentally presses a button while lifting the floor brush 100 off the ground, triggering the movement command of the roller brush assembly 120, the system can prevent the roller brush assembly 120 from moving relative to the floor brush 100. This effectively reduces or avoids collisions between the roller brush assembly 120 and external obstacles (such as walls, furniture, etc.) during the lifting and movement of the floor brush 100. It effectively prevents damage to the roller brush assembly 120 from collisions with external obstacles, thus significantly improving the protection of the roller brush assembly 120.

[0170] This application also provides a cleaning system, which may include a base station or base and the aforementioned cleaning equipment. The cleaning equipment can be placed on the base station or base. The base station or base can be used to support the cleaning equipment, providing storage and charging for it. For example, the cleaning equipment can be removed from the base station or base during use to perform cleaning work. After cleaning is completed, the cleaning equipment can be returned to the base station or base for storage.

[0171] Furthermore, the base station or base can also charge the cleaning equipment. For example, the base station or base can be connected to a power source, and the cleaning equipment can be charged by connecting to the power source through the base station or base.

[0172] By including the aforementioned cleaning equipment in the cleaning system, the number of times the cleaning equipment is returned to the base station or pedestal while the roller brush assembly 120 is being moved away from the ground brush body 110 can be effectively reduced or avoided. This effectively prevents the roller brush assembly 120 from colliding with the base station or pedestal during placement, thus avoiding damage caused by such collisions and effectively improving the protection of the roller brush assembly 120.

[0173] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," 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 this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0174] In the description of this invention, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0175] Unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0176] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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; and 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 the present invention.

Claims

1. A method for controlling cleaning equipment, used to perform and control cleaning equipment, said cleaning equipment including a floor brush, characterized in that, The floor brush includes: Floor brush body (110); A roller brush assembly (120) includes a roller brush (122) for cleaning a surface to be cleaned; the roller brush assembly (120) is movably connected to the floor brush body (110), and the roller brush assembly (120) is configured to move out or retract relative to the floor brush body (110) along the axial direction of the roller brush (122), the control method including: Determine the contact state between the floor brush and the surface to be cleaned; When the floor brush separates from the surface to be cleaned, the position of the roller brush assembly (120) is determined; When the roller brush assembly (120) moves out relative to the floor brush body (110), the roller brush assembly (120) is retracted into the floor brush body (110); When the roller brush assembly (120) is located inside the floor brush body (110), the roller brush assembly (120) is prohibited from moving out of the floor brush body (110).

2. The cleaning equipment control method according to claim 1, characterized in that, The floor brush includes a booster wheel and a booster motor connected to the booster wheel. The booster motor drives the booster wheel to rotate, thereby driving the floor brush to move. The control method includes: The contact state between the floor brush and the surface to be cleaned is determined by the assist motor.

3. The cleaning equipment control method according to claim 2, characterized in that, The control method includes: When the load on the assist motor is less than a preset value, it indicates that the floor brush is separated from the surface to be cleaned.

4. The cleaning equipment control method according to claim 1, characterized in that, The roller brush (122) includes a roller brush body and a drive motor. The drive motor is used to drive the roller brush body to rotate in order to clean the surface to be cleaned. The control method includes: The contact state between the floor brush and the surface to be cleaned is determined by the drive motor.

5. The cleaning equipment control method according to claim 4, characterized in that, The control method includes: When the load on the drive motor is less than a preset value, it indicates that the floor brush is separated from the surface to be cleaned.

6. The cleaning equipment control method according to claim 1, characterized in that, The floor brush further includes a detection element, which is used to detect the positional relationship between the bottom of the floor brush and the surface to be cleaned. The control method includes: The contact state between the floor brush and the surface to be cleaned is determined by the detection device.

7. The cleaning equipment control method according to claim 6, characterized in that, The detection element is a distance detection element, which is used to detect the distance between the bottom of the floor brush and the surface to be cleaned. The control method includes: When the distance detection device detects that the distance between the bottom of the floor brush and the surface to be cleaned is greater than a preset value, it indicates that the floor brush has separated from the surface to be cleaned.

8. The cleaning equipment control method according to claim 6, characterized in that, The detection element is a force detection element, which is used to detect the force between the bottom of the floor brush and the surface to be cleaned. The control method includes: When the detection element detects that the force between the bottom of the floor brush and the surface to be cleaned is less than a preset value, it indicates that the floor brush has separated from the surface to be cleaned.

9. The cleaning equipment control method according to claim 1, characterized in that, When the floor brush is separated from the surface to be cleaned, and when the roller brush assembly (120) is located inside the floor brush body (110), if the removal command of the roller brush assembly (120) is triggered, the roller brush assembly (120) is prohibited from moving out relative to the floor brush body (110).

10. A method for controlling cleaning equipment, used to perform and control cleaning equipment, said cleaning equipment including a floor brush, characterized in that, The floor brush includes: Floor brush body (110); A roller brush assembly (120) includes a roller brush (122) for cleaning a surface to be cleaned; the roller brush assembly (120) is movably connected to the floor brush body (110), and the roller brush assembly (120) is configured to move out or retract relative to the floor brush body (110) along the axial direction of the roller brush (122), the control method including: Detect the distance between the floor brush and the surface to be cleaned; When the distance between the floor brush and the surface to be cleaned is greater than a preset value, the relative position between the roller brush assembly (120) and the floor brush body (110) is detected; When the roller brush assembly (120) moves out relative to the floor brush body (110), the roller brush assembly (120) is retracted into the floor brush body (110); When the roller brush assembly (120) is located inside the floor brush body (110), the roller brush assembly (120) is prohibited from moving out of the floor brush body (110).

11. The cleaning equipment control method according to claim 10, characterized in that, When the distance between the floor brush and the surface to be cleaned is greater than a preset value, and when the roller brush assembly (120) is located inside the floor brush body (110), if the removal command of the roller brush assembly (120) is triggered, the action of the roller brush assembly (120) moving out relative to the floor brush body (110) is prohibited.

12. A cleaning device, characterized in that, The device includes a floor brush and a body, the body being rotatably connected to the floor brush, and the cleaning device is controlled using the control method described in any one of claims 1 to 10.

13. A cleaning system, characterized in that, It includes a base station or base, and the cleaning device as described in claim 12, the cleaning device being placed on the base station or base.

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