Control method and device of cleaning equipment, and cleaning equipment

Abstract

The application provides a cleaning device control method and device and a cleaning device, and relates to the technical field of cleaning devices. The method comprises the following steps: in response to a roller brush switching instruction, a driving member is controlled to operate to switch the roller brush to clean a to-be-cleaned surface; during the switching process, a time length is obtained from when the roller brush starts to switch to when a sensing member first detects a to-position signal corresponding to a trigger member; if the time length is less than a preset threshold, the driving member is controlled to continue operating; and in response to the sensing member detecting a second to-position signal, the driving member is controlled to stop operating. In this way, the cleaning device no longer directly relies on a first detection signal to stop operating, but the effectiveness of the first signal is screened according to the time position at which the first signal appears, and the second to-position signal is used to complete the stop control after the condition for continuing to operate is met. Therefore, when the roller brush switches between a working station and a waiting station, the driving member can still maintain high switching accuracy of the stations in the case that there is a stop delay and mechanical inertia.

Description

Technical Field

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

[0002] With the rapid development of smart home technology, smart cleaning equipment such as floor scrubbers have been widely used in household and commercial cleaning. To meet diverse cleaning needs, these cleaning devices can be equipped with switchable dry and wet dual roller brush modules, and switch between dry and wet roller brushes via a motor-driven rotating component, thus achieving flexible conversion between dry and wet mopping functions.

[0003] In existing technologies, a light-blocking plate is typically installed on the rotating component, along with a light signal detection device (such as a photoelectric sensor) to detect the positioning of the brush. The principle is that when the rotating component reaches a specific angle, the light-blocking plate obstructs the light path, causing the sensor to output a level-changing signal. The controller of the cleaning equipment can then use this signal to stop the motor. However, when the light-blocking plate is narrow or the rotation speed is high, the effective signal output by the photoelectric sensor has a very short duration, easily leading to signal loss. Furthermore, due to the mechanical inertia of the rotating component, after the motor receives a stop command, the rotating component may overshoot the target position due to inertial overshoot, resulting in a decrease in the positioning accuracy of the rotating component.

[0004] More importantly, if the initial position of the rotating component happens to be close to the light-blocking plate during the startup phase, it can easily trigger a signal, causing the roller brush to stop prematurely. To prevent the internal power supply wires from becoming tangled during frequent switching, the cleaning equipment requires the motor to be adjusted to a different rotation direction after each roller brush switch. Therefore, it is not possible to determine whether the dry and wet roller brushes are accurately positioned based solely on a single signal detection. If the signal detection has the aforementioned delay, overshoot, or misjudgment, it will directly lead to confusion in the motor control logic, thereby increasing the risk of power supply wire tangling and even damaging the motor circuitry. Summary of the Invention

[0005] This application provides a control method, device, and cleaning equipment for cleaning equipment. By using a sensor to detect two arrival signals corresponding to the trigger, the switching process of the roller brush is judged and corrected, thereby improving the reliability of position detection, positioning accuracy, and control stability under bidirectional rotation conditions when the roller brush switches between the working position and the waiting position.

[0006] In a first aspect, this application provides a control method for a cleaning device, the cleaning device including a body; a floor brush assembly, the floor brush assembly being rotatably connected to one end of the body;

[0007] The floor brush assembly includes: a floor brush housing, which has a working station and a waiting station;

[0008] At least two roller brushes are installed at the working station and the waiting station respectively, and are configured to switch between the working station and the waiting station under the action of a drive unit;

[0009] A trigger and a sensor are used. The sensor is mounted on the brush housing and works in conjunction with the trigger to detect whether the roller brush position has been switched correctly. The method includes:

[0010] In response to the roller brush switching command, the drive unit is controlled to operate, so as to switch the roller brush to clean the surface to be cleaned;

[0011] During the switching process, the duration from when the roller brush starts to switch to when the sensor first detects the corresponding position signal of the trigger is obtained. If the duration does not exceed a preset threshold, the drive unit is controlled to continue running.

[0012] In response to the sensor detecting a second arrival signal, the control actuator stops operating.

[0013] Therefore, compared to existing technologies that rely on a single arrival signal during brush switching, which is prone to false stops, overshoots, and incomplete switching due to brief triggering, shutdown delays, and mechanical inertia, this application extends the single arrival detection during brush switching to a continuous control process that includes the start of switching, determination of the first arrival signal time, and confirmation of shutdown via the second arrival signal. This allows the cleaning equipment to no longer directly rely on the first detected arrival signal to control the drive unit to stop. Instead, it filters the effectiveness of the first arrival signal based on its timing and location, and only uses the second arrival signal to complete the shutdown control of the drive unit after the time meets a preset threshold. Thus, when the brush switches between working and waiting positions, it maintains high accuracy and reliability in position switching even with stop delays and mechanical inertia in the drive unit. Furthermore, this improves the stability of cleaning mode switching and the overall user experience.

[0014] Furthermore, by comparing the duration of the initial detection of the trigger's arrival signal with a preset threshold, valid and invalid signals can be dynamically distinguished, avoiding false detections due to signal transients. Moreover, this detection mechanism does not rely on complex algorithms or additional hardware; it can be implemented solely through control logic, significantly reducing the complexity and cost of cleaning equipment.

[0015] Optionally, the method also includes:

[0016] During the switching process, the time from when the roller brush starts to switch to when the sensor first detects the corresponding position signal of the trigger is obtained. If the time exceeds a preset threshold, the drive unit is controlled to stop running.

[0017] In this way, by introducing a time comparison after the initial arrival signal of the roller brush and controlling the drive unit to stop when the preset threshold is exceeded, it is possible to accurately and efficiently confirm that the roller brush has successfully and smoothly reached the target position, thereby ensuring the reliability of the switching action and the overall working efficiency of the machine. The above scenario shows that the roller brush switches to the position in one go, the time is as expected, and abnormal situations have been eliminated. Therefore, the determination of the arrival state of the roller brush during the switching process can be more stable, and the stopping time of the drive unit is consistent with the actual position state of the roller brush.

[0018] Optionally, the method also includes:

[0019] After the control drive stops running, the control drive rotates to the first direction by a preset angle, and determines whether the position switch of the roller brush is in place based on the position signal detected again by the sensor.

[0020] The first direction is opposite to the second direction, and the second direction is the direction of movement of the drive unit when the brush starts to switch in response to the brush switching command.

[0021] In this way, by using reverse micro-motion to detect the position signal again after the drive unit stops running, the inertial deviation and trigger position deviation of the drive unit at the moment of stopping are checked. This allows the cleaning equipment to confirm whether the roller brush is truly in the target position based on the re-detected position signal. Since the first direction is opposite to the second direction, the micro-motion rotation is only used for verification and does not change the switching direction setting. Therefore, the position judgment of the roller brush is more stable, thereby improving the accuracy of confirming that the roller brush has switched to the correct position.

[0022] Optionally, based on the arrival signal detected again by the sensor, determine whether the position switch of the roller brush has been completed, including:

[0023] If the sensor detects the position signal again, determine the first position corresponding to the trigger.

[0024] Obtain the second position of the trigger when the driver stops running;

[0025] Based on the positional deviation between the first and second positions, determine whether the position switching of the roller brush is in place.

[0026] It should be noted that both the first and second positions are obtained based on the relative positional relationship of the same trigger element, thus enabling verification of the inertial displacement after the drive component stops. In this way, this application can not only determine whether the brush position switch is in place based on the positioning signal, but also complete the verification by combining the actual positional deviation after the drive component stops, thereby ensuring that the brush switching result is consistent with the actual mechanical position. This improves the accuracy of position determination and makes the switching-in determination more stable.

[0027] Optionally, the method also includes:

[0028] After controlling the drive component to rotate a preset angle in the first direction, control the drive component to rotate a preset angle in the second direction again;

[0029] After the driving component completes a preset number of reciprocating movements along the first and second directions, the positioning signal detected by the sensing component is acquired.

[0030] In this way, by controlling the driving component in reverse reciprocating motion at a limited angle, the trigger can pass through the corresponding position of the sensor multiple times within the detection area. This makes the position signal output by the sensor after a preset number of reciprocations more reflective of the stable position of the roller brush. Furthermore, this method also establishes a repeatability verification relationship between the trigger and the sensor, acquiring the position signal only after completing the set reciprocating motion, thereby improving the consistency of roller brush position switching judgment and the reliability of the control results.

[0031] Optionally, the control drive component can rotate a preset angle in the first direction, including:

[0032] A pulse voltage of a preset duration is applied to the driving component to drive the driving component to rotate a preset angle in the first direction.

[0033] In this way, the above control method allows the drive component to complete micro-motion correction in the form of short pulses during operation. Combined with a preset duration, the rotation amplitude is limited, enabling the drive component to stably reach the preset angle with a small adjustment amount. This provides a consistent mechanical position basis for subsequent positioning determination based on sensors. Furthermore, since the pulse voltage is applied only for a set time, the rotation range of the drive component is controlled, thus making the position correction process simple and repeatable.

[0034] Optionally, the floor brush assembly also includes a roller brush motor, each roller brush being equipped with a corresponding roller brush motor, the roller brush motor being used to drive the roller brush to rotate and clean the surface to be cleaned, the method also includes;

[0035] In response to the brush switching command, the corresponding brush motor is started and the operating current of the brush motor is obtained;

[0036] Based on the operating current, determine whether the brush is in the waiting position or the working position.

[0037] In this way, the roller brush switching control can not only drive the roller brush movement using the start signal of the roller brush motor, but also identify the position of the roller brush by using the operating current of the roller brush motor. This makes the judgment of the position status of the roller brush not completely dependent on a single mechanical trigger signal, thereby improving the stability of position identification and the accuracy of switching control, and ensuring that the roller brush maintains a consistent drive response under different cleaning conditions.

[0038] Optionally, in response to the brush switching command, the corresponding brush motor is started and the operating current of the brush motor is obtained, including:

[0039] In response to the brush switching command, the target brush is determined to be the brush to be switched to the working position.

[0040] Start the roller brush motor corresponding to the target roller brush and obtain the operating current of the roller brush motor;

[0041] If the operating current is determined to be less than the preset current threshold of the brush motor corresponding to the target brush during operation, the drive unit is controlled to switch the target brush from the waiting station to the working station.

[0042] In this way, by using the operating current of the brush motor corresponding to the target brush as the switching criterion, the drive unit is kept running while the target brush has not yet reached the working position, and the brush switching control is executed only after the current condition is met, thus enabling the target brush to enter the working position as expected. Therefore, by linking current detection with position switching, the brush switching control can be kept consistent with the operating state of the brush motor, thereby improving the accuracy of brush switching judgment and control stability.

[0043] Optionally, the method also includes:

[0044] If the load on the roller brush is detected to be greater than a preset load threshold, the control drive will stop operating.

[0045] In this way, by controlling the drive to stop when the load exceeds the preset load threshold, the drive can be stopped in time when the brush encounters abnormal resistance or the switching has reached a limited position, thereby reducing the mechanical shock caused by continuous driving and keeping the brush switching control consistent with the actual load state. It can also improve the stability and reliability of the switching control.

[0046] Optionally, in response to a brush switching command, control the operation of the drive unit, including:

[0047] Get the direction of motion of the drive component when the brush starts to switch positions during the last execution of the brush switching command;

[0048] In response to this brush switching command, the control drive rotates in the opposite direction to the movement direction to drive the brush to switch positions.

[0049] In this way, after adopting the above control method, the movement direction of the drive component during the current switch directly corresponds to the reverse direction of the previous switch. This allows the roller brush to operate according to the preset directional relationship during the reciprocating switching process, effectively preventing the roller brush or motor cable from tangling or twisting due to continuous unidirectional rotation, thereby preventing equipment failure. Moreover, by preventing risks such as motor cable tangling, the stability and safety of equipment operation can also be improved. In addition, through the above-mentioned fixed directional alternation logic, it can also be ensured that the trajectory and endpoint position of each roller brush switching action remain consistent, improving the overall control accuracy.

[0050] Optionally, the method also includes:

[0051] After the position switching of the roller brush is completed, the opposite direction of the movement direction of the drive component when the roller brush starts to switch is updated to the movement direction of the drive component when the roller brush starts to switch positions when the next switching command is executed.

[0052] Therefore, by adopting the above control method, the drive component will synchronously update the starting direction information of the next switch after completing one position switch, so that subsequent switching control can be executed according to the preset reverse relationship, reducing ambiguity in direction judgment and making the switching control of the roller brush between the working position and the waiting position more stable. Moreover, by setting the starting motion direction of each switch to be opposite to the previous one, the drive component always maintains the direction alternation logic during reciprocating switching, effectively avoiding mechanical failures such as tangling or twisting of motor cables or transmission components due to unidirectional continuous rotation. Since it reduces motor overload, wear or damage to mechanical components caused by winding, it can also extend the service life of the floor brush assembly, drive mechanism and motor cable.

[0053] Secondly, this application provides a control device for a cleaning equipment, the cleaning equipment including a body; a floor brush assembly, the floor brush assembly being rotatably connected to one end of the body;

[0054] The floor brush assembly includes: a floor brush housing, which has a working station and a waiting station;

[0055] At least two roller brushes are installed at the working station and the waiting station respectively, and are configured to switch between the working station and the waiting station under the action of a drive unit;

[0056] A trigger and a sensor are used; the sensor is mounted on the brush housing and works in conjunction with the trigger to detect whether the brush position has been switched correctly. The device includes:

[0057] The control module, in response to the roller brush switching command, controls the operation of the drive components to switch the roller brush for cleaning the surface to be cleaned; the control module includes a first control unit and a second control unit.

[0058] During the switching process, the first control unit is used to obtain the duration from the start of the roller brush switching to the first detection of the position signal corresponding to the trigger element by the sensing element, and control the driving element to continue running if the duration does not exceed a preset threshold.

[0059] The second control unit is used to control the drive unit to stop running in response to the sensor detecting a second arrival signal.

[0060] Thirdly, this application provides a cleaning device, which includes a body and a floor brush assembly, the floor brush assembly being rotatably connected to one end of the body;

[0061] The floor brush assembly includes: a floor brush housing, which has a working station and a waiting station;

[0062] At least two roller brushes are installed at the working station and the waiting station respectively, and are configured to switch between the working station and the waiting station under the action of a drive unit;

[0063] The trigger and the sensor are mounted on the brush housing and work together with the trigger to detect whether the position of the roller brush has been switched to the correct position.

[0064] The cleaning equipment is used to perform the methods described above.

[0065] It should be noted that the second and third aspects of this application have similar beneficial effects to the corresponding technical solutions in the first aspect of this application, and the corresponding feasible implementation methods will not be repeated here.

[0066] This application provides a control method, apparatus, and cleaning equipment for cleaning equipment. By extending the single-time arrival detection during the roller brush switching process to a continuous control flow including the start switching time, the determination of the first arrival signal time, and the confirmation of shutdown via the second arrival signal, the method extends the control process. Specifically, upon receiving a roller brush switching command, the method controls the drive unit to operate, driving the roller brush to switch between the working station and the waiting station, and records the time from the start of switching to the first detection of the corresponding arrival signal from the trigger. If this time does not exceed a preset threshold, the drive unit is not immediately stopped; instead, it continues to operate until the sensor detects the second arrival signal, at which point the drive unit stops. This allows the cleaning equipment to stop without directly relying on the first detection signal. Instead, it combines the time and location of the first signal to filter its effectiveness, and uses the second arrival signal to complete the shutdown control after the conditions for continued operation are met. Therefore, when the roller brush switches between the working station and the waiting station, it maintains high station switching accuracy and detection reliability even with the presence of stopping delay and mechanical inertia in the drive unit. Attached Figure Description

[0067] 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.

[0068] Figure 1 This is a partial structural diagram of a cleaning device provided in an embodiment of this application;

[0069] Figure 2 This is a schematic diagram of the structure of a floor brush assembly provided in an embodiment of this application;

[0070] Figure 3 An exploded view of a floor brush assembly provided in an embodiment of this application;

[0071] Figure 4 This is a schematic diagram illustrating the state of a trigger element moving with the switching motion of a roller brush, as provided in an embodiment of this application.

[0072] Figure 5 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0073] Figure 6 A flowchart illustrating a control method for a cleaning device provided in an embodiment of this application;

[0074] Figure 7 A schematic diagram comparing the existing solution and the solution in this application for the detection of the roller brush position;

[0075] Figure 8 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application;

[0076] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0077] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0078] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0079] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, "first direction" and "second direction" are only used to distinguish different directions and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0080] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0081] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0082] In existing technologies, a light-blocking plate is typically placed on the rotating component, along with a light signal detection device (such as a photoelectric sensor) to detect the brush's positioning. The principle is that when the rotating component reaches a specific angle, the light-blocking plate obstructs the light path, causing the sensor to output a level transition signal (e.g., from high to low). The cleaning equipment's controller can then use this signal to stop the motor. However, when the light-blocking plate is narrow or the rotation speed is high, the effective signal output by the photoelectric sensor lasts for a very short time. Rapid rotation can prevent the rotating component from stopping at the target position, easily leading to signal loss.

[0083] Furthermore, due to the mechanical inertia of the rotating component, after the motor receives a stop command, the rotating component may overshoot the target position due to inertial overshoot, resulting in a decrease in the positioning accuracy of the rotating component. This problem is particularly serious in scenarios where the detection signal duration is very short; that is, a stop command is issued immediately upon detecting a light-blocking signal, but the motor has already overshooted the target position due to inertial overshoot, leading to a decrease in positioning accuracy.

[0084] It is understandable that if the stop command is issued too early, the rotating part may stop before the target position; if the stop command is issued too late (considering factors such as short signal and response delay), it will inevitably exceed the target position.

[0085] More importantly, if the initial position of the rotating component happens to be close to the light-blocking plate during the startup phase, it is easy to trigger a false signal, causing the roller brush to stop erroneously. For example, during the startup phase, if the initial position happens to be close to the alignment position between the light-blocking plate and the sensor, the rotating component may trigger the light-blocking signal as soon as it starts. At this time, since a stable operating state has not yet been established (e.g., the motor has not yet reached a constant speed, the controller has not yet completed initialization, etc.), the stop decision made based on this light-blocking signal is often unreliable, which can easily lead to false stops or positioning errors.

[0086] To prevent the internal power supply wires from becoming tangled during frequent brush switching, the cleaning equipment requires the motor to be adjusted to a different rotation direction after each brush switch. Therefore, it is not possible to determine whether the dry and wet brushes are accurately positioned based solely on a single signal detection. If the signal detection has the aforementioned delay, overshoot, or misjudgment, it will directly lead to confusion in the motor control logic, thereby increasing the risk of power supply wire tangling and even damaging the motor circuitry.

[0087] To address the aforementioned issues, this application provides a control method for cleaning equipment. This method extends the single-stage arrival detection during roller brush switching into a continuous control process that includes the start of switching, determination of the first arrival signal time, and confirmation of shutdown via the second arrival signal. Specifically, upon receiving a roller brush switching command, the method controls the drive unit to operate, causing the roller brush to switch between the working station and the waiting station. The duration from the start of switching to the first detection of the corresponding arrival signal from the trigger is recorded. If this duration does not exceed a preset threshold, the drive unit is not immediately stopped; instead, it continues to operate until the sensor detects the second arrival signal, at which point the drive unit stops. This allows the cleaning equipment to stop without directly relying on the first detection signal. Instead, it filters the effectiveness of the first signal based on its timing and location, and uses the second arrival signal to complete the shutdown control only after the conditions for continued operation are met. Therefore, when the roller brush switches between the working station and the waiting station, it maintains high station switching accuracy and detection reliability even with stop delays and mechanical inertia in the drive unit.

[0088] It should be noted that the control method for cleaning equipment provided in this application is applied to cleaning equipment, for example... Figure 1 This is a partial structural diagram of a cleaning device provided in an embodiment of this application, as shown below. Figure 1 As shown, the cleaning equipment 100 includes a body 102 and a floor brush assembly 101, which is rotatably connected to one end of the body 102.

[0089] The floor brush assembly 101 includes: a floor brush housing 11, which has a working station and a waiting station;

[0090] At least two roller brushes 12 are installed at the working station 111 and the waiting station 112 respectively, and are configured to switch between the working station 111 and the waiting station 112 under the action of the drive unit 13.

[0091] The trigger 14 and the sensor 15 are installed on the floor brush housing and are used to cooperate with the trigger 14 to detect whether the position switching of the roller brush 12 is in place.

[0092] The cleaning equipment 100 serves as the execution carrier of the control method of this application and can be a handheld push-type floor scrubber, a vertical floor scrubber, or a wet cleaning equipment with the ability to clean the surface to be cleaned.

[0093] The surface to be cleaned is the target surface that the cleaning device 100 is currently in contact with and performing the cleaning action on. It can be a household floor, tile floor, wood floor, or light commercial area floor, etc. This application embodiment does not specifically limit this.

[0094] The body 102 is the main load-bearing structure and is used to install mechanical connecting parts that cooperate with the floor brush assembly 101. The floor brush assembly 101 is rotatably connected to one end of the body 102.

[0095] The floor brush assembly 101 is a component in the cleaning device 100 that is rotatably connected to the body 102 and is used to perform cleaning tasks on the surface to be cleaned. The floor brush assembly 101 can rotate at a certain angle relative to the body 102 to adapt to different surfaces to be cleaned or cleaning angles.

[0096] The floor brush housing 11 is the outer shell structure of the floor brush assembly 101, used to house and protect the internal cleaning components. Therefore, the floor brush housing 11 provides a mounting base for the roller brush 12, sensor 15, etc.

[0097] For example, Figure 2 This is a schematic diagram of the structure of a floor brush assembly provided in an embodiment of this application. Figure 3 This is an exploded view of a floor brush component provided in an embodiment of this application, as shown below. Figure 2 and Figure 3 As shown, the floor brush assembly 101 provided in this application embodiment may include two roller brushes 12. For example, one of the two roller brushes 12 may be a wet roller brush and the other may be a dry roller brush. The surface of the wet roller brush has moisture, which can melt and clean stubborn stains on the surface to be cleaned. The surface of the dry roller brush is relatively dry, which can clean or absorb stains that are not attached to the surface to be cleaned.

[0098] The floor brush housing 11 has a working station 111 and a waiting station 112. Two roller brushes 12 can be installed in the working station 111 and the waiting station 112 respectively, and the two roller brushes 12 can be configured to switch positions between the working station 111 and the waiting station 112.

[0099] Optionally, the inside of the roller of the roller 12 can be a hollow cavity, and the drive unit 13 can be located inside one of the cavities of the two rollers 12. For example, the drive unit 13 can be set in the dry roller or in the wet roller.

[0100] For example, when a switching command for the roller brush 12 is received, the drive unit 13 located inside the roller brush 12 can start working, so that the two roller brushes 12 can be swapped, realizing the position switching of the two roller brushes 12. For example, after the two roller brushes 12 are switched, the position that was originally a dry roller brush can be switched to a wet roller brush, and the position that was originally a wet roller brush can be switched to a dry roller brush.

[0101] The working station 111 can be located near the bottom of the floor brush assembly 101. When the roller brush 12 is located at the working station 111, it can easily contact the surface to be cleaned below the floor brush assembly 101. When the roller brush 12 rotates on the working station 111, it can generate frictional contact with the surface to be cleaned, so that the roller brush 12 can clean the surface to be cleaned.

[0102] The waiting station 112 can be located near the top of the floor brush assembly 101. When the roller brush 12 is located on the waiting station 112, it can avoid interfering with the operation of the roller brush 12 on the working station 111.

[0103] When wet roller brush cleaning is required, the wet roller brush can be switched to working station 111, while the dry roller brush can be switched to waiting station 112. This allows the wet roller brush at working station 111 to perform wet cleaning of the surface to be cleaned. When dry roller brush cleaning is required, the dry roller brush can be switched to working station 111, while the wet roller brush can be switched to waiting station 112. This allows the dry roller brush at working station 111 to perform dry cleaning of the surface to be cleaned. This enables the floor brush assembly 101 to perform both wet and dry cleaning, effectively improving its cleaning performance.

[0104] The roller brush 12 is driven by the drive unit 13 to switch between two workstations. Therefore, the drive unit 13 is the power component that performs the switching action. Specifically, it can be a motor and its reduction transmission mechanism. It can be connected to the roller brush switching mechanism through gears, connecting rods, shift forks or turntable structures, so that the roller brush 12 rotates around a predetermined axis between the working workstation 111 and the waiting workstation 112.

[0105] The drive component 13 is installed inside the roller brush 12. Since the roller brush 12 has a hollow structure, it provides ample installation space for the drive component 13. This ensures that the drive component 13 does not occupy space outside the roller brush 12, meaning it does not require additional space inside the brush housing 11. This allows the brush assembly 101 to maintain its original structural layout, and the drive component 13 does not disrupt this layout. Furthermore, the brush assembly 101 can maintain its original size, effectively reducing its overall dimensions and enhancing its miniaturization.

[0106] Optionally, the driving device can be a DC motor or a geared motor, and start-stop control can be achieved through relays, metal-oxide-semiconductor (MOS) transistors, or motor driver chips on the control board. In practical applications, other models of driving devices can also be selected, and this application does not make specific limitations on this.

[0107] The floor brush assembly 101 is also equipped with a trigger 14 and a sensor 15. The sensor 15 is mounted on the floor brush housing 11, and the trigger 14 is positioned on the movement path that moves together with the roller brush switching mechanism. The trigger 14 can be a detected component, and can take the form of a light-shielding plate, a magnetic trigger plate, a conductive contact plate, or a cam marker block; the sensor 15 is a detection component, and can take the form of a photoelectric switch, a Hall sensor, a proximity switch, or a micro-motion detection structure. When the trigger 14 passes the corresponding position of the sensor 15 as the roller brush 12 switches, the sensor 15 outputs a signal indicating that the current position has reached the detection window.

[0108] It should be noted that the sensor 15 is installed at a fixed position on the floor brush housing 11. The floor brush housing 11 is the housing structure of the floor brush assembly 101, which forms the working station 111 and the waiting station 112 and provides a stable installation reference for the sensor 15. Therefore, the detection position of the sensor 15 is a fixed position relative to the target station.

[0109] For example, Figure 4 This is a schematic diagram illustrating the state of a trigger element moving with the switching motion of the roller brush, as provided in an embodiment of this application. Figure 4 As shown in Figure A, the trigger 14 moves with the roller brush 12 to the corresponding position of the sensor 15. At this time, the sensor 15 can detect the arrival signal; as shown in Figure A. Figure 4 As shown in Figure B, when the trigger 14 is not in the corresponding position of the sensor 15 as the roller brush 12 switches its movement, the sensor 15 cannot detect the positioning signal.

[0110] Optionally, the floor brush assembly 101 also includes a roller brush motor (not shown in the figure), each roller brush 12 is equipped with a corresponding roller brush motor, the roller brush motor is used to drive the roller brush 12 to rotate and clean the surface to be cleaned.

[0111] The roller brush motor can be located near one end of the roller brush 12 to facilitate its installation within the roller brush 12.

[0112] Optionally, the drive unit 13 and the roller brush motor can be located at opposite ends inside the roller brush 12 and spaced apart from each other to avoid interference between the drive unit 13 and the roller brush motor, thereby improving the independence between the drive unit 13 and the roller brush motor.

[0113] The roller brush motor can be a DC motor or a stepper motor. Its output characteristics are stable and it is easy to cooperate with the preset current threshold to complete the state recognition. In practical applications, other models of roller brush motors can also be selected. This application does not make specific limitations on this.

[0114] It should be noted that the embodiments of this application do not specifically limit the number of roller brushes 12 included in the floor brush assembly 101; the above is merely an example. For instance, there may be three or more roller brushes 12. At least some of these roller brushes 12 may be of the same type, or they may all be of different types, with each type corresponding to a cleaning function.

[0115] For example, Figure 5 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 5 As shown, taking the cleaning device 100 as a floor scrubber as an example, when cleaning the surface to be cleaned in the living room, the user needs to switch between dry brush mode (for vacuuming) and wet brush mode (for mopping) by switching the roller brush.

[0116] The floor scrubber's brush assembly includes two rollers (a dry roller and a wet roller), installed at the working station and the waiting station respectively. When the user presses the switch button, the drive unit rotates the rollers to change their positions. The rollers have a light-blocking plate (trigger) and a photoelectric sensor (sensor) along their rotation path to detect whether the rollers are in position.

[0117] For example, when the user selects "wet brush mode," the floor scrubber's controller sends a forward rotation command to the drive unit, which then rotates the roller brush from the waiting station to the working station. During the roller brush switching process, the controller records the time when the roller brush starts rotating (determined by the start time of the drive unit) and continuously monitors whether the photoelectric sensor detects a light-blocking signal from the light-blocking plate.

[0118] When the roller brush rotates to the target position, the light-blocking plate blocks the light path of the photoelectric sensor, triggering a change in signal level (such as from high level to low level). The controller records the time point at this moment and calculates the duration from startup to the first signal trigger.

[0119] Furthermore, the controller compares the acquired duration with a preset threshold (e.g., 200 milliseconds). For example, if the roller brush rotates at a high speed and the time window for the light-blocking plate to block the light path is only 50 milliseconds (less than the preset threshold), the controller determines that the signal is invalid (it may be a false alarm or a brief triggering of the signal) and controls the drive to continue running; if the duration is 250 milliseconds (greater than the preset threshold), it is determined to be a valid signal and proceeds to the next step.

[0120] In the next step, the drive unit continues to drive the roller brush until it reaches the target position, where the light-blocking plate once again blocks the photoelectric sensor, triggering a second arrival signal. At this point, the controller responds to the second arrival signal and immediately stops the drive unit.

[0121] In this way, the floor scrubber can avoid false detections by judging based on time thresholds, thereby achieving highly reliable switching of the roller brush and significantly improving the user experience and stability of the cleaning equipment.

[0122] It should be noted that the embodiments of this application do not specifically limit the type of cleaning equipment 100. In addition to floor scrubbers, cleaning equipment 100 can also be other intelligent cleaning equipment with cleaning functions.

[0123] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0124] It should be noted that the executing entity of this application can be a controller located inside the cleaning equipment. The controller can be a microcontroller, an embedded processor, a computing unit on the main control board, or a control unit. This application does not specifically limit this.

[0125] For example, Figure 6 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application. The control method for the cleaning device is applied to a device having… Figures 1-3 In the cleaning equipment with the structure shown, such as Figure 6 As shown, the control method for this cleaning equipment includes the following steps:

[0126] S601, in response to the roller brush switching command, controls the drive unit to operate, so as to switch the roller brush to clean the surface to be cleaned.

[0127] In this embodiment of the application, the roller brush switching command can refer to the input signal for switching the roller brush. It can be input by the user or generated by the cleaning device itself, such as when it detects dirt or areas that need to be cleaned by switching to different functional roller brushes.

[0128] For example, after receiving the brush switching command, the controller reads the current brush station status. This station status can be derived from the status flag stored after the last switching, or from the initial position judgment result corresponding to the current sensing status before switching. Further, the controller outputs a drive control signal to the drive unit according to the brush switching command, causing the drive unit to start running, thereby driving the brush to switch between the working station and the waiting station.

[0129] Optionally, if the first roller brush currently at the working station needs to exit cleaning and the second roller brush at the waiting station needs to participate in cleaning, the drive unit drives the roller brush switching mechanism to move, so that the first roller brush moves from the working station to the waiting station and the second roller brush moves from the waiting station to the working station.

[0130] It should be noted that when the drive unit starts, the controller can simultaneously establish a switching task identifier and record the start time of the drive unit as the starting time of the brush switching. To ensure accurate subsequent time determination, the starting time can be the time when the controller issues the drive start command, or it can be the time when the drive unit speed feedback reaches the preset start-up condition. This application embodiment does not impose specific limitations on this.

[0131] In one possible embodiment, when the drive is configured with Hall feedback or encoder feedback, the controller records the moment when it first detects a valid rotation pulse of the drive as the start of switching.

[0132] Based on the above analysis, this step establishes a correspondence between the switching action and the start time immediately after receiving the brush switching command, enabling the brush to enter a detectable dynamic switching state from the current station to the target station, thus providing a unified time reference and execution basis for subsequent detection based on the arrival signal.

[0133] S6011. During the switching process, the duration from the start of the roller brush switching to the first detection of the corresponding position signal of the trigger element by the sensing element is obtained. If the duration does not exceed the preset threshold, the driving element is controlled to continue running.

[0134] In this embodiment, the trigger and the sensor work together to detect whether the position switching of the roller brush is in place. The in place signal is the state change signal output by the sensor when the trigger enters the detection range of the sensor.

[0135] Optionally, the position signal can be a high / low level toggle, a pulse edge, a magnetic induction value threshold output, or a contact conduction signal. This application does not specifically limit the type of position signal in its embodiments.

[0136] The preset threshold is used as a time comparison benchmark to determine whether the first arrival signal is sufficient to indicate that the roller has actually switched to the target station.

[0137] The preset threshold is not arbitrarily set, but rather a time range determined based on the brush rotation speed, drive component performance, and environmental parameters. For example, it may be a fixed or dynamic value calculated experimentally or by an algorithm. This application does not specifically limit the size of the preset threshold.

[0138] In one possible embodiment, the controller pre-stores a threshold T0 in milliseconds. The preset threshold value can be determined based on the shortest reasonable detection time required for normal switching to the target station during prototype testing. In another exemplary embodiment, the controller can also estimate the theoretical shortest arrival time Tmin based on the current rotational speed n, reduction ratio i, and target switching angular displacement θ of the drive component, and set the preset threshold to T0=Tmin or T0=k×Tmin, where k is a correction coefficient not less than 1.

[0139] For example, during the brush switching process, the controller continuously collects the output status of the sensor after recording the start switching time t1. When the trigger moves to the sensor detection area for the first time, the sensor outputs an initial arrival signal. The controller records the detection time t2 of this initial arrival signal and calculates the duration Δt1 = t2 - t1. This duration represents the time elapsed from the brush entering the switching position to the initial trigger detection position. If Δt1 does not exceed a preset threshold, the controller determines that the trigger state corresponding to this initial arrival signal is a short-term trigger or an early trigger, and cannot be directly used as the basis for stopping the brush switching. Therefore, the controller maintains the current operating state of the drive unit and continues to output drive signals to keep the drive unit running.

[0140] "Continue to run" can mean that the drive unit does not perform deceleration and stop control, nor does it perform reverse correction, but keeps the switching process running continuously, thus waiting for the next confirmation event to be in place.

[0141] It should be noted that the above time period is used for judgment because when the roller brush rotates at a high speed, the trigger detection window is narrow, the initial position of the roller brush is close to the sensor, or the switching mechanism has mechanical inertia, the first detected arrival signal may only correspond to the trigger briefly entering the detection range, and does not mean that the target roller brush has stably reached the working position.

[0142] If the machine stops immediately after the first signal appears, there will still be a delay in the electromagnetic response of the motor, residual motion in the reduction gear mechanism, and continued rotation caused by the rotational inertia of the brush body between the time the drive unit receives the stop command and when it comes to a complete stop. This can cause the brush to easily overshoot the target position or stop erroneously before or after the trigger window. Therefore, by comparing Δt1 with a preset threshold, an early first arrival signal can be identified as a detection event that does not meet the arrival confirmation condition.

[0143] Based on the above analysis, this step introduces a time parameter from the start of switching to the first detection of the position signal, transforming a single position trigger into a judgment process with timing constraints. This ensures that the first short-term trigger will not directly terminate the switching action, thereby allowing subsequent shutdown control to be based on a detection foundation that is closer to the actual workstation.

[0144] S6012, In response to the sensor detecting a second position signal, the control drive stops running.

[0145] In this embodiment of the application, the second arrival signal may refer to the arrival signal output by the sensing element when the trigger element enters the corresponding detection position again after the first arrival signal is determined to have a corresponding duration not exceeding a preset threshold and the driving element continues to run.

[0146] Since the drive unit did not stop after detecting the arrival signal for the first time, the roller brush switching mechanism continued to move. The trigger unit left the initial detection position and passed the corresponding detection position of the sensor unit again after completing the subsequent movement, thus forming a second arrival signal.

[0147] For example, the controller can continuously acquire the detection results of the sensors, and at the moment t3 when the detection results indicate that a second position signal has been detected, output a stop control command to the drive.

[0148] The stop control command can be a command to cut off the drive current, apply motor braking, short-circuit braking, or closed-loop deceleration to zero speed. The specific command can be set according to the structure of the drive component. This application does not make specific limitations on this.

[0149] Therefore, based on the cooperation of the trigger and the sensing element, the position switching is detected during the brush switching process to ensure that the position is in place. Since the drive unit has continued to run an additional stroke after the first detection of the position signal, the controller stops the machine when it detects the position signal for the second time. This incorporates the stopping delay of the drive unit and the residual rotation caused by mechanical inertia into the stopping process after this additional stroke, thus making the final stopping position of the brush more consistent with the target station.

[0150] For example, if the first arrival signal appears in the short trigger zone at the beginning of the brush switching, the controller does not use the arrival signal to control the drive to stop, but waits for the switching mechanism to complete the subsequent movement before triggering again; when the second arrival signal is detected, it means that the trigger has already gone through the subsequent movement path. At this time, the brush is closer to the real target position, and the station state obtained by controlling the drive to stop at this time is more stable.

[0151] Optionally, if the drive unit has speed feedback, the controller can also detect whether the speed of the drive unit has dropped to zero after issuing a stop command, so as to complete the closed loop of this switching process.

[0152] Based on the above analysis, this step uses the second arrival signal as the basis for stopping the machine. The two timing-related arrival signals output by the sensor together constitute the brush switching completion confirmation process. The first arrival signal is used to identify premature triggering and maintain the switching continuity, while the second arrival signal is used to execute the stop. This achieves coordinated control between continuous operation of the drive unit and accurate stopping under the existing ground brush component architecture, reducing the probability of false stops, overshoots, and incomplete switching.

[0153] Therefore, compared to existing technologies that rely on a single arrival signal during brush switching, which is prone to false stops, overshoots, and incomplete switching due to brief triggering, shutdown delays, and mechanical inertia, this application extends the single arrival detection during brush switching to a continuous control process that includes the start of switching, determination of the first arrival signal time, and confirmation of shutdown via the second arrival signal. This allows the cleaning equipment to no longer directly rely on the first detected arrival signal to control the drive unit to stop. Instead, it filters the effectiveness of the first arrival signal based on its timing and location, and only uses the second arrival signal to complete the shutdown control of the drive unit after the time meets a preset threshold. Thus, when the brush switches between working and waiting positions, it maintains high accuracy and reliability in position switching even with stop delays and mechanical inertia in the drive unit. Furthermore, this improves the stability of cleaning mode switching and the overall user experience.

[0154] Furthermore, by comparing the duration of the initial detection of the trigger's arrival signal with a preset threshold, valid and invalid signals can be dynamically distinguished, avoiding false detections due to signal transients. Moreover, this detection mechanism does not rely on complex algorithms or additional hardware; it can be implemented solely through control logic, significantly reducing the complexity and cost of cleaning equipment.

[0155] Optionally, the method also includes:

[0156] During the switching process, the time from when the roller brush starts to switch to when the sensor first detects the corresponding position signal of the trigger is obtained. If the time exceeds a preset threshold, the drive unit is controlled to stop running.

[0157] For example, Figure 7 A comparative diagram of the brush positioning detection process between the existing solution and the solution in this application is shown below. Figure 7As shown in Figure A, this is a flow chart of an existing method for detecting the positioning of a roller brush. After the roller brush starts rotating, the sensor begins to detect the positioning signal corresponding to the trigger. Once the positioning signal is detected, the drive unit is immediately stopped, and then the cleaning equipment is controlled to execute other normal procedures, such as the cleaning process for the surface to be cleaned. However, before the cleaning equipment has established a stable operating state (e.g., the drive unit has not yet reached a uniform speed, the controller has not yet completed initialization, etc.), the stop decision based on the sequential detection of positioning signals is often unreliable and can easily lead to false stops or positioning errors.

[0158] Therefore, this application provides a method for detecting the positioning of a roller brush, such as... Figure 7 As shown in Figure B, during the process of the roller brush starting to rotate and beginning the switching process, the controller of the cleaning equipment starts timing immediately after the drive unit starts and continuously receives detection signals from the sensors. When the sensor first detects the corresponding position signal of the trigger unit, the controller stops timing and obtains the duration between the start of the roller brush switching to the first position signal. Further, it determines whether this duration exceeds a preset threshold.

[0159] If the duration exceeds the preset threshold, it indicates that the brush has reached the target position. The controller then outputs a stop command to immediately stop the drive unit and control the cleaning equipment to execute other normal procedures.

[0160] If it is determined that the duration does not exceed the preset threshold, the drive unit is controlled to continue running until the sensor detects a second arrival signal, at which point the drive unit is controlled to stop running.

[0161] In this way, by introducing a time comparison after the initial arrival signal of the roller brush and controlling the drive unit to stop when the preset threshold is exceeded, it is possible to accurately and efficiently confirm that the roller brush has successfully and smoothly reached the target position, thereby ensuring the reliability of the switching action and the overall working efficiency of the machine. The above scenario shows that the roller brush switches to the position in one go, the time is as expected, and abnormal situations have been eliminated. Therefore, the determination of the arrival state of the roller brush during the switching process can be more stable, and the stopping time of the drive unit is consistent with the actual position state of the roller brush.

[0162] Optionally, the method also includes:

[0163] After the control drive stops running, the control drive rotates to the first direction by a preset angle, and determines whether the position switch of the roller brush is in place based on the position signal detected again by the sensor.

[0164] The first direction is opposite to the second direction, and the second direction is the direction of movement of the drive unit when the brush starts to switch in response to the brush switching command.

[0165] In this embodiment, the first direction can refer to the direction opposite to the initial rotation direction of the driving member, and opposite to the second direction. For example, when the second direction of the driving member is forward rotation, the first direction is reverse rotation.

[0166] The preset angle can refer to a micro-rotation angle set according to the inertia of the brush or the mechanical structure, such as 5 degrees or 10 degrees. This application does not specifically limit the size of the preset angle in its embodiments.

[0167] For example, after the drive unit completes the switching and stops in the second direction, the controller of the cleaning version controls it to rotate in the opposite direction by a preset angle, so that the trigger unit generates a matching relationship again in the detection area. After the sensor outputs the detected position signal again, the controller compares the position signal with the current position state. If the position condition is met, the controller determines that the position of the roller brush has been switched to the correct position.

[0168] Optionally, the reverse micro-motion verification method used above can be implemented by the controller through pulse control. The specific method corresponding to the reverse micro-motion verification method is not limited in the embodiments of this application.

[0169] In this way, by using reverse micro-motion to detect the position signal again after the drive unit stops running, the inertial deviation and trigger position deviation of the drive unit at the moment of stopping are checked. This allows the cleaning equipment to confirm whether the roller brush is truly in the target position based on the re-detected position signal. Since the first direction is opposite to the second direction, the micro-motion rotation is only used for verification and does not change the switching direction setting. Therefore, the position judgment of the roller brush is more stable, thereby improving the accuracy of confirming that the roller brush has switched to the correct position.

[0170] Optionally, based on the arrival signal detected again by the sensor, determine whether the position switch of the roller brush has been completed, including:

[0171] If the sensor detects the position signal again, determine the first position corresponding to the trigger.

[0172] Obtain the second position of the trigger when the driver stops running;

[0173] Based on the positional deviation between the first and second positions, determine whether the position switching of the roller brush is in place.

[0174] In this embodiment, the first position may refer to the state point of the trigger when the sensor detects the arrival signal again, representing the physical reference point when the roller actually reaches the target position.

[0175] The second position can refer to the state point of the trigger when the driving component stops running.

[0176] For example, after the sensor detects the position signal again, the controller of the cleaning equipment calculates the difference between the first position and the second position to determine the position deviation between them. The position deviation can be expressed as the angle difference, displacement difference, or equivalent position difference converted from the calibration table, etc. The embodiments of this application do not specifically limit this.

[0177] Furthermore, when the position deviation is less than or equal to a preset threshold, the controller determines that the roller brush has been switched to the correct position and outputs the position result; when the position deviation exceeds the preset threshold, it determines that the roller brush has not been switched to the correct position or there is an overshoot deviation, and uses the position result for subsequent correction control.

[0178] It should be noted that both the first and second positions are obtained based on the relative positional relationship of the same trigger element, thus enabling verification of the inertial displacement after the drive component stops. In this way, this application can not only determine whether the brush position switch is in place based on the positioning signal, but also complete the verification by combining the actual positional deviation after the drive component stops, thereby ensuring that the brush switching result is consistent with the actual mechanical position. This improves the accuracy of position determination and makes the switching-in determination more stable.

[0179] Optionally, the method also includes:

[0180] After controlling the drive component to rotate a preset angle in the first direction, control the drive component to rotate a preset angle in the second direction again;

[0181] After the driving component completes a preset number of reciprocating movements along the first and second directions, the positioning signal detected by the sensing component is acquired.

[0182] In this embodiment, the preset number of times can refer to a pre-set threshold number of cycles for the driving component to reciprocate along the first and second directions. This embodiment does not specifically limit the size of the preset number of times; it can be determined based on product performance or application scenario requirements.

[0183] For example, after receiving a brush switching command, the controller of the cleaning equipment can drive the drive component to rotate a preset angle in a first direction, causing the brush and its connected trigger to enter a predetermined detection range; then, it controls the drive component to rotate a preset angle in the second direction, causing the trigger to return to the other side of the verification position. This rotation in the first direction and the rotation in the second direction constitute one reciprocating verification. Furthermore, the controller repeats this reciprocating motion a preset number of times, causing the trigger to swing back and forth with a limited amplitude near the sensor until the set cycle is completed, and then reads the sensor status, using the current position signal output by the sensor as the final judgment basis.

[0184] Optionally, the position signal corresponding to the preset number of reciprocating movements can be processed and used as the final judgment criterion. For example, it can be processed by the median of the drive or filtered.

[0185] In this way, by controlling the driving component in reverse reciprocating motion at a limited angle, the trigger can pass through the corresponding position of the sensor multiple times within the detection area. This makes the position signal output by the sensor after a preset number of reciprocations more reflective of the stable position of the roller brush. Furthermore, this method also establishes a repeatability verification relationship between the trigger and the sensor, acquiring the position signal only after completing the set reciprocating motion, thereby improving the consistency of roller brush position switching judgment and the reliability of the control results.

[0186] Optionally, the control drive component can rotate a preset angle in the first direction, including:

[0187] A pulse voltage of a preset duration is applied to the driving component to drive the driving component to rotate a preset angle in the first direction.

[0188] In this embodiment, the preset duration can be set according to the output characteristics of the driving component, the load resistance, and the angular velocity in the first direction, so as to establish a stable correspondence between the preset duration and the preset angle. This embodiment does not specifically limit the magnitude of the preset duration.

[0189] It should be noted that, since the pulse voltage is applied for a short time, the drive unit can stop rotating in the first direction after the voltage is removed, thereby achieving a slight adjustment of the position of the roller brush.

[0190] For example, after determining that the angle of the drive component needs to be corrected, the controller of the cleaning equipment outputs a pulse voltage for a preset duration to the drive component, so that the drive component starts to rotate in the first direction under the action of the pulse voltage and reaches the corresponding preset angle at the end of the preset duration.

[0191] In this way, the above control method allows the drive component to complete micro-motion correction in the form of short pulses during operation. Combined with a preset duration, the rotation amplitude is limited, enabling the drive component to stably reach the preset angle with a small adjustment amount. This provides a consistent mechanical position basis for subsequent positioning determination based on sensors. Furthermore, since the pulse voltage is applied only for a set time, the rotation range of the drive component is controlled, thus making the position correction process simple and repeatable.

[0192] Optionally, the method also includes;

[0193] In response to the brush switching command, the corresponding brush motor is started and the operating current of the brush motor is obtained;

[0194] Based on the operating current, determine whether the brush is in the waiting position or the working position.

[0195] In this embodiment, the operating current can refer to the actual current flowing through the motor windings when the brush motor responds to the switching command and is in a stable operating state.

[0196] It should be noted that because the roller brush experiences different stress states at different positions, its motor load current will exhibit distinguishable changes. Therefore, the operating current can be used to assist in confirming the roller brush position. That is, in the actual operating conditions of the roller brush motor, the magnitude of the operating current directly reflects the current load resistance and output torque state of the motor.

[0197] For example, in the actual working conditions of a roller brush motor, the magnitude of the operating current directly reflects the current load resistance and output torque state of the motor: when the roller brush is in the waiting position, the roller brush motor only needs to overcome its own mechanical friction, the back electromotive force is large, and the operating current is small; however, when the roller brush switches to the working position, it needs to overcome external cleaning resistance, the load of the roller brush motor increases, and the operating current will increase significantly.

[0198] For example, when a roller brush switching command is received, the controller of the cleaning equipment can drive the roller brush motor to start, so that the corresponding roller brush enters the rotation state, and simultaneously collect the operating current; if the collected current value is within the first preset range, it indicates that the roller brush is in the waiting position; if the current value reaches the second preset range, it indicates that the roller brush is in the working position.

[0199] It should be noted that the embodiments of this application do not specifically limit the size of the first preset range and the second preset range. Both are preset current thresholds used to distinguish whether the roller brush is in the waiting position or the working position.

[0200] In this way, the roller brush switching control can not only drive the roller brush movement using the start signal of the roller brush motor, but also identify the position of the roller brush by using the operating current of the roller brush motor. This makes the judgment of the position status of the roller brush not completely dependent on a single mechanical trigger signal, thereby improving the stability of position identification and the accuracy of switching control, and ensuring that the roller brush maintains a consistent drive response under different cleaning conditions.

[0201] Optionally, in response to the brush switching command, the corresponding brush motor is started and the operating current of the brush motor is obtained, including:

[0202] In response to the brush switching command, the target brush is determined to be the brush to be switched to the working position.

[0203] Start the roller brush motor corresponding to the target roller brush and obtain the operating current of the roller brush motor;

[0204] If the operating current is determined to be less than the preset current threshold of the brush motor corresponding to the target brush during operation, the drive unit is controlled to switch the target brush from the waiting station to the working station.

[0205] In this embodiment, the preset current threshold may refer to a pre-set critical reference value for the current used to characterize the brush motor in a specific operating state. For example, when the obtained operating current of the brush motor is less than the preset current threshold, it is determined that the brush motor is currently in a low-load waiting position state, thereby triggering and allowing the drive unit to perform a switching action to the working position.

[0206] Conversely, if the operating current is greater than or equal to the preset current threshold, it indicates that the brush is in a working position or in an abnormally obstructed state, thus avoiding misoperation. By setting this preset current threshold, the initial position state of the brush can be accurately and reliably identified, ensuring the correct execution of the position switching logic.

[0207] For example, upon receiving a roller brush switching command, the controller of the cleaning equipment can first determine the target roller brush to be switched to the working position based on the current cleaning mode, roller brush configuration status, or last usage status. Then, it sends a start signal to the corresponding roller brush motor to initiate operation. Further, the controller uses a current sampling module to collect the operating current of the roller brush motor in real time and compares it with a preset current threshold. When the collected operating current is less than the preset current threshold, it indicates that the target roller brush is still near the waiting position or has not yet entered an obstructed operating state. Based on this, the controller controls the drive unit to continue operating, thereby switching the target roller brush from the waiting position to the working position.

[0208] In this way, by using the operating current of the brush motor corresponding to the target brush as the switching criterion, the drive unit is kept running while the target brush has not yet reached the working position, and the brush switching control is executed only after the current condition is met, thus enabling the target brush to enter the working position as expected. Therefore, by linking current detection with position switching, the brush switching control can be kept consistent with the operating state of the brush motor, thereby improving the accuracy of brush switching judgment and control stability.

[0209] Optionally, during the process of controlling the operation of the drive components to switch the target roller brush from the waiting position to the working position, the roller brush motor can be stopped. Alternatively, during the cleaning process of the cleaning equipment on the surface to be cleaned, the roller brush motor corresponding to the roller brush in the waiting position can be stopped. During the roller brush switching process, all roller brush motors corresponding to the corresponding roller brushes in the floor brush assembly stop operating. This saves power consumption, avoids ineffective idling of the roller brush in a non-working state, and prevents accidental high-speed rotation of the roller brush during switching or when it is in a non-working area, thus improving operational safety.

[0210] Optionally, the method also includes:

[0211] If the load on the roller brush is detected to be greater than a preset load threshold, the control drive will stop operating.

[0212] In this embodiment, the preset load threshold can refer to a pre-set critical reference value for the maximum load under safe and normal operating conditions of the roller brush. This preset load threshold represents the maximum resistance or load limit that the roller brush can withstand during the cleaning process.

[0213] Optionally, the preset load threshold can be preset based on the rated output capacity of the roller brush motor, the transmission resistance in the brush housing, and the contact resistance between the roller brush and the surface to be cleaned. In practical applications, the preset load threshold can also be calibrated according to different models, different bristle materials, and different working conditions of the surface to be cleaned. This application does not make specific limitations on this.

[0214] Understandably, when the actual load of the roller brush is detected to be greater than the preset load threshold, it is determined that the roller brush is currently in an overload state, such as due to foreign objects getting stuck, hair getting tangled, or excessive resistance on the surface to be cleaned causing obstruction of operation. At this time, the drive unit can be controlled to stop running.

[0215] In one implementation of this application, the controller of the cleaning equipment continuously acquires the load data of the roller brush during the roller brush switching process and compares the load data with a preset load threshold. When the load data exceeds the preset load threshold, the controller determines that the roller brush is in an overload state, or has approached the switching endpoint and is experiencing significant mechanical resistance, and then outputs a stop command to immediately de-energize or stop the drive unit.

[0216] Furthermore, after the control drive stops running, the drive will no longer apply driving force to the roller brush, and the switching motion of the roller brush will terminate. The controller can maintain its current position and wait for subsequent instructions to avoid the drive continuing to output and causing overload operation.

[0217] Optionally, the above load judgment can be used in conjunction with the position signal judgment in the aforementioned implementation. When the position signal meets the requirements, the overload can be used as a shutdown condition so that the control logic is more in line with the actual force state of the brush.

[0218] In this way, by controlling the drive to stop when the load exceeds the preset load threshold, the drive can be stopped in time when the brush encounters abnormal resistance or the switching has reached a limited position, thereby reducing the mechanical shock caused by continuous driving and keeping the brush switching control consistent with the actual load state. It can also improve the stability and reliability of the switching control.

[0219] Optionally, in response to a brush switching command, control the operation of the drive unit, including:

[0220] Get the direction of motion of the drive component when the brush starts to switch positions during the last execution of the brush switching command;

[0221] In response to this brush switching command, the control drive rotates in the opposite direction to the movement direction to drive the brush to switch positions.

[0222] It should be noted that, due to the limited length of the power cord supplying the drive unit, the direction of movement of the drive unit needs to be adjusted when the cleaning equipment executes the next brush switching command to prevent the drive unit from getting tangled in the cord and causing equipment failure.

[0223] In practical implementation, the controller of the cleaning equipment can record the movement direction of the drive component when the roller brush started switching positions during the last roller brush switching command execution. For example, during the last roller brush switching, the drive component moved in the first direction. After the last roller brush switching is completed, when the controller receives the current roller brush switching command again, it can first read the previously recorded movement direction, and then generate a reverse control signal to output to the drive circuit of the drive component, causing the drive component to rotate in the opposite direction to the first direction, that is, controlling the drive component to move in the second direction, thereby driving the roller brush to complete the position switching between the working position and the waiting position.

[0224] In one possible implementation, the controller can determine the current direction of motion of the drive component using a Hall sensor, encoder, or current detection module. When the brush begins to switch positions, it determines the correspondence between the direction of motion and the brush pose, thus forming a direction record that can be retrieved later. Upon receiving another brush switching command, the controller reverses the output polarity, phase sequence, or pulse sequence based on this record, causing the drive component to perform rotational control opposite to the previous one, completing the reverse drive of the brush switching position.

[0225] Optionally, after the brush switching is completed, the movement direction of the drive unit when the brush starts to switch positions is recorded, so that when the brush switching is performed again, the drive unit is controlled to rotate in the opposite direction to the current movement direction in response to the next brush switching command, so as to drive the brush to start switching positions.

[0226] In this way, after adopting the above control method, the movement direction of the drive component during the current switch directly corresponds to the reverse direction of the previous switch. This allows the roller brush to operate according to the preset directional relationship during the reciprocating switching process, effectively preventing the roller brush or motor cable from tangling or twisting due to continuous unidirectional rotation, thereby preventing equipment failure. Moreover, by preventing risks such as motor cable tangling, the stability and safety of equipment operation can also be improved. In addition, through the above-mentioned fixed directional alternation logic, it can also be ensured that the trajectory and endpoint position of each roller brush switching action remain consistent, improving the overall control accuracy.

[0227] Optionally, the method also includes:

[0228] After the position switching of the roller brush is completed, the opposite direction of the movement direction of the drive component when the roller brush starts to switch is updated to the movement direction of the drive component when the roller brush starts to switch positions when the next switching command is executed.

[0229] In some embodiments, after confirming that the roller brush has completed the switch from the working station to the waiting station or from the waiting station to the working station, the controller of the cleaning equipment records the current direction of the drive unit at the start of the switch and performs a reverse calculation on the current direction to obtain the opposite direction; then updates the opposite direction into the switching control parameters so that when the roller brush switching command is received again, the drive unit starts driving the roller brush to switch from the current position according to the updated opposite direction.

[0230] The controller may use a direction flag bit in the memory to store the direction of motion. The value of the direction flag bit corresponds to clockwise or counterclockwise rotation. This application embodiment does not specifically limit this.

[0231] It should be noted that this scheme updates the subsequent start direction in reverse after each brush position switch, so that the drive unit can directly use the updated direction to start driving in the next switch. Combined with the aforementioned position detection and stop control logic, this forms a continuous direction management mechanism. This method allows the controller to consistently record and update the drive direction in different switching cycles, thus making the brush switching control process more explicit.

[0232] Optionally, after the position switching of the roller brush is completed, the opposite direction of the corresponding drive direction of the roller brush is updated to the drive direction when the roller brush starts to switch positions next time.

[0233] Therefore, by adopting the above control method, the drive unit will synchronously update the starting direction information of the next switch after completing one position switch, so that subsequent switching control can be executed according to the preset reverse relationship, reducing ambiguity in direction judgment and making the switching control of the roller brush between the working position and the waiting position more stable. Moreover, by setting the starting motion direction of each switch to be opposite to the previous one, the drive unit always maintains the direction alternation logic during reciprocating switching, effectively avoiding mechanical failures such as tangling and twisting of motor cables or transmission components due to unidirectional continuous rotation. Since it reduces motor overload, wear or damage to mechanical components caused by winding, it can also extend the service life of the floor brush assembly, drive unit, and motor cable.

[0234] In the foregoing embodiments, the control method for the cleaning equipment provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the electronic device serving as the execution subject may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0235] For example, Figure 8 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application. The cleaning equipment includes a body and a floor brush assembly, which is rotatably connected to one end of the body.

[0236] The floor brush assembly includes: a floor brush housing, which has a working station and a waiting station;

[0237] At least two roller brushes are installed at the working station and the waiting station respectively, and are configured to switch between the working station and the waiting station under the action of a drive unit;

[0238] The trigger and sensor are mounted on the brush housing and work in conjunction with the trigger to detect whether the roller brush position has been switched correctly; for example... Figure 8 As shown, the control device 800 of the cleaning equipment includes:

[0239] Control module 801 is used to control the operation of the drive unit in response to the roller brush switching command, so as to switch the roller brush to clean the surface to be cleaned; control module 801 includes a first control unit 8011 and a second control unit 8012.

[0240] During the switching process, the first control unit 8011 is used to obtain the duration from the start of the roller brush switching to the first detection of the position signal corresponding to the trigger element by the sensing element, and control the driving element to continue running if the duration does not exceed a preset threshold.

[0241] The second control unit 8012 is used to control the drive unit to stop running in response to the sensor detecting a second arrival signal.

[0242] Optionally, the control module 801 further includes a third control unit, which is used for:

[0243] During the switching process, the time from when the roller brush starts to switch to when the sensor first detects the corresponding position signal of the trigger is obtained. If the time exceeds a preset threshold, the drive unit is controlled to stop running.

[0244] Optionally, the control module 801 further includes a fourth control unit, which is used for:

[0245] After the control drive stops running, the control drive rotates to the first direction by a preset angle, and determines whether the position switch of the roller brush is in place based on the position signal detected again by the sensor.

[0246] The first direction is opposite to the second direction, and the second direction is the direction of movement of the drive unit when the brush starts to switch in response to the brush switching command.

[0247] Optionally, the fourth control unit is specifically used for:

[0248] If the sensor detects the position signal again, determine the first position corresponding to the trigger.

[0249] Obtain the second position of the trigger when the driver stops running;

[0250] Based on the positional deviation between the first and second positions, determine whether the position switching of the roller brush is in place.

[0251] Optionally, the control module 801 further includes a fifth control unit, which is used for:

[0252] After controlling the drive component to rotate a preset angle in the first direction, control the drive component to rotate a preset angle in the second direction again;

[0253] After the driving component completes a preset number of reciprocating movements along the first and second directions, the positioning signal detected by the sensing component is acquired.

[0254] Optionally, this fifth control unit is specifically used for:

[0255] A pulse voltage of a preset duration is applied to the driving component to drive the driving component to rotate a preset angle in the first direction.

[0256] Optionally, the floor brush assembly also includes a roller brush motor, with each roller brush equipped with a corresponding roller brush motor. The roller brush motor is used to drive the roller brush to rotate and clean the surface to be cleaned. The control device 800 of the cleaning equipment also includes a judgment module, which is used for:

[0257] In response to the brush switching command, the corresponding brush motor is started and the operating current of the brush motor is obtained;

[0258] Based on the operating current, determine whether the brush is in the waiting position or the working position.

[0259] Optionally, the determination module includes a determining unit, which is used for:

[0260] In response to the brush switching command, the target brush is determined to be the brush to be switched to the working position.

[0261] Start the roller brush motor corresponding to the target roller brush and obtain the operating current of the roller brush motor;

[0262] If the operating current is determined to be less than the preset current threshold of the brush motor corresponding to the target brush during operation, the drive unit is controlled to switch the target brush from the waiting station to the working station.

[0263] Optionally, the control module 801 further includes a sixth control unit, which is used for:

[0264] If the load on the roller brush is detected to be greater than a preset load threshold, the control drive will stop operating.

[0265] Optional, control module 801, specifically used for:

[0266] Get the direction of motion of the drive component when the brush starts to switch positions during the last execution of the brush switching command;

[0267] In response to this brush switching command, the control drive rotates in the opposite direction to the movement direction to drive the brush to switch positions.

[0268] Optionally, the control unit 800 of the cleaning equipment also includes an update module, which is used for:

[0269] After the position switching of the roller brush is completed, the opposite direction of the movement direction of the drive component when the roller brush starts to switch is updated to the movement direction of the drive component when the roller brush starts to switch positions when the next switching command is executed.

[0270] It should be noted that the specific implementation principle and effect of the control device 800 of the above-mentioned cleaning equipment can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0271] This application also provides an electronic device. Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 9 As shown, the electronic device may include: a processor 901 and a memory 902 communicatively connected to the processor 901; the memory 902 stores a computer program; the processor 901 executes the computer program stored in the memory 902, causing the processor 901 to perform the method described in any of the above embodiments.

[0272] The memory 902 and the processor 901 can be connected via bus 903.

[0273] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0274] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0275] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0276] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0277] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0278] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0279] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0280] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0281] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0282] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0283] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0284] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0285] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0286] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0287] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0288] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0289] The above are merely specific implementations of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a body and a floor brush assembly, which is rotatably connected to one end of the body. The floor brush assembly includes: a floor brush housing, the floor brush housing having a working station and a waiting station; At least two roller brushes are respectively installed at the working station and the waiting station, and are configured to switch between the working station and the waiting station under the action of a drive. A trigger and a sensor, wherein the sensor is mounted on the floor brush housing and is used to cooperate with the trigger to detect whether the position switching of the roller brush is in place; the method includes: In response to a roller brush switching command, the drive unit is controlled to operate, so as to switch the roller brush to clean the surface to be cleaned; During the switching process, the duration from when the roller brush starts to switch to when the sensor first detects the position signal corresponding to the trigger is obtained. If the duration does not exceed a preset threshold, the drive unit is controlled to continue running. In response to the sensor detecting a second arrival signal, the drive unit is controlled to stop operating.

2. The method according to claim 1, characterized in that, The method further includes: During the switching process, the duration from when the roller brush starts to switch to when the sensor first detects the position signal corresponding to the trigger is obtained. If the duration exceeds the preset threshold, the drive unit is controlled to stop running.

3. The method according to claim 1, characterized in that, The method further includes: After the drive unit stops running, the drive unit is rotated by a preset angle in the first direction, and the position switching of the roller brush is determined based on the position signal detected again by the sensor. Wherein, the first direction is opposite to the second direction, and the second direction is the direction of movement of the drive component when the brush starts to switch in response to the brush switching command.

4. The method according to claim 3, characterized in that, The step of determining whether the position switch of the roller brush is in place based on the arrival signal detected again by the sensor includes: If the sensor detects the position signal again, the first position corresponding to the trigger is determined; Obtain the second position of the trigger when the driving component stops running; Based on the positional deviation between the first position and the second position, it is determined whether the position switching of the roller brush is in place.

5. The method according to claim 3, characterized in that, The method further includes: After controlling the driving component to rotate towards the first direction by a preset angle, the driving component is controlled to rotate towards the second direction by a preset angle again; After the driving component completes a preset number of reciprocating movements along the first and second directions, a positioning signal detected by the sensing component is acquired.

6. The method according to claim 3, characterized in that, The control of the drive component to rotate toward the first direction by a preset angle includes: A pulse voltage of a preset duration is applied to the driving component to drive the driving component to rotate the preset angle in a first direction.

7. The method according to claim 1, characterized in that, The floor brush assembly further includes a roller brush motor, with each roller brush equipped with a corresponding roller brush motor. The roller brush motor is used to drive the roller brush to rotate and clean the surface to be cleaned. The method further includes: In response to the roller brush switching command, the corresponding roller brush motor is started and the operating current of the roller brush motor is obtained; Based on the operating current, it is determined whether the roller brush is in the waiting position or the working position.

8. The method according to claim 7, characterized in that, The step of responding to the roller brush switching command by activating the corresponding roller brush motor and obtaining the operating current of the roller brush motor includes: In response to the brush switching command, the brush to be switched to the working station is determined as the target brush; Start the roller brush motor corresponding to the target roller brush and obtain the operating current of the roller brush motor; If the operating current is determined to be less than the preset current threshold of the brush motor corresponding to the target brush during operation, the drive unit is controlled to operate so as to switch the target brush from the waiting station to the working station.

9. The method according to claim 1, characterized in that, The method further includes: If the load on the roller brush is detected to be greater than a preset load threshold, the drive unit is controlled to stop operating.

10. The method according to claim 1, characterized in that, The step of controlling the operation of the drive unit in response to the brush switching command includes: During the last execution of the roller brush switching instruction, the movement direction of the drive component when the roller brush started to switch positions was obtained; In response to the brush switching command, the drive unit is controlled to rotate in the opposite direction to the direction of movement, so as to drive the brush to switch positions.

11. The method according to claim 1, characterized in that, The method further includes: After the position switching of the roller brush is completed, the opposite direction of the movement direction of the driving component when the roller brush starts to switch is updated to the movement direction of the driving component when the roller brush starts to switch positions when the switching command is executed next time.

12. A control device for a cleaning equipment, characterized in that, The cleaning equipment includes a body and a floor brush assembly, which is rotatably connected to one end of the body. The floor brush assembly includes: a floor brush housing, the floor brush housing having a working station and a waiting station; At least two roller brushes are respectively installed at the working station and the waiting station, and are configured to switch between the working station and the waiting station under the action of a drive. A trigger and a sensor, wherein the sensor is mounted on the floor brush housing and is used to cooperate with the trigger to detect whether the position switching of the roller brush is in place; the device includes: A control module, configured to respond to a roller brush switching command, controls the operation of the drive unit to switch the roller brush for cleaning the surface to be cleaned; the control module includes a first control unit and a second control unit. During the switching process, the first control unit is used to obtain the duration from when the roller brush starts to switch to when the sensor first detects the position signal corresponding to the trigger, and if the duration does not exceed a preset threshold, control the drive to continue running. The second control unit is configured to control the drive unit to stop operating in response to the sensor detecting a second positioning signal.

13. A cleaning device, characterized in that, The cleaning equipment includes a body and a floor brush assembly, which is rotatably connected to one end of the body. The floor brush assembly includes: a floor brush housing, the floor brush housing having a working station and a waiting station; At least two roller brushes are respectively installed at the working station and the waiting station, and are configured to switch between the working station and the waiting station under the action of a drive. A trigger and a sensor are provided. The sensor is installed on the floor brush housing and is used to cooperate with the trigger to detect whether the position switching of the roller brush is in place. The cleaning equipment is used to perform the method as described in any one of claims 1-11.

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