Cleaning method

Abstract

The application provides a cleaning method of a cleaning device. The cleaning device comprises a cloth tray and a cleaning mechanism, the cleaning mechanism being used for cleaning the cloth tray in a self-cleaning stage, and the cleaning mechanism being in contact with the cloth tray when being in an original position. The cleaning method comprises: receiving a cloth tray cleaning start signal; controlling the cleaning mechanism to move towards the original position in response to the cloth tray cleaning start signal; and controlling the cloth tray to move to a working position after the cleaning mechanism moves to the original position, so as to clean a surface to be cleaned. The application can improve the reliability of the cloth tray extending to clean the surface to be cleaned and the self-cleaning action of the cloth tray.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and more specifically to a cleaning method for cleaning equipment. Background Technology

[0002] With the development of cleaning equipment, floor scrubbers and similar devices have become widely used, bringing convenience to people's lives. For example, some cleaning equipment is equipped with a mop tray that can extend to clean the surface to be cleaned; at the same time, cleaning equipment can also be equipped with a cleaning mechanism to clean the mop tray during a self-cleaning phase.

[0003] However, in cleaning equipment, the relationship between the cleaning structure and the mop tray itself needs to be carefully designed. If the design is not proper, the mop tray and the cleaning structure will create an obstruction, thereby affecting the normal operation of the mop tray. Summary of the Invention

[0004] In view of this, several embodiments of this application aim to provide a cleaning method that can improve the reliability of the coordination between the cleaning and self-cleaning actions of the cloth tray extension.

[0005] This application provides a cleaning method for a cleaning device, the cleaning device including a floor brush, the bottom of which is provided with a cloth tray and a cleaning mechanism. The cleaning mechanism is used to clean the cloth tray during a self-cleaning phase. When the cleaning mechanism is in its original position, it has no contact with the cloth tray. The method includes: Receive the cleaning start signal from the cloth tray; In response to the cleaning start signal of the cloth tray, the cleaning mechanism is controlled to move towards the original position first; After the cleaning mechanism performs its movement, the wiping cloth disc is controlled to move to the working position, thereby cleaning the surface to be cleaned; During the self-cleaning phase, the cleaning equipment does not stop, the wiping tray does not perform a cleaning action, and the cleaning mechanism cleans the wiping tray.

[0006] Some problems can easily arise when a movable cleaning mechanism is set up, namely, whether the cleaning mechanism will affect the movement of the mop tray.

[0007] In actual use, due to the possibility of small thresholds or uneven ground, the floor scrubber will vibrate a lot during use, which may cause slight deviations in the position of the cleaning structure and the mop tray, resulting in potential movement issues between the two.

[0008] Therefore, this solution can solve the above problems. After receiving the cleaning instruction from the mop tray, the cleaning mechanism is controlled to move back to its original position, thereby ensuring that the cleaning mechanism will not interfere with the movement of the mop tray.

[0009] Optionally, the method further includes: receiving a cleaning stop signal from the mop tray; controlling the mop tray to move to a non-working position in response to the cleaning stop signal; and controlling the cleaning mechanism to move to a cleaning position after the mop tray has moved to the non-working position, so that the cleaning mechanism contacts the mop tray.

[0010] Optionally, the method further includes: after receiving the cleaning stop signal from the mop tray, determining whether the cleaning mechanism is in the original position; if the cleaning mechanism is in the original position, controlling the mop tray to return to the non-working position.

[0011] Optionally, the method further includes: controlling the cleaning mechanism to move toward the original position when the cleaning mechanism is not in the original position.

[0012] Optionally, the method further includes: when the cleaning mechanism is in contact with the mop tray, controlling the mop tray to rotate for a first preset time to perform a self-cleaning action of the mop tray.

[0013] Optionally, the method further includes: after the wiping disc rotates for the first preset time, controlling the cleaning mechanism to return to the original position.

[0014] Optionally, the cleaning equipment further includes a water spraying device; the method further includes: during the self-cleaning action of the mop tray, controlling the water spraying device to perform at least one water spraying action towards the mop tray.

[0015] Optionally, the trajectory surface of the cleaning mechanism moving to the cleaning position is inclined relative to the plane where the cloth tray is located.

[0016] Optionally, the method further includes: after receiving the cleaning start signal, controlling the cleaning mechanism to move toward the original position for a second preset time with a first current; after the cleaning mechanism moves toward the original position for the second preset time, controlling the cleaning mechanism to move toward the original position with a second current; wherein the first current is greater than the second current.

[0017] Optionally, the method further includes: controlling the wiping cloth tray to move toward the non-working position for a third preset time.

[0018] Optionally, the method further includes: after controlling the mop tray to move toward the non-working position for a third preset time, controlling the cleaning mechanism to move toward the cleaning position for a fourth preset time.

[0019] Optionally, the method further includes: controlling the cleaning mechanism to move toward the original position for a fifth preset time.

[0020] Optionally, the fifth preset duration is 0.5s to 3s.

[0021] Optionally, the cleaning device further includes a first switch; the method further includes triggering the first switch when the cleaning mechanism is moved to the original position.

[0022] As can be seen from the above embodiments, in the multiple embodiments of this application, after receiving the cleaning start signal of the wiping tray, the cleaning mechanism is first controlled to move towards the original position where it is not in contact with the wiping tray, and after the cleaning mechanism moves to the original position, the wiping tray is then controlled to move to the working position. This achieves the effect of the cleaning mechanism avoiding the wiping tray before it extends, thereby reducing the risk of the cleaning mechanism obstructing the extension of the wiping tray and ensuring that the wiping tray can properly clean the surface to be cleaned. Attached Figure Description

[0023] Figure 1 This is a schematic flowchart of a cleaning method using a cleaning device according to an embodiment of this application.

[0024] Figure 2 This is a bottom view of the ground brush in some embodiments of this application.

[0025] Figure 3 for Figure 2 A bottom view diagram showing the concealed base plate of the ground brush.

[0026] Figure 4 This is a schematic diagram of the portion of the structure in which the first channel and the second channel are connected when the cleaning mechanism is in the cleaning position in some embodiments of this application.

[0027] Figure 5 This is a schematic diagram of the part of the structure where the first channel and the second channel are not connected when the cleaning mechanism is not in the cleaning position in some embodiments of this application.

[0028] Figure 6 This is a schematic diagram of the cleaning mechanism from one perspective in some embodiments of this application.

[0029] Figure 7 This is a structural schematic diagram of the cleaning mechanism from another perspective in some embodiments of this application.

[0030] Figure 8 This is a cross-sectional view of the cleaning mechanism in some embodiments of this application.

[0031] Explanation of reference numerals in the attached figures: 100. Floor brush; 101. Mop tray; 102. Cleaning mechanism; 103. Cleaning body; 104. Scraper; 105. Flow channel; 106. Cleaning drive assembly; 110. First channel; 111. Second channel; 112. Third channel; 113. First channel inlet; 114. First channel outlet. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] It should be noted that in the description of this application, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0035] In related technologies, both the mop tray and the cleaning mechanism in some cleaning equipment can be movable structures. When cleaning the mop tray, the cleaning mechanism needs to be able to move to a position where it contacts and engages with the mop tray; conversely, when the mop tray is cleaning the surface to be cleaned, it needs to be able to move to a working position. Therefore, the positional state of the cleaning mechanism affects the movement of the mop tray. If the cleaning mechanism fails to move away from the mop tray in time when it needs to move to the working position, the cleaning mechanism may obstruct the movement of the mop tray, preventing it from extending properly and thus affecting the cleaning of the surface.

[0036] Based on this, see Figures 2 to 8This application provides a cleaning method for a cleaning device. This cleaning method is applied to a cleaning device, such as a floor scrubber. The cleaning device includes a floor brush, with a mop tray 101 and a cleaning mechanism 102 disposed at the bottom of the brush. The cleaning mechanism 102 is used to clean the mop tray 101 during a self-cleaning phase, and when the cleaning mechanism 102 is in its original position, it does not contact the mop tray 101.

[0037] See Figures 6 to 8 The cleaning mechanism 102 includes a cleaning body 103 and a scraper 104. A flow channel 105 is formed on the cleaning body 103, and the scraper 104 protrudes from the flow channel 105, with at least a portion of the scraper 104 extending outside the flow channel 105. (See reference...) Figure 4 and Figure 5 The cleaning equipment also includes a cleaning drive assembly 106, which drives the cleaning body 103 to reciprocate between its original position and the cleaning position. When the cleaning drive assembly 106 drives the cleaning body 103 to the cleaning position where it contacts the mop tray 101, one end of the scraper 104 extending out of the flow channel 105 contacts the mop tray 101. As the mop tray 101 rotates, the scraper 104 scrapes away dirt from the mop tray 101, and the scraped dirt falls into the flow channel 105. The cleaning mechanism 102 is inclined relative to the plane of the mop tray 101, so that the trajectory plane of the cleaning mechanism 102 moving to the cleaning position is inclined relative to the plane of the mop tray 101. The purpose of this inclined arrangement of the cleaning mechanism 102 relative to the mop tray 101 is to ensure that when the cleaning mechanism 102 moves to the cleaning position, the scraper 104 can contact the mop tray 101 to scrape away dirt.

[0038] See Figures 4 to 8 The cleaning equipment also includes a suction motor (not shown), a dirt channel, and a wastewater tank (not shown). The dirt channel is connected to the flow channel 105, and the suction motor provides suction force to the dirt channel, thereby scraping off the scraper 104 and sucking away the dirt that falls into the flow channel 105. The dirt channel includes a first channel 110, a second channel 111, and a third channel 112. The first channel 110 is formed on the cleaning body 103, and the inlet 113 of the first channel 110 is connected to the flow channel 105. The second channel 111 is optionally connected to the first channel 110. Specifically, when the cleaning mechanism 102 moves to the cleaning position, the inlet of the second channel 111 is connected to the outlet 114 of the first channel 110 (see Figure 112). Figure 2 and Figure 3 (Referring to 101A and 103A in the original text), when the cleaning mechanism 102 moves to its original position, the exit 114 of the first channel 110 is offset from the entrance of the second channel 111 (see 101A and 103A in the original text). Figure 2 and Figure 3(101B and 103B in the middle), and the inlet of the second channel 111 is blocked by the outer peripheral surface of the cleaning body 103. The outlet of the second channel 111 is connected to the inlet of the third channel 112, and the outlet of the third channel 112 is connected to the sewage tank, thereby sucking the dirt that falls into the flow channel 105 into the sewage tank.

[0039] Based on the composition and structure of the cleaning equipment described above, please refer to... Figure 1 This application proposes the following cleaning method. The cleaning method includes: S110, Receive the cleaning start signal from the wiping cloth tray 101.

[0040] S120, in response to the cleaning start signal of the cloth tray 101, the cleaning mechanism 102 is controlled to move towards its original position.

[0041] S130. After the cleaning mechanism 102 performs a movement, the wiping cloth tray 101 is controlled to move to the working position, thereby cleaning the surface to be cleaned.

[0042] S140. During the self-cleaning phase, the cleaning equipment does not stop, the wiping tray 101 does not perform cleaning actions, and the cleaning mechanism 102 cleans the wiping tray 101.

[0043] Thus, by controlling the cleaning mechanism 102 to move toward its original position where it does not contact the wiping tray 101 before the wiping tray 101 moves to the working position, the cleaning mechanism 102 can be in a avoidance state before the wiping tray 101 extends, reducing the risk of the cleaning mechanism 102 obstructing the extension of the wiping tray 101, thereby ensuring that the wiping tray 101 can move normally to the working position and clean the surface to be cleaned.

[0044] Specifically, the cleaning equipment includes a floor brush, with a mop tray 101 and a cleaning mechanism 102 at its bottom. The mop tray 101 is used to contact the surface to be cleaned and wipe it clean during the operation of the cleaning equipment. The surface to be cleaned can include the floor, countertop, or other surfaces that need to be cleaned. The cleaning mechanism 102 is used to clean the mop tray 101 during the self-cleaning phase; that is, when the mop tray 101 needs to be cleaned, the cleaning mechanism 102 can cooperate with the mop tray 101 to remove dirt from it.

[0045] In some embodiments, the mop tray 101 can move relative to the cleaning equipment. For example, the mop tray 101 can move to a working position, where at least a portion of the mop tray 101 can extend to a position suitable for cleaning the surface to be cleaned. The cleaning mechanism 102 can also move relative to the cleaning equipment to be in different positional states at different stages. The cleaning mechanism 102 has an initial position, in which the cleaning mechanism 102 is not in contact with the mop tray 101. This lack of contact can be understood as the cleaning mechanism 102 not abutting, pressing, or blocking the mop tray 101, allowing the mop tray 101 to have space to move between the working and non-working positions.

[0046] In some cases, the cleaning mechanism 102 is used to clean the mop tray 101. Therefore, the cleaning mechanism 102 needs to be able to move to a position that contacts the mop tray 101 during the self-cleaning phase. If the cleaning mechanism 102 is still in a position that may contact or interfere with the mop tray 101 when the mop tray 101 needs to move to the working position to clean the surface to be cleaned, the movement of the mop tray 101 may be hindered by the cleaning mechanism 102, making it difficult for the mop tray 101 to move smoothly to the working position. Based on this, the embodiment of this application controls the cleaning mechanism 102 to move towards its original position before controlling the mop tray 101 to move to the working position, so that the cleaning mechanism 102 first forms an avoidance state.

[0047] In some embodiments, the cleaning method may include receiving a cleaning start signal for the mop tray 101. The cleaning start signal for the mop tray 101 may be a signal indicating that the mop tray 101 has entered the working process of cleaning the surface to be cleaned. For example, the cleaning start signal for the mop tray 101 may be generated by the user operating the cleaning equipment, such as by the user actively pressing a button on the cleaning equipment to control the cleaning start of the mop tray 101; it may also be automatically generated by the cleaning equipment according to the current working mode, cleaning task, or control program. For example, a distance sensor is provided on the outer surface of the cleaning equipment. When the cleaning equipment is cleaning along the edge, the distance sensor obtains the distance between the outer surface of the cleaning equipment and the wall edge to automatically control the cleaning start of the mop tray 101. After receiving the cleaning start signal for the mop tray 101, the cleaning equipment can determine that there is a need for the mop tray 101 to move to the working position and clean the surface to be cleaned.

[0048] In some embodiments, the cleaning method may further include: in response to a cleaning start signal from the mop tray 101, controlling the cleaning mechanism 102 to move towards its original position. That is, upon receiving the cleaning start signal from the mop tray 101, instead of directly controlling the mop tray 101 to move to the working position, the cleaning mechanism 102 is first controlled to move towards its original position. Since the cleaning mechanism 102 is not in contact with the mop tray 101 in its original position, after moving towards its original position, the cleaning mechanism 102 can gradually move away from areas that might obstruct the movement of the mop tray 101, thus allowing the cleaning mechanism 102 to avoid the mop tray 101.

[0049] In some embodiments, the cleaning mechanism 102 performs a movement (i.e., moves to its original position), which can indicate that the cleaning mechanism 102 has reached a target position where it is no longer in contact with the mop tray 101, or that the cleaning mechanism 102 is in a state that will not obstruct the mop tray 101 from moving to its working position. Thus, before the mop tray 101 begins to move, the position switching of the cleaning mechanism 102 first eliminates any possible contact, obstruction, or movement interference between the cleaning mechanism 102 and the mop tray 101.

[0050] In some embodiments, the cleaning method may further include: after the cleaning mechanism 102 moves to its original position, controlling the mop tray 101 to move to its working position, thereby cleaning the surface to be cleaned. Since the cleaning mechanism 102 is already in its original position without contact with the mop tray 101, the mop tray 101 will not be obstructed by the cleaning mechanism 102 during its movement to the working position. After the mop tray 101 moves to the working position, it can contact the surface to be cleaned, and clean the surface in conjunction with the movement of the cleaning equipment, the movement of the mop tray 101 itself, or other cleaning actions.

[0051] In some embodiments, the cleaning method may further include: during the self-cleaning phase, the cleaning equipment is not stopped, the wiping tray 101 does not perform cleaning actions, and the cleaning mechanism 102 cleans the wiping tray 101.

[0052] By employing the above method, before the wiping tray 101 needs to move to the working position, the cleaning mechanism 102 is first controlled to move towards its original position where it does not contact the wiping tray 101, thus creating a clearance state before the wiping tray 101 extends. Then, the wiping tray 101 is controlled to move to the working position, allowing it to smoothly enter the area to be cleaned. This reduces the risk of the cleaning mechanism 102 obstructing the extension of the wiping tray 101, ensuring that the wiping tray 101 can properly clean the surface to be cleaned.

[0053] In some embodiments, the cleaning method may further include: receiving a cleaning stop signal from the wiping tray 101; controlling the wiping tray 101 to move to a non-working position in response to the cleaning stop signal; and controlling the cleaning mechanism 102 to move to a cleaning position after the wiping tray 101 has moved to the non-working position, so that the cleaning mechanism 102 contacts the wiping tray 101.

[0054] In some implementations, the cleaning stop signal for the mop tray 101 can be used to instruct the mop tray 101 to end the cleaning process on the surface to be cleaned. For example, the cleaning stop signal can be generated when the user finishes the cleaning task, the cleaning equipment completes the cleaning of the current area, or the cleaning equipment determines, according to a preset control program, that the mop tray 101 needs to stop cleaning the surface to be cleaned. After receiving the cleaning stop signal, the cleaning equipment can determine that the mop tray 101 no longer needs to remain in the working position.

[0055] In some embodiments, the non-working position can be the position where the mop tray 101 retracts into the floor brush 100 of the cleaning device relative to the working position. Specifically, when the mop tray 101 is in the working position, it is at least partially located outside the floor brush 100 of the cleaning device and can be used to clean the surface to be cleaned; after the mop tray 101 moves to the non-working position, it can retract from the extended cleaning state so that the cleaning mechanism 102 can subsequently move to a cleaning position capable of cleaning the mop tray 101. That is, after the cleaning stop signal of the mop tray 101 is triggered, the cleaning device first controls the mop tray 101 to move from the working position to the non-working position, rather than directly controlling the cleaning mechanism 102 to move towards the mop tray 101, so as to avoid interference between the mop tray 101 and the cleaning mechanism 102 during the retraction process.

[0056] In some embodiments, the cleaning position can be a location where the cleaning mechanism 102 can contact the cloth tray 101. After the cleaning mechanism 102 moves to the cleaning position, it contacts the cloth tray 101, enabling the cleaning mechanism 102 to perform cleaning action on the cloth tray 101. For example, after the cloth tray 101 has finished cleaning the surface to be cleaned and returned to its non-working position, the cleaning mechanism 102 moves from its original position toward the cleaning position, contacting the cloth tray 101 again, thereby providing a structural basis for the self-cleaning process of the cloth tray 101.

[0057] Thus, when the cleaning tray 101 stops cleaning the surface to be cleaned, the cleaning mechanism 102 is moved to the cleaning position after the cleaning tray 101 has retracted, by first controlling the cleaning tray 101 to move to the non-working position. This ensures that the contact between the cleaning mechanism 102 and the cleaning tray 101 occurs after the cleaning tray 101 has retracted. This prevents the cleaning mechanism 102 from contacting the cleaning tray 101 prematurely, which would affect the cleaning tray 101's retraction process. Simultaneously, after the cleaning tray 101 returns to the non-working position suitable for cleaning by the cleaning mechanism 102, the cleaning mechanism 102 then contacts the cleaning tray 101 to perform the subsequent self-cleaning action on the cleaning tray 101.

[0058] In some embodiments, the cleaning method may further include: after receiving a cleaning stop signal from the wiping tray 101, determining whether the cleaning mechanism 102 is in its original position; if the cleaning mechanism 102 is in its original position, controlling the wiping tray 101 to return to a non-working position.

[0059] In some embodiments, when the cleaning mechanism 102 is in its original position, it will not contact the mop tray 101, nor will it obstruct the movement of the mop tray 101. Therefore, upon receiving a cleaning stop signal from the mop tray 101, it can first be determined whether the cleaning mechanism 102 is in its original position to ascertain whether it is in a position to avoid the mop tray 101. When the cleaning mechanism 102 is in its original position, it can be assumed that it has separated from the mop tray 101 and will not interfere with its movement. When the mop tray 101 moves from its working position to its non-working position, it will not be obstructed by the cleaning mechanism 102. At this time, the cleaning equipment can control the mop tray 101 to move to its non-working position.

[0060] For example, after the wiping tray 101 extends out of the cleaning equipment to perform edge cleaning, if the user actively stops the edge cleaning, the cleaning equipment can first confirm whether the cleaning mechanism 102 is already in its original position; if the cleaning mechanism 102 is already in its original position, then control the wiping tray 101 to move towards the inside of the cleaning equipment to return to the non-working position.

[0061] Thus, by first determining whether the cleaning mechanism 102 is in its original position after receiving the cleaning stop signal from the wiping tray 101, and then controlling the wiping tray 101 to return to the non-working position if the cleaning mechanism 102 is in its original position, it is possible to confirm that the cleaning mechanism 102 is in an avoidance state before the wiping tray 101 is recycled, thereby reducing the risk of interference between the wiping tray 101 and the cleaning mechanism 102 during the return process and improving the reliability of the wiping tray 101 recycling process.

[0062] In some embodiments, the cleaning method may further include: controlling the cleaning mechanism 102 to move toward the original position when the cleaning mechanism 102 is not in the original position.

[0063] In some implementations, after receiving a cleaning stop signal from the mop tray 101, if it is determined that the cleaning mechanism 102 is not in its original position, it indicates that the cleaning mechanism 102 is not yet in a non-contact avoidance state with the mop tray 101, and the cleaning mechanism 102 may still be located in a movement area that could affect the mop tray 101's return to the non-working position. In this case, if the mop tray 101 is directly controlled to return to the non-working position, the mop tray 101 may be obstructed by the cleaning mechanism 102 during the return process.

[0064] In some implementations, when the cleaning mechanism 102 is not in its original position, it can be controlled to move towards its original position, moving from its current position to a position that avoids the mop tray 101. Once the cleaning mechanism 102 has moved towards its original position, the risk of contact or interference between it and the mop tray 101 is reduced, thus providing space for the mop tray 101 to subsequently return to its non-working position. For example, after the mop tray 101 stops cleaning the surface to be cleaned, if the cleaning mechanism 102 is still in a cleaning position close to the mop tray 101, the cleaning device can first control the cleaning mechanism 102 to leave the cleaning position and move towards its original position. Once the cleaning mechanism 102 is in its original position, the mop tray 101 can then be controlled to return to its non-working position.

[0065] Thus, by controlling the cleaning mechanism 102 to move toward its original position before it is in its original position, the cleaning mechanism 102 can be made to enter a state of avoiding the rag tray 101 before the rag tray 101 returns to its non-working position. This reduces the risk of the rag tray 101 being obstructed by the cleaning mechanism 102 during its return process and improves the reliability of the rag tray 101's retraction action.

[0066] In some embodiments, the cleaning method may further include: when the cleaning mechanism 102 is in contact with the wiping tray 101, controlling the wiping tray 101 to rotate for a first preset time to perform a self-cleaning action of the wiping tray 101.

[0067] In some embodiments, after the cleaning mechanism 102 moves to the cleaning position, it comes into contact with the wiping tray 101. At this time, the cleaning mechanism 102 can act on the surface of the wiping tray 101. In order for the cleaning mechanism 102 to clean different areas of the wiping tray 101, the wiping tray 101 can be controlled to rotate, causing relative movement between the wiping tray 101 and the cleaning mechanism 102. That is, the cleaning mechanism 102 can remain stationary in the cleaning position in contact with the wiping tray 101, and the wiping tray 101 rotates so that different parts of its surface pass through the cleaning mechanism 102 in sequence, thereby enabling the cleaning mechanism 102 to clean the dirt on the wiping tray 101.

[0068] In some embodiments, the first preset duration can be the duration for which the wiping tray 101 performs its self-cleaning action. After the cleaning mechanism 102 contacts the wiping tray 101, the cleaning device can control the wiping tray 101 to rotate continuously for the first preset duration. Once the wiping tray 101 has rotated for the first preset duration, it can be considered that the self-cleaning action of the wiping tray 101 has been performed for the preset time. For example, after the wiping tray 101 moves to a non-working position, the cleaning mechanism 102 moves to a cleaning position and contacts the wiping tray 101. At this time, the cleaning device controls the wiping tray 101 to rotate for a preset period of time (i.e., the first preset duration), so that the dirt on the wiping tray 101 is cleaned through the combined action of the rotation of the wiping tray 101 and the contact of the cleaning mechanism 102.

[0069] Thus, by controlling the wiping tray 101 to rotate for a first preset time while the cleaning mechanism 102 is in contact with the wiping tray 101, a continuous relative interaction process can be formed between the wiping tray 101 and the cleaning mechanism 102, thereby cleaning the dirt on the wiping tray 101.

[0070] In some embodiments, the cleaning method may further include: after the wiping disc 101 rotates for a first preset time, controlling the cleaning mechanism 102 to return to its original position.

[0071] In some embodiments, after the wiping tray 101 rotates for a first preset time, it indicates that the self-cleaning action of the wiping tray 101 has been performed for the preset duration. At this time, the cleaning mechanism 102 has contacted the wiping tray 101 and cooperated with the rotation of the wiping tray 101 to complete the cleaning of the wiping tray 101. In order to avoid the cleaning mechanism 102 remaining in contact with the wiping tray 101 after the self-cleaning action of the wiping tray 101 has ended, thus affecting the subsequent movement of the wiping tray 101 to the working position, the cleaning device can control the cleaning mechanism 102 to return to its original position.

[0072] In some embodiments, after the cleaning mechanism 102 returns to its original position, it separates from the cloth tray 101 and re-enters a state of avoiding the cloth tray 101. For example, after the cloth tray 101 moves to a non-working position, the cleaning mechanism 102 moves to a cleaning position and contacts the cloth tray 101. Subsequently, the cloth tray 101 rotates for a first preset time to perform a self-cleaning action. After the cloth tray 101 has rotated for the first preset time, the cleaning device can control the cleaning mechanism 102 to leave the cleaning position and move towards its original position, so that the cleaning mechanism 102 exits the state of contact with the cloth tray 101.

[0073] Thus, by controlling the cleaning mechanism 102 to return to its original position after the wiping tray 101 rotates for a first preset time, the cleaning mechanism 102 can be made to return to the avoidance state after the self-cleaning action of the wiping tray 101 is completed. Therefore, when the cleaning start signal of the wiping tray 101 is received again, the cleaning mechanism 102 will not easily obstruct the movement of the wiping tray 101 to the working position, which helps to maintain the connection between the wiping tray 101 extending for cleaning and the wiping tray 101 self-cleaning process.

[0074] In some embodiments, the cleaning equipment may also include a water spraying device (not shown); the cleaning method may also include: during the self-cleaning action of the wiping tray 101, controlling the water spraying device to perform at least one water spraying action toward the wiping tray 101.

[0075] In some embodiments, the water spraying device can be used to provide cleaning liquid to the wiping tray 101. The cleaning liquid can be clean water or a mixture of clean water and detergent. The water spraying device sprays water toward the wiping tray 101, which can be understood as the water spraying device spraying, sprinkling or conveying the cleaning liquid to the wiping tray 101, so that the cleaning liquid acts on the dirty areas on the wiping tray 101.

[0076] In some embodiments, the water spraying action occurs during the self-cleaning action of the wiping tray 101. That is, when the cleaning mechanism 102 contacts the wiping tray 101 and the wiping tray 101 rotates for a first preset time to perform the self-cleaning action, the water spraying device can be controlled to spray water at least once towards the wiping tray 101. For example, after the wiping tray 101 starts rotating, the water spraying device can be controlled to spray water towards the wiping tray 101 once; or, during the continuous rotation of the wiping tray 101, the water spraying device can be controlled to spray water towards the wiping tray 101 multiple times at intervals. In this way, during the rotation of the wiping tray 101, different areas of it can pass through the cleaning mechanism 102 in sequence, and with the assistance of the cleaning liquid provided by the water spraying device, the dirt attached to the wiping tray 101 is more easily cleaned by the cleaning mechanism 102.

[0077] In some cases, the water spraying device can perform the water spraying action before the wiping tray 101 starts rotating or during the rotation of the wiping tray 101, as long as the water spraying action occurs during the self-cleaning action of the wiping tray 101. For example, the water spraying device can be controlled to spray water onto the wiping tray 101 first, so that the wiping tray 101 is wetted before continuing to rotate; or the water can be sprayed after the wiping tray 101 has been rotating for a period of time, so as to rinse off the dirt that has been scraped off by the cleaning mechanism 102.

[0078] Thus, by controlling the water spraying device to spray water at least once towards the wiping cloth 101 during the self-cleaning process of the wiping cloth 101, the wiping cloth 101 can receive cleaning liquid assistance when rotating and contacting the cleaning mechanism 102, which helps to remove dirt from the wiping cloth 101 and improves the cleaning effect of the wiping cloth 101 self-cleaning.

[0079] In some embodiments, the trajectory plane of the cleaning mechanism 102 moving to the cleaning position is inclined relative to the plane where the cloth tray 101 is located.

[0080] In some embodiments, the motion trajectory surface can be understood as the plane formed by the movement path of the cleaning mechanism 102 during its movement from its original position to the cleaning position. The plane containing the mop tray 101 can be understood as the plane corresponding to the surface of the mop tray 101 used to clean the surface to be cleaned. The motion trajectory surface of the cleaning mechanism 102 moving to the cleaning position is inclined relative to the plane containing the mop tray 101, meaning that the cleaning mechanism 102 does not move to the cleaning position in a direction completely parallel to the plane containing the mop tray 101, but rather moves towards the cleaning position along a path with a certain inclination relative to the plane containing the mop tray 101.

[0081] In some embodiments, since the cleaning position is the location where the cleaning mechanism 102 can contact the wiping tray 101, when the trajectory plane of the cleaning mechanism 102 moving to the cleaning position is inclined relative to the plane where the wiping tray 101 is located, the cleaning mechanism 102 can gradually move towards the wiping tray 101 and contact the wiping tray 101 after moving to the cleaning position. For example, the cleaning mechanism 102 can move from its original position away from the wiping tray 101 along a direction inclined relative to the plane where the wiping tray 101 is located; when the cleaning mechanism 102 moves to the cleaning position, at least the scraper 104 of the cleaning mechanism 102 can form an abutment state with the wiping tray 101 so that the dirt on the wiping tray 101 can be scraped by the scraper 104 during the rotation of the wiping tray 101.

[0082] In some cases, after the mop tray 101 is in a non-working position, the cleaning mechanism 102 can move from its original position toward the cleaning position along an inclined motion trajectory surface, switching the cleaning mechanism 102 from a avoidance state without contact with the mop tray 101 to a cleaning state with contact with the mop tray 101. Because this motion trajectory surface is inclined relative to the plane where the mop tray 101 is located, the cleaning mechanism 102 has a motion component approaching the plane where the mop tray 101 is located during its movement, which facilitates the cleaning mechanism 102 moving from a avoidance position to a position where it can contact the mop tray 101.

[0083] Thus, by setting the trajectory surface of the cleaning mechanism 102 to the cleaning position to be inclined relative to the plane where the wiping tray 101 is located, the cleaning mechanism 102 can move to the cleaning position in an inclined approaching manner, which makes it easier for the cleaning mechanism 102 to make contact with the wiping tray 101 after the wiping tray 101 moves to the non-working position, thereby providing a positional coordination basis for the subsequent self-cleaning action of the wiping tray 101.

[0084] In some embodiments, the cleaning method may further include: after receiving a cleaning start signal, controlling the cleaning mechanism 102 to move toward the original position for a second preset time with a first current; after the cleaning mechanism 102 moves toward the original position for the second preset time, controlling the cleaning mechanism 102 to move toward the original position with a second current; wherein the first current is greater than the second current.

[0085] In some cases, the cleaning start signal can be the aforementioned cleaning start signal for the wiping tray 101, or it can be a signal generated by the cleaning equipment before the wiping tray 101 needs to move to the working position, used to control the cleaning mechanism 102 to perform an avoidance action. After receiving the cleaning start signal, the cleaning equipment can determine that the cleaning mechanism 102 needs to move back to its original position so that the cleaning mechanism 102 enters an avoidance state without contact with the wiping tray 101.

[0086] In some embodiments, the first current and the second current can be driving currents used to drive the cleaning mechanism 102 to move. The second preset duration can be the duration for which the cleaning mechanism 102 is driven to move with the first current. Specifically, after receiving the cleaning start signal from the mop tray 101, the cleaning mechanism 102 can be controlled to move towards its original position for a second preset duration with a larger first current; after the cleaning mechanism 102 has moved towards its original position for the second preset duration, it can be controlled to continue moving towards its original position with a smaller second current. That is, the process of the cleaning mechanism 102 moving towards its original position can include a first driving stage and a second driving stage, wherein the first driving stage corresponds to the first current and the second driving stage corresponds to the second current.

[0087] In some embodiments, the first current is greater than the second current, allowing the cleaning mechanism 102 to employ different driving intensities during the initial and subsequent phases of its movement toward the original position. As described in the preceding embodiments, the trajectory plane of the cleaning mechanism 102 moving to the cleaning position is inclined relative to the plane where the mop tray 101 is located. When the cleaning mechanism 102 first begins to move toward the original position, it can be driven by the first current to move away from its current position. After the cleaning mechanism 102 has moved for a second preset time, the second current is switched to drive the cleaning mechanism 102 to continue moving toward the original position to complete the subsequent avoidance action.

[0088] Thus, by first controlling the cleaning mechanism 102 to move toward the original position for a second preset time with a first current after receiving the cleaning start signal, and then controlling the cleaning mechanism 102 to move toward the original position with a second current, and making the first current greater than the second current, the process of the cleaning mechanism 102 moving toward the original position can be made into a staged drive control, thereby providing a more refined control method for the cleaning mechanism 102 to enter the original position.

[0089] In some embodiments, the cleaning method may further include: controlling the mop tray 101 to move toward a non-working position for a third preset time.

[0090] In some embodiments, the third preset duration can be the duration of the movement of the wiping tray 101 from the working position to the non-working position. That is, after receiving the cleaning stop signal of the wiping tray 101, the cleaning device can control the wiping tray 101 to continue moving towards the non-working position for a third preset duration, so that the wiping tray 101 switches from the extended state of cleaning the surface to the retracted state.

[0091] In some embodiments, the third preset duration can be set according to the time required for the wiping tray 101 to move from the working position to the non-working position. For example, when the wiping tray 101 is in the working position, it extends at least partially out of the cleaning device to clean the surface to be cleaned; after receiving a cleaning stop signal from the wiping tray 101, the cleaning device can control the wiping tray 101 to move toward the interior of the cleaning device and continue moving for the third preset duration. After the third preset duration, the wiping tray 101 can reach the non-working position, thereby providing conditions for the cleaning mechanism 102 to subsequently move to the cleaning position and avoiding interference between the cleaning mechanism 102 and the wiping tray 101.

[0092] In some cases, controlling the movement of the cloth tray 101 toward the non-working position by controlling it for a third preset duration can achieve the retrieval control of the cloth tray 101 without relying on a complex position detection structure. For example, the third preset duration can be determined based on the movement speed of the cloth tray 101 drive mechanism, the movement distance of the cloth tray 101 from the working position to the non-working position, and the reserved safety time, so that the cloth tray 101 completes its movement toward the non-working position within this duration.

[0093] Thus, by controlling the movement of the wiping cloth tray 101 toward the non-working position for a third preset time, the wiping cloth tray 101 can return to the non-working position after stopping cleaning the surface to be cleaned, which facilitates the subsequent control of the cleaning mechanism 102 to move to the cleaning position and contact the wiping cloth tray 101, ensuring a good action connection between the wiping cloth tray 101 recycling process and the wiping cloth tray 101 self-cleaning process.

[0094] In some embodiments, the cleaning method may further include: after controlling the wiping cloth tray 101 to move toward the non-working position for a third preset time, controlling the cleaning mechanism 102 to move toward the cleaning position for a fourth preset time.

[0095] In some embodiments, the fourth preset duration can be the duration of the cleaning mechanism 102 moving from its original position toward the cleaning position. That is, after the cloth tray 101 has moved toward the non-working position for a third preset duration, it can be considered that the cloth tray 101 has completed the retraction action. At this time, the cleaning mechanism 102 is then controlled to move toward the cleaning position for a fourth preset duration, so that the cleaning mechanism 102 switches from a state of no contact with the cloth tray 101 to a state of contact with the cloth tray 101.

[0096] In some embodiments, a third preset duration is used to control the movement of the mop tray 101 toward the non-working position, and a fourth preset duration is used to control the movement of the cleaning mechanism 102 toward the cleaning position. Specifically, after receiving a cleaning stop signal from the mop tray 101, the mop tray 101 can be controlled to move toward the non-working position for a third preset duration; after the third preset duration has ended, the cleaning mechanism 102 can be controlled to move toward the cleaning position for a fourth preset duration. Thus, by controlling the timing, the retraction action of the mop tray 101 can occur before the contact action of the cleaning mechanism 102.

[0097] For example, when the mop tray 101 is in the working position and cleaning the surface to be cleaned, if the cleaning equipment receives a cleaning stop signal from the mop tray 101, it can first control the mop tray 101 to move towards the non-working position for a third preset time, so that the mop tray 101 returns from the extended state to the non-working position suitable for cleaning by the cleaning mechanism 102. Subsequently, the cleaning equipment controls the cleaning mechanism 102 to move towards the cleaning position for a fourth preset time, so that the cleaning mechanism 102 gradually approaches the mop tray 101 and contacts the mop tray 101 at the cleaning position, so that the self-cleaning action of the mop tray 101 can be performed subsequently.

[0098] Thus, by controlling the wiping tray 101 to move toward the non-working position for a third preset time, and then controlling the cleaning mechanism 102 to move toward the cleaning position for a fourth preset time, the preset time can be used to sequentially control the wiping tray 101 retraction action and the cleaning mechanism 102 contact action. This ensures that the cleaning mechanism 102 enters the cleaning position only after the wiping tray 101 has been retracted, reducing the risk that the cleaning mechanism 102 may contact the wiping tray 101 too early and affect its retraction. It also facilitates the subsequent self-cleaning action performed by the cleaning mechanism 102 in cooperation with the wiping tray 101.

[0099] In some embodiments, the cleaning method may further include: controlling the cleaning mechanism 102 to move toward the original position for a fifth preset time.

[0100] In some embodiments, the fifth preset duration can be the duration of the cleaning mechanism 102 moving toward its original position. That is, when it is necessary for the cleaning mechanism 102 to enter a non-contact avoidance state with the mop tray 101, the cleaning mechanism 102 can be controlled to continuously move toward its original position for a fifth preset duration. Through this fifth preset duration, the avoidance movement process of the cleaning mechanism 102 can be time-controlled.

[0101] In some embodiments, the fifth preset duration can be set according to the time required for the cleaning mechanism 102 to move from the cleaning position to the original position. For example, before the wiping tray 101 needs to move to the working position, the cleaning mechanism 102 may be in the cleaning position in contact with the wiping tray 101. At this time, the cleaning device can control the cleaning mechanism 102 to move towards the original position for the fifth preset duration, so that the cleaning mechanism 102 leaves the area that may obstruct the movement of the wiping tray 101 and enters the original position where it is not in contact with the wiping tray 101.

[0102] In some cases, controlling the cleaning mechanism 102 to move toward its original position by a fifth preset duration can reduce reliance on complex position detection structures. For example, the fifth preset duration can be determined based on the movement speed of the cleaning mechanism 102, the movement distance of the cleaning mechanism 102 from the cleaning position to the original position, and the reserved safety time, so that the cleaning mechanism 102 can complete the avoidance movement toward the original position within this duration.

[0103] Thus, by controlling the cleaning mechanism 102 to move toward its original position for a fifth preset time, the cleaning mechanism 102 can avoid the movement by means of time control, so that the cleaning mechanism 102 is in a state of no contact with the wiping tray 101 before the wiping tray 101 moves to the working position, thereby reducing the risk of the cleaning mechanism 102 obstructing the extension of the wiping tray 101.

[0104] In some implementations, the fifth preset duration can be from 0.5s to 3s.

[0105] In some embodiments, the fifth preset duration is used to control the duration of the cleaning mechanism 102's movement toward its original position. Setting the fifth preset duration to 0.5s to 3s, such as 0.5s, 1s, 1.5s, 2s, 2.5s, or 3s, allows the cleaning mechanism 102 to have a suitable movement time so that it moves toward its original position and enters a non-contact avoidance state with the mop tray 101.

[0106] In some cases, if the fifth preset duration is too short, the cleaning mechanism 102 may not have moved sufficiently towards its original position, still posing a risk of obstructing the mop tray 101 from moving to the working position. If the fifth preset duration is too long, the waiting time for the mop tray 101 to move to the working position may be too long, affecting the response speed of the cleaning equipment entering the cleaning state. Therefore, setting the fifth preset duration to 0.5s to 3s can better balance the reliability of the cleaning mechanism 102 in avoiding obstacles and the response speed of the mop tray 101 extending.

[0107] For example, upon receiving a cleaning start signal from the wiping tray 101, the cleaning device can control the cleaning mechanism 102 to move towards its original position for 0.5s, 1s, 1.5s, 2s, 2.5s, or 3s. After this fifth preset time, the cleaning mechanism 102 can move back to its original position, creating a non-contact avoidance state between the cleaning mechanism 102 and the wiping tray 101. Subsequently, the wiping tray 101 is controlled to move to its working position, allowing it to clean the surface to be cleaned.

[0108] Thus, by setting the fifth preset duration to 0.5s to 3s, a clearer time control range can be provided for the cleaning mechanism 102 to avoid the original position, so that the cleaning mechanism 102 can complete the avoidance before the rag tray 101 extends, thereby reducing the risk of the cleaning mechanism 102 obstructing the extension of the rag tray 101.

[0109] In some embodiments, the cleaning device may also include a first switch (not shown); the cleaning method may also include triggering the first switch when the cleaning mechanism 102 moves to its original position.

[0110] In some embodiments, the first switch can be used to detect or provide feedback on whether the cleaning mechanism 102 has moved to its original position. The first switch can be positioned corresponding to the original position, such that when the cleaning mechanism 102 moves to the original position, the cleaning mechanism 102 or a structure linked to it can trigger the first switch. The cleaning equipment can determine that the cleaning mechanism 102 has reached its original position based on the triggering state of the first switch.

[0111] In some embodiments, when the cleaning mechanism 102 moves to its original position, it does not contact the cloth tray 101. Therefore, the activation of the first switch confirms that the cleaning mechanism 102 is in a state of avoiding the cloth tray 101. Specifically, after receiving a cleaning start signal from the cloth tray 101, the cleaning device can control the cleaning mechanism 102 to move towards its original position; when the cleaning mechanism 102 moves to its original position and triggers the first switch, the cleaning device can control the cloth tray 101 to move to its working position based on the trigger signal of the first switch, thereby cleaning the surface to be cleaned.

[0112] For example, the first switching element can be a micro switch, which is located on one side of the cleaning mechanism 102's movement path corresponding to its original position. When the cleaning mechanism 102 moves from the cleaning position toward the original position, it gradually moves away from the cloth tray 101; when the cleaning mechanism 102 reaches the original position, it triggers the micro switch. At this point, the cleaning equipment can determine that the cleaning mechanism 102 has completed the avoidance action and then control the cloth tray 101 to move to the working position.

[0113] Thus, by setting a first switch in the cleaning equipment and triggering the first switch when the cleaning mechanism 102 moves to the original position, the first switch can be used to confirm that the cleaning mechanism 102 has reached the original position, thereby improving the reliability of the judgment of the cleaning mechanism 102's avoidance state before the wiping tray 101 extends, and reducing the risk that the wiping tray 101 is blocked from extending due to the cleaning mechanism 102 not making sufficient avoidance.

[0114] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cleaning method for cleaning equipment, characterized in that, The cleaning device includes a floor brush, the bottom of which is provided with a cloth tray and a cleaning mechanism. The cleaning mechanism is used to clean the cloth tray during a self-cleaning phase. When the cleaning mechanism is in its original position, it does not contact the cloth tray. The method includes: Receive the cleaning start signal from the cloth tray; In response to the cleaning start signal of the cloth tray, the cleaning mechanism is controlled to move towards the original position first; After the cleaning mechanism performs its movement, the wiping cloth disc is controlled to move to the working position, thereby cleaning the surface to be cleaned; During the self-cleaning phase, the cleaning equipment does not stop, the wiping tray does not perform a cleaning action, and the cleaning mechanism cleans the wiping tray.

2. The cleaning method according to claim 1, characterized in that, The method further includes: Receive the cleaning stop signal from the cloth tray; In response to the cleaning stop signal of the cloth tray, the cloth tray is controlled to move to a non-working position; After the cloth tray moves to the non-working position, the cleaning mechanism is controlled to move to the cleaning position so that the cleaning mechanism comes into contact with the cloth tray.

3. The cleaning method according to claim 2, characterized in that, The method further includes: After receiving the cleaning stop signal from the mop tray, determine whether the cleaning mechanism is in the original position; When the cleaning mechanism is in the original position, control the mop tray to return to the non-working position.

4. The cleaning method according to claim 3, characterized in that, The method further includes: controlling the cleaning mechanism to move toward the original position when the cleaning mechanism is not in the original position.

5. The cleaning method according to claim 2, characterized in that, The method further includes: when the cleaning mechanism is in contact with the wiping tray, controlling the wiping tray to rotate for a first preset time to perform the self-cleaning action of the wiping tray.

6. The cleaning method according to claim 5, characterized in that, The method further includes: after the wiping disc rotates for the first preset time, controlling the cleaning mechanism to return to the original position.

7. The cleaning method according to claim 5, characterized in that, The cleaning equipment also includes a water spraying device; The method further includes: during the self-cleaning action of the wiping tray, controlling the water spraying device to perform at least one water spraying action towards the wiping tray.

8. The cleaning method according to claim 2, characterized in that, The trajectory plane of the cleaning mechanism as it moves to the cleaning position is inclined relative to the plane where the cloth tray is located.

9. The cleaning method according to claim 2, characterized in that, The method further includes: Upon receiving the cleaning start signal, the cleaning mechanism is controlled by a first current to move toward the original position for a second preset duration; After the cleaning mechanism moves toward the original position for the second preset time, the cleaning mechanism is controlled to move toward the original position by a second current. Wherein, the first current is greater than the second current.

10. The cleaning method according to claim 2, characterized in that, The method further includes: controlling the wiping cloth tray to move toward the non-working position for a third preset time.

11. The cleaning method according to claim 10, characterized in that, The method further includes: after controlling the wiping cloth tray to move toward the non-working position for a third preset time, controlling the cleaning mechanism to move toward the cleaning position for a fourth preset time.

12. The cleaning method according to claim 1, characterized in that, The method further includes: controlling the cleaning mechanism to move toward the original position for a fifth preset time.

13. The cleaning method according to claim 12, characterized in that, The fifth preset duration is 0.5s to 3s.

14. The cleaning method according to claim 1, characterized in that, The cleaning equipment also includes a first switch; The method further includes triggering the first switch when the cleaning mechanism moves to the original position.

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