Control method of cleaning apparatus and cleaning apparatus

Abstract

The application discloses a kind of cleaning equipment control method and cleaning equipment, cleaning equipment control method includes: control cleaning equipment cleaning component changes from inside collection position to outside expansion position, to make cleaning component to object along edge cleaning, wherein, when cleaning component is located in outside expansion position, the part outside the body edge profile is greater than the part outside the body edge profile when located in the inside collection position;When cleaning component reaches preset fluid supply condition, control cleaning component changes from outside expansion position to inside collection position, when detecting that cleaning component is in inside collection position, control fluid supply component to provide wetting fluid for cleaning component, and in the time period from opening to closing fluid supply component, control the distance that cleaning equipment walks along edge is not greater than first preset distance.The application solves the problem that in the process of water supply, it is easy to cause cleaning equipment to clean part of the area not in place, and there are many cleaning blind areas.

Description

Technical Field

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

[0002] Currently, cleaning robots include robotic vacuum cleaners, floor mopping robots (robots with mopping functions but no sweeping function), dual-disc robotic vacuum cleaners, and floor scrubbers. In mopping mode, cleaning robots wet-clean surfaces (such as floors and tabletops) by contacting the mop with the surface to be cleaned. During the cleaning process, the mop can swing between inward and outward positions relative to the robot body to reduce cleaning dead spots and improve cleaning effectiveness.

[0003] During the wet cleaning process of the cleaning equipment, water needs to be supplied to the mop to ensure its humidity. However, during the water supply process, the cleaning equipment may not clean some areas properly, resulting in many blind spots and making it difficult to guarantee the cleaning effect and a poor user experience. Summary of the Invention

[0004] The main purpose of this application is to provide a control method and cleaning equipment for cleaning equipment, so as to solve the problem in the prior art that the cleaning equipment may not clean some areas properly and there are many blind spots in the water supply process.

[0005] According to one aspect of this application, a method for controlling a cleaning device is provided, comprising:

[0006] The cleaning component of the cleaning device is controlled to change from an inward position to an outward position so that the cleaning component cleans the object along the edge, wherein the portion of the cleaning component outside the edge contour of the cleaning device body in the outward position is larger than the portion outside the edge contour of the body in the inward position;

[0007] When the cleaning component reaches the preset fluid supply conditions, the cleaning component is controlled to change from the expanded position to the retracted position;

[0008] When the cleaning component is detected to be in the retracted position, the control fluid supply component provides immersion fluid to the cleaning component, and during the time period from the opening to the closing of the fluid supply component, the distance the cleaning device travels along the edge is controlled to be no greater than a first preset distance.

[0009] Furthermore, the step of controlling the distance the cleaning device travels along the edge to be no greater than a first preset distance includes:

[0010] The walking component of the cleaning equipment is controlled to walk at a first speed, and the first speed is made less than a preset speed, so that the distance the cleaning equipment walks is not greater than the first preset distance.

[0011] Furthermore, the step of controlling the distance the cleaning device travels along the edge to be no greater than a first preset distance also includes:

[0012] The second speed of the walking component of the cleaning device is obtained before the fluid supply component is turned on, and the walking component is controlled to walk at a first speed that is less than the second speed, so that the distance the cleaning device walks is not greater than the first preset distance. The second speed is the speed of the walking component when the cleaning component is in the outward position.

[0013] Furthermore, during the cleaning process of the cleaning component cleaning the object along its edge, the method further includes:

[0014] Detect the end distance between the current position of the cleaning device and the endpoint of the edge cleaning of the object;

[0015] When the cleaning component reaches the fluid supply condition and the end distance is less than a preset value, the cleaning component is controlled to remain in the outward expansion position, and the cleaning device is controlled to move along the outer edge of the object to leave the endpoint position; or,

[0016] When the cleaning component reaches the fluid supply condition and the end distance is greater than or equal to a preset value, the cleaning component is controlled to change from the outward position to the inward position and the fluid supply component is turned on.

[0017] Furthermore, the step of controlling the distance the cleaning device travels along the edge to be no greater than a first preset distance also includes:

[0018] When the cleaning component reaches the fluid supply condition, the speed of the walking component of the cleaning device is reduced until the walking component stops moving.

[0019] Furthermore, the method also includes:

[0020] In response to a signal that the fluid supply component is shut off, the cleaning component is controlled to return from the retracted position to the expanded position so that the cleaning component can perform edge cleaning on the object.

[0021] Furthermore, after controlling the cleaning component to return from the retracted position to the expanded position, the method further includes:

[0022] The walking speed of the walking component of the cleaning equipment is controlled to a second speed, so that the walking component drives the cleaning equipment to move at the second speed, the second speed being greater than the first speed, where the first speed is the speed at which the cleaning equipment travels during the time period from the opening to the closing of the fluid supply component; and / or,

[0023] The rotational speed of the cleaning component in the outward position is smaller than that in the inward position.

[0024] Furthermore, the method also includes:

[0025] When the cleaning component reaches the fluid supply condition, it is determined whether the cleaning device is in a trapped state. If so, the fluid supply component is controlled to remain in a closed state. The trapped state includes the state in which the cleaning device is determined to be trapped when the size of the walking space of the cleaning device is not greater than a set size.

[0026] Furthermore, the step of controlling the distance the cleaning device travels along the edge to be no greater than a first preset distance also includes:

[0027] The fluid supply component is controlled to supply fluid to the cleaning component for a first duration less than a predetermined duration. The predetermined duration is the time from when the cleaning device is in a free cleaning state to when the fluid supply component is turned on and off. The free cleaning state is the state in which the cleaning device performs cleaning work when the distance between the cleaning device and the outer edge of the object is greater than a second preset distance.

[0028] According to another aspect of this application, a cleaning device is also provided, the cleaning device being used to perform the control method of the cleaning device, the cleaning device comprising:

[0029] ontology;

[0030] A cleaning component is disposed at the bottom of the body and has an inward position and an outward position. When the cleaning component is in the outward position, the portion outside the edge contour of the body is larger than the portion outside the edge contour of the body when the cleaning component is in the inward position.

[0031] A fluid supply component, the fluid supply component being disposed on the body;

[0032] A walking assembly, which is rotatably disposed at the bottom of the body and offset from the cleaning assembly;

[0033] A control component is electrically connected to the fluid supply component and the walking component. The control component is configured to drive the walking component to travel a distance not greater than a first preset distance during the time period from the time the fluid supply component is turned on to the time period from the time the fluid supply component is turned off.

[0034] The control method for the cleaning equipment provided in this application, during the process of the cleaning component cleaning the edge of an object while in the outward position, when the cleaning component reaches a preset fluid supply condition, controls the cleaning component to change from the outward position to the inward position and activates the fluid supply component to provide wetting fluid to the cleaning component, so that the cleaning component can clean in a moist state in subsequent cleaning processes. Furthermore, during the time period from when the fluid supply component is activated to when it is deactivated, the distance the cleaning equipment travels along the edge is controlled to not exceed a first preset distance. That is, during the period when the fluid supply component provides fluid to the cleaning component, the distance the cleaning equipment travels is small, thereby reducing cleaning blind spots generated during the cleaning of the outer edge of the object, improving cleaning effect and user experience. Attached Figure Description

[0035] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0036] Figure 1 This is a flowchart illustrating the control method for the cleaning equipment disclosed in this application;

[0037] Figure 2 This is a schematic diagram of the cleaning equipment in one embodiment;

[0038] Figure 3 This is a schematic diagram of the bottom of the cleaning equipment;

[0039] Figure 4 This is a schematic diagram showing the connections between the circuits and water channels formed by the various components in the cleaning equipment.

[0040] Figure 5 This is an exploded view of the cleaning equipment in one embodiment;

[0041] Figure 6 This is a schematic diagram of the assembly of the bottom shell and the cleaning component in one embodiment;

[0042] Figure 7 for Figure 6 An enlarged schematic diagram of part A in the middle.

[0043] The above figures include the following reference numerals:

[0044] 10. Body; 11. Top shell; 12. Bottom shell; 121. Clearance hole; 122. Mounting slot; 20. Cleaning assembly; 21. Bracket; 211. Flow guide structure; 22. Flexible cleaning component; 30. Fluid supply assembly; 31. Water tank; 32. Water pump; 33. Outlet; 34. Liquid outlet; 341. Sealing plate; 35. Heater; 40. Walking assembly; 41. Walking wheel; 50. Control assembly; 51. Controller; 52. First drive component; 521. Motor; 522. Reducer; 53. Speed ​​detection component; 531. First magnet; 532. First Hall sensor; 533. Encoder; 54. Timer; 60. Position detection assembly; 61. Second magnet; 62. Second Hall sensor; 70. Distance detector; 80. Comparator; 90. Drive assembly; 91. Second drive component; 92. Transmission shaft assembly. Detailed Implementation

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0048] Existing cleaning equipment, when replenishing water to the cleaning component 20, cannot effectively clean along the edges of objects, easily missing many areas and resulting in numerous cleaning blind spots. These blind spots have a clear boundary between the cleaned and uncleaned areas, requiring users to manually clean or restart the equipment, leading to a poor user experience. Areas such as the outer edges of objects include wall edges, furniture edges (corners of sofas, TV cabinets, sideboards, etc.), and the edges of other obstacles (such as stools, pillars, and boxes).

[0049] For the above issues, please refer to Figures 1 to 5 The first embodiment of the present invention provides a control method for a cleaning device, such as... Figure 2 As shown, the cleaning device includes a body 10, a cleaning component 20, a fluid supply component 30, and a traveling component 40. The cleaning component 20 is located at the bottom of the body 10 and has an inward-facing position and an outward-facing position. When the cleaning component 20 is in the outward-facing position, the portion outside the edge contour of the body 10 is larger than the portion outside the edge contour of the body 10 when the cleaning component 20 is in the inward-facing position. In this embodiment, the cleaning component 20 can be controlled to change between the inward-facing and outward-facing positions and to rotate for cleaning via a drive component 90 located on the body 10. The fluid supply component 30 is located on the body 10. The traveling component 40 is rotatably located at the bottom of the body 10 and offset from the cleaning component 20, so that the traveling component 40 can drive the body 10 to move.

[0050] Please see Figure 1 The control method includes the following steps:

[0051] Step S11: Control the cleaning component 20 of the cleaning device to change from the retracted position to the expanded position so that the cleaning component 20 cleans the object along the edge, wherein the portion of the cleaning component 20 outside the edge contour of the cleaning device body 10 when in the expanded position is larger than the portion outside the edge contour of the body 10 when in the retracted position.

[0052] When the cleaning component 20 is in the retracted position, it may be entirely located outside the edge contour of the body 10, or at least partially located outside and at least partially located inside the edge contour of the body 10. This embodiment does not limit this to a single possibility. When the cleaning component 20 is in the outward-expanded position, it can increase the cleaning coverage of the corner area between the outer edge of the object and the body 10.

[0053] When cleaning the object along its edge, the cleaning component 20 can perform edge cleaning along the outer edge of the object, or it can perform edge cleaning when the distance between the cleaning component 20 and the outer edge of the object is no greater than a predetermined distance value, such as edge cleaning when the distance between the cleaning component 20 and the outer edge of the object is about 4mm. The size of the predetermined distance value can be determined according to the actual use environment, and this embodiment does not impose a unique limitation.

[0054] Step S12: When the cleaning component 20 reaches the preset fluid supply conditions, control the cleaning component 20 to change from the outward expansion position to the inward retraction position;

[0055] Step S13: When the cleaning component 20 is detected to be in the retracted position, the fluid supply component 30 is controlled to provide wetting fluid to the cleaning component 20, and during the time period from the opening to the closing of the fluid supply component 30, the distance the cleaning device travels along the edge is controlled not to exceed a first preset distance. The fluid in this embodiment may include at least one of the following: clean water, a mixture of clean water and a cleaning agent (i.e., a substance that can improve cleaning effect). When the fluid supply component 30 is opened, the fluid supplied by the fluid supply component 30 flows to the cleaning component 20 to wet the cleaning component 20; when the cleaning component 20 is closed, the fluid supply component 30 stops supplying fluid to the cleaning component 20.

[0056] Through the above steps S11 to S13, in this embodiment, during the period when the fluid supply component 30 supplies fluid to the cleaning component 20, the distance that the cleaning device travels along the edge can be controlled to not exceed a first preset distance. This allows the cleaning device to travel a smaller distance during the process of replenishing fluid to the cleaning component 20. After the cleaning device drives the cleaning component 20 to clean all areas of the surface to be cleaned, the cleaning blind spots on the surface to be cleaned will be greatly reduced. Moreover, the area of ​​the cleaning blind spots is smaller than the blind spots generated under the prior art. It even makes it so that there is no obvious boundary between the cleaning blind spots and the cleaned areas, resulting in a better user experience.

[0057] In this embodiment, the fluid supply conditions may include: the distance traveled by the cleaning device after the last fluid replenishment of the cleaning component 20 is greater than or equal to a set distance; or, the cleaning component 20 reaching a set duration after the last fluid replenishment. Alternatively, if the cleaning device was in a first position when the fluid supply component 30 was last activated to replenish fluid to the cleaning component 20, during the cleaning process of the cleaning component 20 in the outward position cleaning the outer edge of the object, a first travel distance between the current position of the cleaning device and the first position is obtained, and the need to activate the fluid supply component 30 is determined based on the ratio between the first travel distance and the set distance. For example, if the ratio is less than the set value, the fluid supply component 30 is not activated; if it is not less than the set value, the fluid supply component 30 is activated. Alternatively, during the cleaning process of the cleaning component 20 in the outward position, a second travel distance between the current position of the cleaning device and the first position is determined. If the second travel distance is not less than a set upper limit distance, the cleaning component 20 is controlled to switch from the outward position to the inward position, and the fluid supply component 30 is activated. The main purpose of setting the fluid supply conditions in this embodiment is to replenish the cleaning component 20 with fluid, so that the cleaning component 20 can always clean the surface to be cleaned in a relatively moist state, while also ensuring that the cleaning component 20 is not too wet, causing the cleaned area to become excessively wet, thus preventing obvious water stains or marks from being left on the surface and improving the cleaning effect. Secondly, it can also reduce damage to the surface to be cleaned of different materials (such as swelling, foaming, and deformation of wooden surfaces), and even reduce the growth of bacteria and mold, thereby improving air quality.

[0058] As can be seen, the control method for the cleaning equipment provided in this embodiment, during the process of the cleaning component 20 cleaning the edge of an object while in the outward position, controls the cleaning component 20 to change from the outward position to the inward position and activates the fluid supply component 30 to provide wetting fluid to the cleaning component 20 when the preset fluid supply conditions are met, so that the cleaning component 20 can achieve cleaning in a moist state in subsequent cleaning processes. Furthermore, during the time period from when the fluid supply component 30 is activated to when it is deactivated, the distance the cleaning equipment travels along the edge is controlled to be no greater than a first preset distance. That is, during the period when the fluid supply component 30 provides fluid to the cleaning component 20, the distance the cleaning equipment travels is small, thereby reducing the cleaning blind spots generated during the cleaning of the outer edge of the object, improving the cleaning effect and user experience.

[0059] Step S13, controlling the distance the cleaning device travels along the edge to be no greater than a first preset distance, includes: controlling the walking component 40 of the cleaning device to travel at a first speed, and making the first speed less than a preset speed, so that the distance the cleaning device travels is no greater than the first preset distance. Therefore, during the replenishment of fluid by the cleaning component 20, this embodiment can ensure that the distance the cleaning device travels is no greater than the first preset distance (e.g., less than or equal to the first preset distance) by controlling the walking component 40 to travel at a first speed less than the preset speed, thereby reducing cleaning blind spots generated by the cleaning device during the replenishment of fluid by the cleaning component 20. Furthermore, controlling the walking speed of the walking component 40 not only provides convenient control but also allows for more precise control of the distance the cleaning device travels.

[0060] Step S13, the step of controlling the distance the cleaning device travels along the edge to be no greater than the first preset distance, further includes: obtaining the second speed of the walking component 40 of the cleaning device before the fluid supply component 30 is turned on; that is, the second speed is the speed at which the cleaning device travels during normal cleaning before the cleaning component 20 is replenished with fluid. The walking component 40 is controlled to travel at a first speed less than the second speed so that the distance the cleaning device travels is no greater than the first preset distance. The second speed is the speed of the walking component 40 when the cleaning component 20 is in the outward expansion position.

[0061] Therefore, during the replenishment of fluid by the cleaning component 20, this embodiment reduces the walking speed of the walking component 40 to a first speed lower than the second speed, ensuring that the distance traveled by the cleaning device during this period does not exceed a first preset distance. In other words, when the fluid supply component 30 is activated, this embodiment only needs to reduce the walking speed of the walking component 40 to ensure that the cleaning device does not travel a long distance, thereby reducing cleaning blind spots. Furthermore, since there is no stuttering during the process of the cleaning device reducing its speed, the cleaning process appears natural and smooth, resulting in a better user experience.

[0062] In step S13, the step of controlling the distance the cleaning device travels along the edge to be no greater than a first preset distance further includes: controlling the fluid supply component 30 to supply fluid to the cleaning component 20 for a first duration less than a predetermined duration. The predetermined duration is the time generated by the fluid supply component 30 from the start to the stop when the cleaning device is in a free cleaning state. The free cleaning state is the state in which cleaning work is performed when the distance between the cleaning device and the outer edge of the object is greater than a second preset distance. Here, the second preset distance is greater than the predetermined distance value mentioned above. That is to say, this embodiment reduces the time for replenishing fluid by making the first duration generated by the cleaning component 20 replenishing fluid less than the predetermined duration, thereby reducing the distance the cleaning device travels during the period when the cleaning component 20 replenishes fluid, and making the cleaning blind spot smaller. Especially when the walking component 40 drives the cleaning device to move at a first speed, the shorter the first duration, the shorter the distance the cleaning device travels, and the smaller the cleaning blind spot and its area. After replenishing the fluid, the cleaning component 20 can continue to perform cleaning work under the drive of the cleaning device.

[0063] The predetermined duration can be a duration set in advance by the user or developer. In this embodiment, the predetermined duration is the time from when the cleaning device is in a free cleaning state until the fluid supply component 30 is turned on and off. In other words, the predetermined duration is the time from when the cleaning device is in a free cleaning state until the fluid supply component 30 is turned on and off, and the free cleaning state in which the cleaning device performs cleaning work when the distance between the cleaning device and the outer edge of the object is greater than a second preset distance, i.e., the state in which the cleaning device performs cleaning work in an open area far from the outer edge of the object. That is, this embodiment ensures that the first duration for the cleaning component 20 to replenish fluid while the cleaning device is moving along the edge is shorter than the duration for the cleaning device to move in the open area, thereby ensuring that the distance traveled by the cleaning device during the period when the cleaning component 20 replenishes fluid is shorter and reducing cleaning blind spots.

[0064] In step S11, during the process of the cleaning component 20 cleaning the object along the edge (i.e., during the edge cleaning period), the control method provided in this embodiment further includes the following steps:

[0065] The system detects the distance between the current position of the cleaning equipment and the endpoint of the edge cleaning process. During edge cleaning, the cleaning equipment moves from the starting position to the endpoint along the outer edge of the object to complete the cleaning. During this process, the cleaning component 20 can have a certain gap with the outer edge of the object, or it can come into contact with it. For example, if the object is a sofa, the starting position can be the starting point of the long side of the sofa, and the endpoint can be the ending point of the long side. Alternatively, if cleaning is required in both the length and width directions of the sofa, the endpoint can be the position where the wide side is furthest from the long side. In short, when the perimeter of the part of the object to be cleaned is constant, the starting position is the starting point of the perimeter, and the endpoint can be the ending point of the perimeter. When the cleaning component 20 reaches the fluid supply condition and the end distance is less than a preset value, the system controls the cleaning component 20 to remain in the outward expansion position and controls the cleaning equipment to move along the object until it leaves the endpoint position. When the end distance is less than the preset value, it means that the cleaning device has traveled along the object to a position where it is about to leave the object. At this time, regardless of whether the fluid supply conditions have been met, there is no need to control the cleaning component 20 to return to the retracted position to replenish the fluid. Instead, it continues to clean along the edge until it leaves the endpoint position and completely leaves the object.

[0066] Therefore, by comparing the distance to the end point with a preset value, this embodiment can determine whether the cleaning component 20 has reached a position close to detaching from the object during the edge cleaning process. If so, even if the fluid supply conditions are met, the cleaning component 20 will not be controlled to change to an inward position to replenish the fluid. Instead, while keeping the cleaning component 20 in the outward position, the cleaning device continues to move along the outer edge of the object until it leaves the object (such as a wall, furniture, or obstacle). At this time, all areas of the outer edge of the object are cleaned, avoiding cleaning blind spots near the corresponding outer edge of the object, and the cleaning effect is higher.

[0067] When the cleaning component 20 reaches the fluid supply condition and the end distance is greater than or equal to a preset value, the cleaning component 20 is controlled to change from the outward expansion position to the inward retraction position, and the fluid supply component 30 is activated. In other words, if the end distance is greater than or equal to the preset value, it means that the cleaning device has not traveled a very long distance from the starting position to the ending position along the outer edge of the object, and is even quite far from the ending position. If the fluid supply condition is met at this time, the cleaning component 20 is controlled to change to the inward retraction position, and the fluid supply component is activated to replenish the fluid, thereby increasing the wettability of the cleaning component 20 and improving the cleaning effect of the cleaning component 20 on each area during the movement of the cleaning device along the outer edge of the object from the current position to the ending position.

[0068] The preset value can be determined according to the size of different objects in the environment. For example, if the perimeter of the outer edge of the object is long, the preset value will be increased accordingly. If the perimeter of the outer edge of the object is short, the preset value can be reduced adaptively to improve the control accuracy of the cleaning component 20.

[0069] This embodiment can also detect the first distance and the final distance the cleaning device travels along the outer edge of an object. When the cleaning device travels along the outer edge of the object, the object can apply a resisting force to the cleaning component 20, causing the cleaning component 20 to passively retract to a transitional position between the retracted and expanded positions under the action of the resisting force. Alternatively, the object can just come into contact with the cleaning component 20 and keep it in the expanded position. In this embodiment, the cleaning component 20 can passively retract towards the retracted position under the resisting action of the object, or it can actively retract under the drive of the drive mechanism. Along the traveling direction of the cleaning device, the first distance is the distance between the starting position of the outer edge of the object and the current position of the cleaning device. When the cleaning component 20 reaches the fluid supply condition and the first distance is greater than or equal to the final distance, it indicates that the cleaning device has traveled to a position almost detached from the object. At this point, the cleaning component 20 is controlled to remain in the expanded position, and the cleaning device is controlled to travel along the outer edge of the object to a position away from the object.

[0070] Therefore, this embodiment can also determine whether the cleaning component 20 has reached a position close to detaching from the object during the edge cleaning process by comparing the magnitude of the first distance and the end distance. If so, even if the fluid supply conditions are met, the cleaning component 20 will not be controlled to change to the inward position to replenish the fluid. Instead, while keeping the cleaning component 20 in the outward position, the cleaning device is controlled to continue moving along the outer edge of the object until it leaves the object (such as a wall, furniture, or obstacle). At this time, all areas of the outer edge of the object are cleaned, avoiding cleaning blind spots near the corresponding outer edge of the object.

[0071] When the cleaning component 20 reaches the fluid supply condition and the first distance is less than the end distance, the cleaning component 20 is controlled to change from the outward expansion position to the inward retraction position and the fluid supply component 30 is activated. In other words, if the first distance is less than the end distance, it means that the cleaning device has not traveled a very long distance along the outer edge of the object from the starting position to the ending position, and is even quite far from the ending position. At this point, the fluid supply condition is met, so the cleaning component 20 is controlled to change to the inward retraction position and the fluid supply component is activated to replenish the fluid, thereby increasing the wettability of the cleaning component 20 and improving the cleaning effect of the cleaning component 20 on each area during the movement of the cleaning device along the outer edge of the object from the current position to the ending position.

[0072] After the cleaning device moves to an open area away from the object, the cleaning component 20 is controlled to change from an outward-expanding position to an inward-retracting position, and the fluid supply component 30 is activated to replenish fluid to the cleaning component 20. For this fluid replenishment operation after the cleaning device has moved away from the object, the fluid supply conditions can be set to either a condition where the distance from the end point of the cleaning device's outer edge to its current position reaches a maximum distance, or a condition where the time taken for the cleaning device to travel from the end point of the outer edge of the object to its current position reaches a maximum duration. Thus, after leaving the object, fluid is supplied to the cleaning component 20 based on the aforementioned fluid supply conditions, ensuring that the cleaning component 20 can perform subsequent cleaning work in a relatively moist state.

[0073] The control method provided in this embodiment further includes: when the cleaning component 20 reaches the fluid supply condition, determining whether the cleaning device is in a trapped state; if so, controlling the fluid supply component 30 to remain in a closed state. The trapped state includes the state in which the cleaning device is determined to be in a state where the size of the walking space of the cleaning device is not greater than a set size. That is, when the cleaning device is in a trapped state, even if the fluid supply condition is met, the fluid supply component 30 will not be turned on, thereby avoiding obvious watermarks on the surface to be cleaned due to excessive wetting (high water content) of the cleaning component 20 when trapped.

[0074] The trapped state in this embodiment may also include: a state determined when the cleaning device is pacing back and forth within a predetermined space. The trapped state may also include: a state determined when the cleaning device is blocked by an obstacle and cannot move. Regardless of the situation, as long as the cleaning device is in a trapped state, no fluid is supplied to the cleaning component 20, thereby preventing watermarks on the surface to be cleaned due to excessive wetting of the cleaning component 20, and preventing corrosion damage to the material of the surface to be cleaned.

[0075] In step S13, the step of controlling the distance the cleaning device travels along the edge to be no greater than the first preset distance further includes: when the cleaning component 20 reaches the fluid supply condition, reducing the speed of the walking component 40 of the cleaning device until the walking component 40 stops. Therefore, when replenishing fluid to the cleaning component 20, by reducing the speed of the walking component 40 until it stops, the distance the cleaning device travels during the fluid replenishment period is ensured to be smaller. Moreover, since the speed of the walking component 40 gradually decreases to zero and then stops, sudden stopping is avoided, reducing the large driving pressure on the first driving component that drives the walking component 40. In this embodiment, the walking speed of the walking component 40 can also be controlled to decrease directly from the second speed to zero, causing the cleaning device to stop. Thus, during the fluid replenishment period of the cleaning component 20, the distance the cleaning device travels is 0. After replenishment, the cleaning component 20 can be controlled to return from the inward position to the outward position to continue cleaning along the edge. Therefore, no cleaning blind spots are generated after the fluid replenishment is completed, further improving the cleaning effect of the cleaning component 20 on the surface to be cleaned.

[0076] After the cleaning component 20 is moistened by replenishing fluid as described above, the control method provided in this embodiment further includes: in response to a signal that the fluid supply component 30 is shut off, controlling the cleaning component 20 to return from the retracted position to the expanded position, so that the cleaning component 20 performs edge cleaning on the object. Thus, once the fluid replenishment of the cleaning component 20 is complete, the cleaning component 20 is immediately controlled to continue edge cleaning, improving the cleaning effect and efficiency.

[0077] The control method provided in this embodiment, after controlling the cleaning component 20 to return from the retracted position to the expanded position, further includes:

[0078] The walking speed of the cleaning equipment's walking component 40 is controlled to a second speed, which is greater than the first speed. The first speed is the speed at which the cleaning equipment travels during the time it takes for the fluid supply component 30 to be turned on and off. Therefore, since the cleaning equipment travels at the first speed while the cleaning component 20 is replenishing fluid, the distance traveled is shorter (less than a first preset distance). After resuming normal cleaning, the resulting blind spot is smaller, leading to better cleaning results. After fluid replenishment is complete, the cleaning equipment, driven by the walking component 40, increases its speed from the first to the second speed. This not only improves the cleaning efficiency after fluid replenishment but also makes the cleaning process appear more natural and smooth, resulting in a better user experience.

[0079] This embodiment improves the edge cleaning effect of the cleaning component 20 when it is in the outward-expanding position by controlling its rotation speed to be lower than that when it is in the inward-retracting position. When the rotation speed of the cleaning component 20 is lower in the outward-expanding position than in the inward-retracting position, the contact time between the cleaning component 20 and the bottom and surrounding surfaces of the object to be cleaned is relatively longer, resulting in more stable pressure from the cleaning component 20 on the surface to be cleaned, and increased friction, which helps remove stubborn stains. During the process of the cleaning component 20 changing from the inward-retracting position to the outward-expanding position, the rotation speed of the cleaning component 20 can be gradually reduced, or it can be directly reduced to a predetermined speed value; this embodiment does not impose a single limitation on this.

[0080] A second embodiment of the present invention also provides a cleaning device for executing a control method for the cleaning device, the control method of which can be found in the first embodiment of the present invention. The cleaning device includes a body 10, a cleaning component 20, a fluid supply component 30, a walking component 40, and a control component 50. The cleaning component 20 is disposed at the bottom of the body 10 and has an inwardly retracted position and an outwardly expanded position. In the outwardly expanded position, the portion of the cleaning component 20 located outside the edge contour of the body 10 is larger than the portion located outside the edge contour of the body 10 in the inwardly retracted position. In this embodiment, the cleaning component 20 can be controlled to change between the inwardly retracted and outwardly expanded positions and to rotate for cleaning via a drive component 90 disposed on the body 10.

[0081] The fluid supply component 30 is disposed on the body 10. For example... Figure 3 As shown, the walking component 40 is rotatably disposed at the bottom of the body 10 and offset from the cleaning component 20, so that the walking component 40 can drive the body 10 to move. The control component 50 is electrically connected to the fluid supply component 30 and the walking component 40. The control component 50 is used at least to turn on the fluid supply component 30 and control the walking component 40 to drive the body 10 to move. After the fluid supply component 30 is turned on, it can provide immersion fluid to the cleaning component 20. The control component 50 is configured such that during the time period from turning on the fluid supply component 30 to turning it off, the distance driven by the walking component 40 to travel is not greater than a first preset distance.

[0082] Therefore, during the cleaning process of the cleaning component 20 cleaning the edge of the object while in the outward position, when the cleaning component 20 reaches the preset fluid supply condition, after the cleaning component 20 changes from the outward position to the inward position, the control component 50 activates the fluid supply component 30 to provide wetting fluid to the cleaning component 20, so that the cleaning component 20 can clean in a moist state in the subsequent cleaning process. Furthermore, during the time period from the activation to the deactivation of the fluid supply component 30, the control component 50 can control the walking component 40 to travel a distance not exceeding a first preset distance. That is, during the period when the fluid supply component 30 provides fluid to the cleaning component 20, the distance the cleaning device travels under the drive of the walking component 40 is relatively small, thereby reducing the cleaning blind spots generated during the cleaning process of the cleaning device on the outer edge of the object, improving the cleaning effect and user experience. The first preset distance can be set according to the actual usage environment, and this embodiment is not limited to a single value. For example, the first preset distance can be set to one of 1cm, 2cm, 3cm, 4cm, 5cm, 7cm, etc.

[0083] Please see Figure 4 The control component 50 includes a controller 51 and a first drive component 52. The controller 51 is located on the body 10 and electrically connected to the fluid supply component 30. The controller 51 is used to turn the fluid supply component 30 on or off. The first drive component 52 is electrically connected to the controller 51 and is drively connected to the walking component 40. The controller 51 is also used to control the first drive component 52 to drive the walking component 40 to move at a first speed less than a predetermined speed or a second speed. The second speed is the speed at which the walking component 40 moves before the controller 51 turns on the fluid supply component 30, and the predetermined speed is less than or equal to the second speed.

[0084] Therefore, during the replenishment of fluid by the cleaning component 20, this embodiment can control the walking component 40 to walk at a first speed less than a predetermined speed or a second speed via the controller 51, thereby ensuring that the distance traveled by the cleaning device does not exceed a first preset distance (e.g., less than or equal to the first preset distance). This avoids creating numerous cleaning blind spots in the areas traversed by the cleaning device during the replenishment of fluid by the cleaning component 20. Moreover, controlling the walking speed of the walking component 40 via the controller 51 is not only convenient but also allows for more precise and reliable control of the distance traveled by the cleaning device. The controller 51 in this embodiment may include at least one of a single-chip microcomputer, a microcontroller 51, etc.

[0085] In this embodiment, the first drive component 52 includes a motor 521 and a reducer 522. The motor 521 is located on the main body 10 and electrically connected to the controller 51, and includes a rotating shaft. The reducer 522 is located on the main body 10 and includes an input shaft and an output shaft. The input shaft is connected to the rotating shaft, and the output shaft is connected to the walking assembly 40. This embodiment adjusts the walking speed of the walking assembly 40 before and after the cleaning assembly 20 replenishes fluid by installing the reducer 522 between the controller 51 and the walking assembly 40.

[0086] Although this embodiment allows for the direct control of the motor 521's rotational speed to decrease or increase the walking speed of the walking wheel 41 without the need for a speed reducer 522, in which case the motor 521's shaft is directly connected to the walking assembly 40. For example, when the cleaning assembly 20 is replenished with fluid, the walking assembly 40's speed can be reduced from the second speed to the first speed; when the fluid replenishment is complete, the walking assembly 40's speed can be increased from the first speed to the second speed. Specifically, the controller 51 can adjust the input voltage, current, or frequency of the motor 521 to achieve continuous adjustment of the motor 521's rotational speed, thereby adjusting the walking speed of the walking assembly 40. Furthermore, a closed-loop control system can be used in conjunction with feedback devices such as the encoder 533 or a Hall sensor to monitor the motor 521's rotational speed and the actual walking distance of the walking assembly 40 in real time, and adjustments can be made based on the feedback signal to achieve high-precision speed control.

[0087] In this embodiment, a reducer 522 is provided between the motor 521 and the walking assembly 40. One of the main functions of the reducer 522 is to increase output torque. In cleaning equipment, the walking assembly 40 may require a large torque to overcome friction and load. This embodiment, through the reducer 522, can convert the high-speed, low-torque output of the motor 521 into a low-speed, high-torque output, thereby improving the driving capability of the walking assembly 40. Especially when the walking assembly 40 switches between the first speed and the second speed, or between the second speed and a stop, it can increase the stability and driving strength of the walking assembly 40, allowing it to switch to the corresponding walking state stably and reliably. With the same motor 521 power, using the reducer 522 allows the walking assembly 40 to have greater traction and climbing ability. Therefore, before and after the speed switching of the walking assembly 40, the movement of the cleaning equipment appears smooth and natural, avoiding situations where the speed suddenly decreases or increases, causing jamming or insufficient climbing force leading to slippage.

[0088] Since the controller 51 directly drives the motor 521, it may need to operate at very high speeds, which increases the load and energy consumption of the motor 521. This embodiment, by incorporating a speed reducer 522, can reduce the high-speed rotation of the motor 521 to a speed range suitable for the traveling assembly 40. The speed reducer 522 can also reduce the impact load during the start-up and stop of the motor 521, extending its service life. Under conditions of large load variations, the speed reducer 522 can provide a buffering effect, reducing damage to the motor 521.

[0089] like Figure 4 As shown, the control component 50 in this embodiment also includes a speed detection component 53. The speed detection component 53 is disposed on the walking wheel 41 and electrically connected to the controller 51. The speed detection component 53 is used to detect the walking speed of the walking wheel 41 and transmit the walking speed to the controller 51. For example, the detected second speed is sent to the controller 51 so that the controller 51 can adjust the walking speed of the walking component 40 to a first speed lower than the second speed during the replenishment of fluid by the cleaning component 20, based on the second speed.

[0090] like Figure 3 As shown, the walking assembly 40 includes at least two walking wheels 41, along a first direction (e.g., Figure 2 (In the direction indicated by the middle arrow X), at least two walking wheels 41 are arranged at intervals. The speed detection component 53 includes a first magnet 531 and a first Hall sensor 532. The first magnet 531 is disposed on the walking wheel 41 and is coaxially arranged with the walking wheel 41. The first Hall sensor 532 is disposed on the body 10 and is arranged opposite to the first magnet 531. The first Hall sensor 532 is electrically connected to the controller 51. When the walking wheel 41 rotates and moves, the first magnet 531 moves with the movement of the walking wheel 41, generating a dynamically changing magnetic field. The first Hall sensor 532 outputs a pulse signal by detecting the change in the magnetic field. The controller 51 can determine the walking speed of the walking wheel 41 by receiving the corresponding pulse signal. In this embodiment, the walking speed of the walking component 40 is detected by the first magnet 531 and the first Hall sensor 532, which is convenient to assemble. When the distance between the first Hall sensor 532 and the first magnet 531 is 1 mm to 3 mm (such as one of 1 mm, 1.5 mm, 2 mm, 3 mm, or any other value between 1 mm and 3 mm), the speed detection accuracy is higher.

[0091] In some embodiments, the speed detection component 53 may further include an encoder 533, which is mounted on the walking wheel 41 or the motor 521 of the first drive component 52 to detect the walking speed of the walking wheel 41. Specifically, the encoder 533 may be connected to the shaft of the walking wheel 41 or to the rotating shaft of the motor 521, thereby achieving accurate detection of the walking speed of the walking wheel 41.

[0092] The cleaning equipment also includes a positioning detection component 60, which is located between the main body 10 and the cleaning component 20. The positioning detection component 60 is used to send a start signal to the control component 50 to activate the fluid supply component 30 when it detects that the cleaning component 20 is in the retracted position before the control component 50 activates the fluid supply component 30. The control component 50 (specifically, its controller 51) then activates the fluid supply component 30 in response to the start signal. If the fluid supply component 30 is activated prematurely before the cleaning component 20 is in the retracted position, fluid may splash onto furniture, walls, or other objects due to the swinging of the cleaning component 20. Therefore, in this embodiment, the positioning detection component 60 only activates the fluid supply component 30 when it detects that the cleaning component 20 has returned to the retracted position, thus preventing fluid splashing.

[0093] like Figure 4 As shown, the positioning detection component 60 in this embodiment may include a second magnet 61 and a second Hall sensor 62. The second magnet 61 is disposed on the cleaning component 20. If the cleaning component 20 includes a support 21 and a flexible cleaning element 22, the second magnet 61 may be disposed on the support 21. The second magnet 61 may also be disposed on the drive component 90, such as on the second drive component 91 or the transmission shaft component 92 of the drive component 90. The flexible cleaning element 22 is disposed on the surface of the support 21 away from the body 10. The second Hall sensor 62 is disposed on the body 10 near the cleaning component 20 and is disposed opposite to the second magnet 61. The second Hall sensor 62 is electrically connected to the controller 51 of the control component 50. Thus, when the cleaning component 20 returns to the retracted position, the second Hall sensor 62 detects the magnetic field of the second magnet 61, thereby sending a start signal to the control component 50 indicating that the cleaning component 20 has moved to the retracted position, and the control component 50 can then activate the fluid supply component 30.

[0094] The second Hall sensor 62 includes a switch-type Hall sensor, which can output a digital signal to the control component 50 (specifically, a high-level signal or a low-level signal input to the controller 51 of the control component 50). When the cleaning component 20 moves to the retracted state, the second magnet 61 approaches the second Hall sensor 62. The second Hall sensor 62 detects that the magnetic field strength exceeds a preset threshold and inputs a high-level or low-level start signal to the control component 50, so that the control component 50 can promptly open the fluid supply component 30. Figure 6 and Figure 7 As shown, a mounting groove 122 is provided on the side of the bottom shell 12 near the clearance hole 121, and the second Hall sensor 62 is installed in the mounting groove 122.

[0095] In this embodiment, when the control component 50 includes a controller 51, the controller 51 is located on the body 10 and electrically connected to the fluid supply component 30. The controller 51 is used to turn on the fluid supply component 30 and to turn off the fluid supply component 30 when the duration of detection of the fluid supply component 30 being turned on reaches a first duration. This reduces the time for the cleaning component 20 to replenish fluid and further reduces the distance the cleaning equipment travels during the period of replenishing fluid to the cleaning component 20, resulting in a smaller cleaning blind spot.

[0096] In this embodiment, the control component 50 may further include a controller 51 and a timer 54. The controller 51 is located on the main body 10 and electrically connected to the fluid supply component 30. The controller 51 is used to turn the fluid supply component 30 on or off. The timer 54 is electrically connected to the controller 51 and the fluid supply component 30. The timer 54 is used to send a shutdown signal to the controller 51 when it detects that the fluid supply component 30 has been on for a first duration. The controller 51 shuts down the fluid supply component 30 in response to the shutdown signal. Thus, by setting the timer 54, this embodiment can ensure that the fluid supply component 30 is on for a predetermined first duration during the fluid replenishment period of the cleaning component 20. Using the timer 54 as hardware to time and limit the fluid replenishment time makes the duration control more accurate and reliable, thereby reducing the fluid replenishment time of the cleaning component 20 and further reducing the distance traveled by the cleaning equipment during the fluid replenishment period of the cleaning component 20, resulting in a smaller cleaning blind spot. Especially when the walking component 40 drives the cleaning equipment at a first speed, the shorter the first duration, the shorter the distance traveled by the cleaning equipment, and the smaller the cleaning blind spot and its area. After the fluid is replenished, the cleaning component 20 can continue the cleaning work under the drive of the cleaning equipment.

[0097] In this embodiment, the control component 50 may further include a distance detector 70 and a controller 51. The distance detector 70 is located on the body 10 and is used to detect the end distance between the current position of the cleaning device and the endpoint position for edge cleaning of the object. The controller 51 is located on the body 10 and electrically connected to the distance detector 70. The controller 51 compares the end distance with a preset value so that when the cleaning component 20 reaches the fluid supply condition and the end distance is less than the preset value, the controller 51 can control the cleaning component 20 to remain in the outward expansion position and control the cleaning device to move along the object to leave the endpoint position. When the cleaning component 20 reaches the fluid supply condition and the end distance is greater than or equal to the preset value, the controller 51 controls the cleaning component 20 to change from the outward expansion position to the inward retraction position and activates the fluid supply component 30.

[0098] The control component 50 in this embodiment may further include a comparator 80. The comparator 80 is disposed on the body 10, and its input terminal is electrically connected to the distance detector 70 to receive the first distance and the end distance detected by the distance detector 70. The output terminal of the comparator 80 is electrically connected to the controller 51 of the control component 50.

[0099] The comparator 80 is used to send a first trigger signal to the controller 51 when the end distance is less than a preset value, so that the controller 51 controls the cleaning component 20 to remain in the outward position in response to the first trigger signal, and controls the cleaning device to walk along the outer edge of the object to the position away from the object.

[0100] Therefore, in this embodiment, the comparator 80 compares the distance to the end point with a preset value to determine whether the cleaning component 20 has reached a position close to detaching from the object during the edge cleaning process. If so, when the fluid supply condition is met, the comparator 80 sends a first trigger signal to the controller 51, preventing the controller 51 from controlling the cleaning component 20 to retract to the inward position for fluid replenishment. Instead, while the cleaning component 20 remains in the outward position, the control component 50 controls the cleaning device to continue moving to a position away from the object (such as a wall, furniture, or obstacle). At this time, cleaning is achieved for all areas of the outer edge of the object, avoiding cleaning blind spots near the corresponding outer edge of the object.

[0101] The comparator 80 is also used to send a second trigger signal to the controller 51 when the end distance is greater than or equal to a preset value. The controller 51 then controls the cleaning component 20 to change from an outward-expanding position to an inward-retracting position in response to the second trigger signal. In the inward-retracting position, the control component 50 can activate the fluid supply component 30 to replenish the cleaning component 20 with fluid. In other words, when the end distance is greater than or equal to the preset value, it indicates that the cleaning device has not traveled a very long distance along the outer edge of the object from the starting position to the ending position, and is even quite far from the ending position. If the fluid supply condition is met at this time, the control component 50 controls the cleaning component 20 to change to the inward-retracting position and activates the fluid supply component to replenish the fluid, thereby increasing the wettability of the cleaning component 20 and improving the cleaning effect of the cleaning component 20 on each area during the movement of the cleaning device from the current position to the ending position.

[0102] The distance detector 70 in this embodiment may include at least one of a linear displacement sensor, a travel sensor, a laser rangefinder, an ultrasonic rangefinder, an image sensor, or an infrared sensor. The comparator 80 may include at least one of an analog comparator 80 or a digital comparator 80.

[0103] like Figure 2 as well as Figure 4As shown, the fluid supply component 30 in this embodiment includes a water tank 31, a water pump 32, and an outlet 33. The water tank 31 is located on the main body 10. The water pump 32 is located on the main body 10 and electrically connected to the controller 51. When a timer 54 is provided, the water pump 32 can also be electrically connected to the timer 54. The water pump 32 includes a first interface and a second interface, the first interface being connected to the water tank 31. The outlet 33 includes at least one outlet, at least one outlet 33 being disposed opposite to the cleaning component 20 and connected to the second interface.

[0104] In this embodiment, when the timer 54 inputs a shutdown signal to the controller 51, the controller 51 can prevent the liquid in the water tank 31 from flowing to the outlet 33 by turning off the water pump 32. Alternatively, the controller 51 can directly turn off the water pump 32 when it determines that the fluid supply component 30 has been on for a first duration. The liquid will then not flow along the outlet 33 to the cleaning component 20 and wet it. In some embodiments, when the fluid supply component 30 also includes a heater 35, the heater 35 is connected between the second interface and at least one outlet 33, and the heater 35 can heat the liquid from the water tank 31 into hot water. Therefore, in this embodiment, by controlling the opening and closing of the water pump 32 through the controller 51, when the time for replenishing fluid to the cleaning component 20 reaches the first duration, the timer 54 can send a shutdown signal to the controller 51, enabling the controller 51 to promptly turn off the water pump 32. This ensures that the cleaning equipment travels a shorter distance and generates fewer cleaning blind spots during the replenishment of fluid to the cleaning component 20.

[0105] In this embodiment, the body 10 includes a top shell 11 and a bottom shell 12, and at least one outlet 33 may be provided on the bottom shell 12 of the body 10. The outlet 33 may specifically be a through hole structure or a water outlet structure provided on the bottom shell 12, which is simple and convenient to set.

[0106] The cleaning equipment also includes a drive assembly 90, which includes a second drive component 91 and a transmission shaft component 92. The transmission shaft component 92 is connected between the second drive component 91 and the cleaning assembly 20. The second drive component 91 drives the transmission shaft component 92 to rotate the cleaning assembly 20. At least one outlet 33 is provided on the second drive component 91. Specifically, the outlet 33 can be provided on the outer wall of the housing of the second drive component 91 or on the inner wall of the housing and communicates with the guide structure 211 on the cleaning assembly 20. At least one outlet 33 is provided on the transmission shaft component 92. Thus, regardless of whether the outlet 33 is provided on the second drive component 91 or the transmission shaft component 92, since both the second drive component 91 and the transmission shaft component 92 can move with the cleaning assembly 20 between an outward expansion position and an inward contraction position, the liquid flowing out of the outlet 33 can flow directly onto the cleaning assembly 20, and is less likely to drip onto other parts of the cleaning assembly 20, avoiding liquid splashing onto the floor, walls, furniture, etc.

[0107] Where the fluid supply component 30 includes at least one outlet 33, the cleaning component 20 includes a support 21 and a flexible cleaning element 22. At least one outlet 33 is disposed on the support 21. Along the height direction of the body 10 (e.g., Figure 2 (in the direction indicated by the middle arrow Y), the flexible cleaning element 22 is disposed on the surface of the support 21 away from the body 10, and the fluid supply component 30 is used to flow fluid to the flexible cleaning element 22 through at least one outlet 33.

[0108] Since at least one outlet 33 of the fluid supply component 30 is disposed on the support 21, the fluid supply component 30 is used to flow fluid through at least one outlet 33 to the flexible cleaning element 22 to wet the flexible cleaning element 22. Thus, as the cleaning component 20 moves from one of its retracted position and its expanded position to the other, at least one outlet 33 will move with the cleaning component 20. Therefore, the position of the outlet 33 supplying liquid to the flexible cleaning element 22 relative to the flexible cleaning element 22 remains constant, and the liquid flowing from the outlet 33 can flow directly onto the flexible cleaning element 22 without dripping onto other parts of the cleaning component 20, avoiding liquid splashing onto the floor, walls, furniture, etc., and ensuring the water content of the flexible cleaning element 22, reducing liquid waste.

[0109] When the cleaning component 20 is provided with a flow guiding structure 211, the fluid supply component 30 includes a fluid supply part and a liquid outlet 34, and the fluid supply part is located on the body 10. Figure 5 As shown, the liquid outlet 34 is disposed on the body 10 and opposite to the cleaning assembly 20. The liquid outlet 34 can move relative to the body 10 between an inward position and an outward position with the cleaning assembly 20. The liquid outlet 34 is provided with an outlet 33, which communicates with the fluid supply component. Along the height direction of the body 10, at least a portion of the projected outer contour of the outlet 33 is located within the projected outer contour of the flow guide structure 211. The flow guide structure 211 may include a plurality of through holes disposed on the support 21 of the cleaning assembly 20, which are arranged circumferentially along the support 21. The fluid supply component includes the water tank 31, water pump 32, heater 35, and corresponding connecting pipes mentioned above. The flow guide structure 211 may also include a groove disposed on the support 21 and communicating with the plurality of through holes.

[0110] Therefore, the outlet 33 is located on the liquid outlet 34. Since the liquid outlet 34 can move with the cleaning component 20, and during the process of the cleaning component 20 moving from one of the inward position and the outward position to the other, the outlet 33 is at least partially positioned opposite to the guide structure 211. When the cleaning component 20 moves in the transition position between the inward position and the outward position, the outlet 33 and the guide structure 211 move synchronously. Along the height direction of the body 10, the outlet 33 is stationary relative to the guide structure 211, that is, the outlet 33 is always corresponding to the guide structure 211. The liquid flowing out of the outlet 33 can flow directly onto the guide structure 211 without dripping onto other positions of the cleaning component 20 or being flung out by the collision of the cleaning component 20. This effectively prevents the liquid from splashing outside the guide structure 211 onto objects along the edge such as the ground or walls, ensuring that the cleaning equipment can achieve better cleaning results and improving the user experience.

[0111] When the cleaning device includes a drive assembly 90, the drive assembly 90 includes a second drive component 91 and a transmission shaft component 92. The second drive component 91 is disposed on the body 10. The transmission shaft component 92 is connected between the second drive component 91 and the cleaning assembly 20, and the second drive component 91 is at least used to drive the transmission shaft component 92 to drive the cleaning assembly 20 in a first clockwise direction (e.g., ...). Figure 2 The direction indicated by arrow S (the first clockwise direction is either clockwise or counterclockwise) allows the drive shaft component 92 to rotate with the cleaning assembly 20 between an inward position and an outward position. When the body 10 includes a top shell 11 and a bottom shell 12, the bottom shell 12 is located at the bottom of the top shell 11. Along the height direction of the body 10, the bottom shell 12 is provided with a clearance hole 121, through which the drive shaft component 92 can pass and connect to the cleaning assembly 20. In this case, the liquid outlet 34 may specifically include a sealing plate 341 that covers and seals the clearance hole 121.

[0112] The sealing plate 341 effectively seals the clearance hole 121, preventing liquid from splashing into the interior space of the main body 10 and onto the second drive component 91 through the gap between the clearance hole 121 and the drive shaft component 92. This avoids damage to the second drive component 91, making the interior of the cleaning equipment drier and safer, and extending the service life of each component. During the movement of the cleaning assembly 20 between the inward and outward positions, the outlet 33 on the sealing plate 341 is always accurately aligned with the guide structure 211 and supplies liquid to the cleaning assembly 20, ensuring that the liquid does not flow onto the ground, making the overall structure of the cleaning equipment more compact and reliable.

[0113] Of course, at least one outlet 33 of the fluid supply component 30 in this embodiment can also be provided on the drive shaft component 92, and the fluid supply component 30 flows fluid to the cleaning component 20 along at least one outlet 33. During the movement of the cleaning component 20 from one of the retracted position and the outward expansion position to the other, since the drive shaft component 92 can move with the cleaning component 20 between the retracted position and the outward expansion position, the outlet 33 will also move with the movement of the drive shaft component 92 and the cleaning component 20. Therefore, the position of the outlet 33 supplying fluid to the cleaning component 20 relative to the cleaning component 20 remains unchanged, and the fluid flowing out of the outlet 33 can flow directly onto the cleaning component 20 without flowing to places outside the cleaning component 20. Especially when the fluid includes liquid, it can prevent liquid from splashing onto the floor, walls, furniture, etc.

[0114] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0115] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0116] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for cleaning equipment, characterized in that, include: The cleaning component (20) of the cleaning device is controlled to change from an inward position to an outward position so that the cleaning component (20) cleans the object along the edge, wherein the portion of the cleaning component (20) outside the edge contour of the cleaning device body (10) in the outward position is larger than the portion outside the edge contour of the body (10) in the inward position. When the cleaning component (20) reaches the preset fluid supply conditions, the cleaning component (20) is controlled to change from the outward position to the inward position; When the cleaning component (20) is detected to be in the retracted position, the control fluid supply component (30) provides immersion fluid to the cleaning component (20), and during the time period from the opening to the closing of the fluid supply component (30), the distance the cleaning device travels along the edge is controlled to be no greater than a first preset distance.

2. The control method for the cleaning equipment according to claim 1, characterized in that, The steps for controlling the cleaning device to travel a distance along the edge not greater than a first preset distance include: The walking component (40) of the cleaning equipment is controlled to walk at a first speed, and the first speed is less than a preset speed, so that the distance the cleaning equipment walks is not greater than the first preset distance.

3. The control method for the cleaning equipment according to claim 1, characterized in that, The step of controlling the cleaning device to travel a distance along the edge not greater than a first preset distance further includes: Before the fluid supply component (30) is turned on, the second speed of the walking component (40) of the cleaning device is obtained, and the walking component (40) is controlled to walk at a first speed less than the second speed so that the distance the cleaning device walks is not greater than the first preset distance. The second speed is the speed of the walking component (40) when the cleaning component (20) is in the outward position.

4. The control method for the cleaning equipment according to claim 1, characterized in that, During the cleaning process of the cleaning component (20) along the edge of the object, the method further includes: Detect the end distance between the current position of the cleaning device and the endpoint of the edge cleaning of the object; When the cleaning component (20) reaches the fluid supply condition and the end distance is less than a preset value, the cleaning component (20) is controlled to remain in the outward expansion position, and the cleaning device is controlled to move along the object to leave the endpoint position; or, When the cleaning component (20) reaches the fluid supply condition and the end distance is greater than or equal to a preset value, the cleaning component (20) is controlled to change from the outward position to the inward position and the fluid supply component (30) is turned on.

5. The control method for the cleaning equipment according to claim 1, characterized in that, The step of controlling the cleaning device to travel a distance along the edge not greater than a first preset distance further includes: When the cleaning component (20) reaches the fluid supply condition, the speed of the walking component (40) of the cleaning device is reduced until the walking component (40) stops walking.

6. The control method for the cleaning equipment according to claim 1, characterized in that, The method further includes: In response to a signal that the fluid supply component (30) is shut off, the cleaning component (20) is controlled to return from the retracted position to the expanded position so that the cleaning component (20) cleans the object along its edges.

7. The control method for the cleaning equipment according to claim 6, characterized in that, After controlling the cleaning component (20) to return from the retracted position to the expanded position, the method further includes: The walking speed of the walking component (40) of the cleaning equipment is controlled to a second speed, so that the walking component (40) drives the cleaning equipment to move at the second speed, the second speed being greater than the first speed, the first speed being the speed at which the cleaning equipment travels during the time period from the opening to the closing of the fluid supply component (30); and / or, The rotational speed of the cleaning component (20) in the outward position is smaller than that in the inward position.

8. The control method for the cleaning equipment according to claim 1, characterized in that, The method further includes: When the cleaning component (20) reaches the fluid supply condition, it is determined whether the cleaning device is in a trapped state. If so, the fluid supply component (30) is controlled to remain in a closed state. The trapped state includes the state in which the cleaning device is determined when the size of the walking space of the cleaning device is not greater than a set size.

9. The control method for the cleaning equipment according to any one of claims 1 to 8, characterized in that, The step of controlling the cleaning device to travel a distance along the edge not greater than a first preset distance further includes: The fluid supply component (30) is controlled to supply the fluid to the cleaning component (20) for a first duration less than a predetermined duration. The predetermined duration is the duration generated from the opening to the closing of the fluid supply component (30) when the cleaning device is in a free cleaning state. The free cleaning state is the state in which the cleaning device performs cleaning work when the distance between the cleaning device and the outer edge of the object is greater than a second preset distance.

10. A cleaning device, characterized in that, The cleaning device is used to perform the control method of the cleaning device according to any one of claims 1 to 9, the cleaning device comprising: Ontology(10); A cleaning component (20) is disposed at the bottom of the body (10) and has an inward position and an outward position. When the cleaning component (20) is in the outward position, the part of the cleaning component (20) outside the edge contour of the body (10) is larger than the part of the cleaning component (20) outside the edge contour of the body (10) when the cleaning component (20) is in the inward position. A fluid supply assembly (30) is disposed on the body (10); A walking assembly (40) is rotatably disposed at the bottom of the body (10) and offset from the cleaning assembly (20); A control component (50) is electrically connected to the fluid supply component (30) and the walking component (40). The control component (50) is configured to drive the walking component (40) to walk a distance not greater than a first preset distance during the time period from the time the fluid supply component (30) is turned on to the time period from the time the fluid supply component (30) is turned off.

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