Cleaning control method, apparatus, and cleaning equipment

Abstract

The invention relates to the field of cleaning equipment, and provides a cleaning control method and device and cleaning equipment which are applied to the cleaning equipment, the cleaning equipment comprises a machine body, a side brush assembly movably connected to the machine body and a mop assembly, and the side brush assembly is provided with a cleaning position making contact with a cleaning face and a lifting position separated from the cleaning face; the method comprises the steps that when it is confirmed that a wet area exists on the cleaning path of the cleaning equipment in the cleaning process of the cleaning equipment according to the predefined cleaning path, the cleaning equipment is controlled to run to the position before the wet area, and the cleaning equipment is controlled to clean the wet area under the condition that the side brush assembly is located at the lifting position. According to the cleaning equipment, the side brush assembly can be lifted up before the wet area is cleaned, the situation that the side brush assembly is lifted up after making contact with the wet area, the side brush assembly is polluted, and the cleaning face is polluted when the side brush assembly conducts cleaning next time is avoided, and the cleaning flexibility of the cleaning equipment is further improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511959690.8 (22) Application Date 2024.02.09 (62) Divisional Application Data 202410178870.1 2024.02.09 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Li Lu, Yang Donghao, Huo Jianghao (74) Patent Agency: Beijing Tongli Juncheng Intellectual Property Agency Co., Ltd. 11205 Patent Attorney: Luo Qian (51) Int.Cl. A47L 11 / 24 (2006.01) A47L 11 / 40 (2006.01) A47L 11 / 32 (2006.01) A47L 11 / 28 (2006.01) (54) Invention Title Cleaning Control Method, Apparatus and Cleaning Equipment (57) Abstract This application relates to the field of cleaning equipment and provides a cleaning control method, apparatus and cleaning equipment, applied to a cleaning equipment. The cleaning equipment includes a body, a side brush assembly movably connected to the body and a mop assembly. The side brush assembly has a cleaning position that contacts the cleaning surface and a lifting position that separates from the cleaning surface. The method includes: when the cleaning equipment is cleaning the cleaning surface according to a predefined cleaning path, if it is confirmed that there is a wet area on the cleaning path of the cleaning equipment, the cleaning equipment is controlled to travel to the wet area and the cleaning equipment is controlled to perform cleaning on the wet area with the side brush assembly in the lifting position. In this way, the cleaning equipment can lift the side brush assembly before cleaning the wet area, avoiding contact with the wet area and lifting it, which would contaminate the side brush assembly and cause the side brush assembly to contaminate the cleaning surface during the next cleaning, thereby further improving the cleaning flexibility of the cleaning equipment. Claims 2 pages, Description 30 pages, Drawings 10 pages, CN 121400728 A 2026.01.27 CN 1 21 40 07 28 A 1. A cleaning control method, characterized in that it is applied to a cleaning device, the cleaning device comprising a body, a side brush assembly movably connected to the body, and a mop assembly, the side brush assembly being used at least for performing dry cleaning on a cleaning surface, the mop assembly being used at least for performing wet cleaning on a cleaning surface, the side brush assembly having a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface; the method comprising: during the cleaning process of the cleaning device cleaning a cleaning surface according to a predefined cleaning path, when it is confirmed that there is a wet area on the cleaning path of the cleaning device, controlling the cleaning device to travel to the wet area, and controlling the cleaning device to perform cleaning on the wet area with the side brush assembly in the raised position.2. The cleaning control method according to claim 1, characterized in that, before the cleaning device travels to the wet area, it includes any one of the following situations: the projection of the body of the cleaning device does not contact the wet area; the cleaning device travels along the cleaning path to a preset distance or critical point relative to the wet area. 3. The cleaning control method according to claim 1, characterized in that, the method further includes: after the cleaning device has finished cleaning the wet area, controlling the side brush assembly to be in the cleaning position, and continuing to clean the cleaning surface along the cleaning path. 4. The cleaning control method according to claim 1, characterized in that, the method further includes: before the side brush assembly contacts the wet area, controlling the side brush assembly to switch from the cleaning position to the raised position; wherein, before the side brush assembly contacts the wet area, it includes: the cleaning device traveling to the edge relative to the wet area. 5. The cleaning control method according to claim 1, wherein confirming the existence of a wet area on the cleaning path of the cleaning device includes: confirming the existence of a wet area on the cleaning path of the cleaning device according to the cleaning map of the cleaning device; wherein the cleaning map is a virtual area, and the virtual area is an area preset by the user in the cleaning area of ​​the cleaning device, or an area that the cleaning device identifies as inaccessible during the cleaning process. 6. The cleaning control method according to claim 1, wherein before controlling the cleaning device to travel to the wet area, and controlling the cleaning device to perform cleaning on the wet area with the side brush assembly in a raised position, includes: before confirming the existence of a first area on the cleaning path that has already undergone wet cleaning, determining a preset distance or critical point relative to the first area based on the position of the first area, and controlling the cleaning device to perform cleaning on the wet area with the side brush assembly in a raised position; wherein the wet area includes the first area. 7. The cleaning control method according to claim 1, characterized in that, before controlling the cleaning device to travel to the wet area and controlling the cleaning device to perform cleaning on the wet area with the side brush assembly in a raised position, the step of cleaning the wet area includes: when it is confirmed that there is a second area contaminated by wet stains on the cleaning path, controlling the cleaning device to travel to the second area before it travels to the second area, or controlling the cleaning device to travel to a preset distance or critical point from the second area, controlling the side brush assembly to switch from the cleaning position to the raised position to perform cleaning on the second area; wherein, the wet area includes the second area. 8. The cleaning control method according to claim 7, characterized in that, the method of confirming the second area includes any one of the following: Claims 1 / 2 Page 2 CN121400728 A The second area is confirmed based on the detection signal of the stain sensor; user preset information is obtained, and the second area is confirmed based on the user preset information, wherein the preset information is information input by the user in advance to determine the position of the second area in the cleaning surface. 9. The cleaning control method according to claim 1, characterized in that the method further includes: when the cleaning device is in a navigation process, determining the length of the navigation distance based on map information and task planning; if the length of the navigation distance is greater than a preset threshold, controlling the side brush assembly to be in the raised position; if the length of the navigation distance is less than or equal to the preset threshold, controlling the side brush assembly to be in the cleaning position. 10. The cleaning control method according to claim 1, characterized in that the method further includes: when the cleaning device is in a positioning process, controlling the side brush assembly to be in the raised position, and controlling the cleaning device to perform positioning of various positions within a preset area. 11. The cleaning control method according to claim 1, characterized in that the method further comprises: controlling the side brush assembly to be in the raised position before the cleaning equipment enters the base station; if, after the cleaning equipment is in the base station, it is detected that the side brush assembly is not in the raised position, then controlling the side brush assembly to be in the raised position. 12. A cleaning control device, characterized in that it is applied to a cleaning equipment, the cleaning equipment comprising a body, a side brush assembly movably connected to the body, and a mop assembly, the side brush assembly being used at least for performing dry cleaning on a cleaning surface, the mop assembly being used at least for performing wet cleaning on a cleaning surface, the side brush assembly having a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface; the device comprising a control module, the control module being used to: when, during the cleaning process of the cleaning equipment cleaning the cleaning surface according to a predefined cleaning path, if it is confirmed that there is a wet area on the cleaning path of the cleaning equipment, control the cleaning equipment to travel to the wet area before it reaches the wet area, and control the cleaning equipment to perform cleaning on the wet area with the side brush assembly in the raised position. 13. A cleaning device, characterized in that it comprises a body, a side brush assembly and a mop assembly movably connected to the body, and a controller configured to perform the cleaning control method as described in any one of claims 1-11. Claims 2 / 2 Page 3 CN 121400728 A Cleaning Control Method, Apparatus and Cleaning Device

[0001] This application is a divisional application. The original application number is 202410178870.1, and the original application date is February 9, 2024. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning equipment, and more particularly to a cleaning control method, apparatus and cleaning device. Background Art

[0003] The side brush is an important component in the cleaning equipment. When the cleaning equipment is working, the side brush can clean the cleaning surface by rotating. Due to the complexity of the cleaning scenario and the certain degree of descent of the side brush, if it encounters a cleaning scenario with stains such as water stains or coffee stains, the side brush may become contaminated.

[0004] In related technologies, to solve the above situation, complex walking logic is usually introduced into the cleaning equipment, or targeted scenario design is carried out with the help of sensors. For example, for a cleaning scenario with stains, the walking logic in the cleaning equipment can be set to first control the cleaning equipment to turn around so as to use the mop assembly to clean the stains. After the stains are cleaned, the cleaning equipment is controlled to turn around to the original direction of travel and continue cleaning based on the original path.

[0005] However, the control logic of the cleaning equipment in the above-mentioned way is relatively complex and the cleaning efficiency is poor. Summary of the Invention

[0006] This application provides a cleaning control method, device and cleaning equipment to solve the problem that the control logic of the existing cleaning equipment is relatively complex and the cleaning efficiency is poor when cleaning in a cleaning scenario with stains.

[0007] In a first aspect, this application provides a cleaning control method applied to a cleaning device. The cleaning device includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is used at least for dry cleaning of the cleaning surface, and the mop assembly is used at least for wet cleaning of the cleaning surface. The side brush assembly has a cleaning position that contacts the cleaning surface and a raised position that separates it from the cleaning surface. The method includes:

[0008] When it is confirmed that there is a wet area on the cleaning path of the cleaning device, the cleaning device cleans the wet area when the side brush assembly is in the raised position.

[0009] In this way, for the wet area in the cleaning surface, the cleaning device can control the side brush assembly to be in the raised position to directly clean the wet area without complex control logic, resulting in higher cleaning efficiency. Since the side brush assembly may pick up a lot of dirt during the cleaning process, if it encounters a wet area before cleaning the cleaning surface, it may cause contamination to the cleaning surface. This application controls the side brush assembly to be in the raised position to clean the wet area, so that the side brush assembly will not directly contact the wet area, thus avoiding contamination of the cleaning surface and improving the cleaning effect.

[0010] Optionally, the method further includes: controlling the side brush assembly to switch from a cleaning position to a raised position before the side brush assembly contacts the wet area.

[0011] In this way, the cleaning device can raise the side brush assembly before cleaning the wet area, avoiding contamination of the side brush assembly after contact with the wet area, and preventing the side brush assembly from contaminating the cleaning surface during the next cleaning, further improving the cleaning flexibility of the cleaning device. Furthermore, since the side brush assembly may accumulate a lot of dirt during the cleaning process, if it comes into contact with a wet area, it may contaminate the wet area, causing cleaning difficulties. This application can avoid the above situations. (Specification 1 / 30 pages 4 CN)121400728 A

[0012] Optionally, confirming the existence of a wet area on the cleaning path of the cleaning device includes:

[0013] Confirming the existence of a first area that has already undergone wet cleaning on the cleaning path, the wet area including the first area.

[0014] In this way, when the cleaning device encounters a first area that has undergone wet cleaning based on the mop assembly, the side brush assembly can be controlled to be in a raised position to avoid contamination of the first area by dirt that may exist on the side brush, thereby ensuring the cleaning effect of the cleaning surface and improving the user experience.

[0015] Optionally, confirming the existence of a wet area on the cleaning path of the cleaning device includes:

[0016] Confirming the existence of a first area on the cleaning path based on sensor signals; and / or, confirming the area that the cleaning device has performed wet cleaning based on the cleaning map of the cleaning device, and determining the existence of a first area on the cleaning path of the cleaning device based on the area that has undergone wet cleaning.

[0017] In this way, the existence of a first area can be predicted in advance based on sensor signals or a cleaning map, thereby controlling the side brush assembly to switch to the raised position in advance, improving the intelligence and timeliness of component switching.

[0018] Optionally, the mop assembly is disposed on the rear side of the body, and the side brush assembly is disposed on the front side of the body. The mop assembly is used at least to perform wet cleaning of the cleaning surface when the cleaning device performs bow-shaped path cleaning; the bow-shaped path includes a first path, a second path, and a third path transitioning from the first path to the second path; when the cleaning device cleans along the first path and the second path, the coverage area of ​​the wet cleaning at least partially overlaps; the method further includes:

[0019] When cleaning the second path or the third path, if the side brush assembly is in an area already covered by the mop assembly when cleaning the first path, the side brush assembly is controlled to be in a raised position for cleaning.

[0020] In this way, when the side brush assembly is detected to be in an area already covered by the mop assembly when cleaning the bow-shaped path, the side brush assembly can be controlled to be in a raised position for cleaning, avoiding repeated cleaning of the already wet-mopped area by the side brush assembly and contamination of the cleaning surface.

[0021] Optionally, the number of side brush components is one, and the side brush component is located on the right front side of the machine body. The method further includes:

[0022] When the cleaning device performs bow-shaped path cleaning, it first cleans along the first path and then cleans along the second path. When the cleaning device cleans along the first path, the side brush component is in the cleaning position; when the cleaning device cleans along the second path, the side brush component is in the raised position.

[0023] In this way, the cleaning device can achieve cleaning of the cleaning surface with one side brush component. When it is determined that the side brush component is in the area already covered by the mop component when cleaning the second path, the side brush component can be controlled to be in the raised position for cleaning, avoiding repeated cleaning of areas that have already been wet-mopped and preventing contamination of already cleaned surfaces.

[0024] Optionally, the method further includes: when the cleaning device is cleaning along the first path, the side brush assembly is in the cleaning position; when the cleaning device enters the third path from the first path, the side brush assembly switches from the cleaning position to the raised position.

[0025] If the side brush assembly is raised in the first path, the raising timing is too early, which may cause the first path to be missed; if the side brush assembly is raised in the second path, the raising timing is too late, and the side brush assembly is easily contaminated by the wet ground, thereby affecting the cleaning power of the next cleaning, and causing the side brush assembly to also contaminate other areas, affecting the cleaning effect. Therefore, the side brush assembly is raised in the third path to avoid the above situation, thereby improving the cleaning effect.

[0026] Optionally, confirming that there is a wet area on the cleaning path of the cleaning device includes: confirming that there is a second area on the cleaning path contaminated by wet stains, the wet area including the second area.

[0027] In this way, when cleaning the second area, the side brush assembly will not directly contact the second area, avoiding contamination of the side brush assembly by dirt in the second area. Since the side brush assembly may pick up a lot of dirt during the cleaning process, if it touches the second area before cleaning the surface, it may contaminate the surface. This application intelligently controls the side brush assembly to be in a raised position to clean the second area, ensuring a good cleaning experience and preventing the area of ​​wet stains from expanding through the side brush assembly, as well as contaminating the surface.

[0028] Optionally, the second area is determined based on the stain information identified by the stain sensor, or based on a pre-defined stain area on the work map.

[0029] In this way, the second area can be determined in advance based on the stain sensor or the work map, and the side brush assembly of the cleaning equipment can be controlled in advance to be in a raised position to clean the second area, solving the problem of the side brush assembly contacting the second area due to not being in a raised position in time, and ensuring the cleaning effect.

[0030] Optionally, the method further includes: after the stain sensor detects stain information, before the side brush assembly contacts the second area, controlling the side brush assembly to switch from a cleaning position to a raised position.

[0031] Thus, after the stain sensor detects stain information, if the side brush assembly is raised at a certain distance from the second area, the raising timing is too early, and it is easy to miss some areas before the second area; if the side brush assembly is raised after contacting the second area, the raising timing is too late, and the side brush assembly is easily contaminated by stains, thereby affecting the cleaning power of the next cleaning, causing the side brush assembly to contaminate other areas during the next cleaning, expanding the contamination range. Therefore, controlling the side brush assembly to raise at the critical point corresponding to the contact with the second area can avoid the above situation and improve the cleaning effect of the cleaning equipment.

[0032] Optionally, the cleaning equipment further includes a roller brush assembly, and the roller brush assembly has suction to perform cleaning work. The method further includes:

[0033] The side brush assembly and roller brush assembly are in a raised position separated from the cleaning surface, while the mop assembly is in a mopping position in contact with the cleaning surface, cleaning the wet area.

[0034] In this way, the mop assembly can directly clean stains in the wet area, thereby avoiding stains adhering to the side brush assembly and roller brush assembly, or even the phenomenon of stain diffusion, keeping the cleaning surface dry and uncontaminated.

[0035] Optionally, the method further includes: controlling the side brush assembly not to rotate in the raised position; and / or controlling the suction at the roller brush assembly to be turned off.

[0036] In this way, power energy can be saved, thereby extending the working time of the cleaning equipment.

[0037] Optionally, the method further includes: controlling the side brush assembly to rotate in the raised position; and / or controlling the roller brush assembly to have suction in the raised position, so as to air dry at least part of the wet area.

[0038] In this way, the range of the wet area can be reduced, the drying of the cleaning area can be accelerated, and the cleaning effect of the cleaning equipment can be improved.

[0039] Optionally, the method further includes: confirming that there is a carpet area within the cleaning surface of the cleaning device, and controlling the side brush assembly to be in a raised position when the cleaning device is in the carpet area.

[0040] Since the side brush assembly may get a lot of dirt during the cleaning process, cleaning the carpet area may cause pollution to the carpet area. This application controls the side brush assembly to be in a raised position to perform cleaning on the carpet area, so that the side brush assembly will not directly contact the carpet area, which can avoid pollution to the carpet area and the occurrence of the side brush getting tangled in the carpet, thereby improving cleaning efficiency.

[0041] Optionally, the method further includes: when the cleaning device is identified to be in the carpet area, controlling the cleaning device to move to the ground area, then controlling the side brush assembly to switch from the cleaning position to the raised position, and then controlling the cleaning device to enter the carpet area to perform cleaning work.

[0042] In this way, when the cleaning device is cleaning the carpet area, the side brush assembly can be controlled to switch from the cleaning position to the raised position, and then the cleaning device can be controlled to enter the carpet area to perform cleaning work, avoiding the side brush getting tangled in the carpet area when the side brush assembly is lifted on the carpet area, and also avoiding the side brush polluting the carpet.

[0043] Optionally, the method further includes: when there is a carpet area within the cleaning surface and the cleaning device is located on the ground, as stated on page 3 / 30 of the specification (CN 121400728 A), when the cleaning device is located on the ground, first controlling the side brush assembly to switch from the cleaning position to the lifting position, and then controlling the cleaning device to move from the ground area to the carpet area.

[0044] In this way, when the cleaning device is located on the ground, the side brush assembly can be controlled to switch from the cleaning position to the lifting position in advance, and then the cleaning device can be controlled to move from the ground area to the carpet area for cleaning. This solves the problem of carpet contamination caused by untimely state switching. Furthermore, the carpet area can be determined in advance according to the environment where the cleaning device is located, and the position of the side brush assembly can be intelligently switched, improving the convenience of using the cleaning device.

[0045] Optionally, the method further includes: when the cleaning device is located in a carpet area, controlling both the side brush assembly and the mop assembly to be in a raised position separated from the cleaning surface.

[0046] This can prevent the side brush assembly and the mop assembly from contacting the carpet and causing contamination to the carpet.

[0047] Optionally, the method further includes: when the cleaning device is in a non-cleaning task scenario, controlling the side brush assembly to be in a raised position, the non-cleaning task scenario including at least one of the following: the cleaning device returning to the base station, the cleaning device being at the base station, the cleaning device being in the navigation process, the cleaning device being in the positioning process.

[0048] This allows the side brush assembly to be controlled to be in a raised position during the above processes, thereby reducing friction of the side brush assembly, avoiding problems such as frizz caused by the side brush assembly, and improving the service life of the side brush assembly.

[0049] Optionally, the method further includes: when the cleaning device is in a difficult cleaning scenario, controlling the side brush assembly to be in a raised position, the difficult cleaning scenario including at least one of the following: the cleaning device overcoming obstacles, the cleaning device being trapped, the presence of obstacles with entanglement characteristics on the cleaning path, the presence of particulate obstacles on the cleaning path.

[0050] Therefore, for the above-mentioned difficult cleaning scenarios, the side brush assembly can be controlled to be in a raised position to avoid the side brush assembly being worn or knocked off by known obstacles in the above-mentioned scenarios, and to facilitate the cleaning equipment to get out of the predicament.

[0051] Optionally, the side brush assembly is swayably connected to the machine body via a swing arm, so that the side brush assembly has an inward position and an outward position. When the side brush assembly is in the outward position, it is further away from the edge of the machine body than when it is in the inward position. The method further includes:

[0052] When the side brush assembly is in the outward position, first control the side brush assembly to switch from the outward position to the inward position, and then control the side brush assembly to move to the raised position.

[0053] In this way, by avoiding raising the side brush assembly in the outward position, it is possible to avoid the side brush assembly from generating resistance due to the excessive diameter of the side brush or the side brush getting stuck in the cleaning equipment when it is raised, thus ensuring the normal operation of the cleaning equipment.

[0054] Optionally, the side brush assembly includes a side brush housing and a cleaning component at least partially housed within the side brush housing. When the side brush housing and the cleaning component move synchronously, the side brush assembly is in a cleaning position to clean the cleaning surface using the cleaning component. When the side brush housing and the cleaning component move relative to each other, the side brush assembly switches between a cleaning position and a raised position.

[0055] In this way, through the relative movement between the side brush housing and the cleaning component, at least a portion of the structure of the cleaning component moves into the side brush housing, thereby separating from the cleaning surface. The operating principle is relatively simple and easy to implement.

[0056] Optionally, the side brush assembly includes a first driving component. When the side brush assembly is in the cleaning position, the first driving component drives the side brush housing and the cleaning component to move synchronously, and the first driving component drives the side brush assembly to clean the cleaning surface. When the side brush assembly is in the cleaning position, the first driving component drives the side brush housing and the cleaning component to move relative to each other, and the side brush assembly cleans the surface.Switching between the position and the raised position, and / or, when the side brush assembly is in the raised position, the first drive assembly drives the side brush housing and the cleaning component to rotate differentially, so that the side brush assembly moves to the cleaning position.

[0057] In this way, by setting the first drive assembly, it is convenient to control the side brush assembly to switch between the cleaning position and the raised position, so as to avoid the side brush assembly from contaminating the cleaning surface, and the motion control method of the first drive assembly is relatively simple and easy to implement.

[0058] Optionally, the first drive assembly includes a first motor. When the side brush assembly is in the cleaning position, when the first motor rotates in the first direction, the side brush housing and the cleaning component move synchronously, and the cleaning component performs cleaning on the cleaning surface; when the side brush assembly is in the cleaning position, when the first motor rotates in the second direction, the side brush housing and the cleaning component generate relative movement, and the cleaning component is raised.

[0059] Optionally, the first drive assembly includes a stop and an output shaft, one of which is connected to the cleaning component, and the other is connected to the side brush housing. The stop is configured to rotate in a first direction.

[0060] Optionally, the stop includes a one-way bearing, the inner ring of which is connected to the cleaning component. The inner ring is configured to rotate in the first direction, and the output shaft is connected to the side brush housing so that the side brush housing rotates with the rotation direction of the first motor.

[0061] Thus, both the cleaning component and the side brush housing can rotate synchronously in the first direction under the drive of the first motor, and the side brush housing can also rotate in a second direction under the drive of the first motor, thereby generating relative motion with the cleaning component. Furthermore, the implementation is relatively simple and cost-effective.

[0062] Optionally, the side brush housing has a mounting cavity and an extension communicating with the mounting cavity. The cleaning component is partially disposed within the mounting cavity, and the extension is adapted for the cleaning component to extend out.

[0063] This makes the engagement between the side brush housing and the cleaning component relatively simple and easy to implement.

[0064] Optionally, when the side brush housing and the cleaning component move relative to each other, at least one of the extension length of the cleaning component relative to the side brush housing or its height relative to the cleaning surface can be varied, so that the cleaning component is raised or lowered relative to the cleaning surface.

[0065] Thus, the cleaning component can be implemented in various ways, which can better meet the usage requirements, and the specific structure of the cleaning component can be flexibly selected according to actual needs.

[0066] Optionally, the edge sidewall of the protrusion forms a guide surface. When the first motor rotates in the second direction, the guide surface and the cleaning component abut against each other to change the position of the cleaning component relative to the side brush housing.

[0067] Thus, by setting the guide surface, when the side brush housing rotates with the connecting shaft, the side brush housing can press the cleaning component inward, making it easier for the cleaning component to retract into the side brush housing, and the retraction process is smoother, reducing jamming.

[0068] Optionally, the opposite sidewalls of the protrusion extend obliquely relative to the axial direction of the connecting shaft to form at least part ofThe guide surface, and / or at least a portion thereof, forms a preset angle with the horizontal direction, such that the guide surface extends obliquely upward. When the cleaning component retracts into the mounting cavity, the cleaning component moves along the guide surface to change its height relative to the cleaning surface.

[0069] Thus, when the side brush housing rotates relative to the cleaning component in the second direction, the cleaning component can retract into the side brush housing along the guide surface, and the retraction process is relatively smooth, which can minimize the squeezing force of the side brush housing on the cleaning component, thereby reducing the degree of bending deformation of the cleaning component and ensuring the reliability of the cleaning component.

[0070] Optionally, the method further includes: confirming the scenario in which the side brush assembly is allowed to be raised according to the configuration information; when the cleaning equipment confirms that there is a scenario that needs to be raised, and confirms according to the configuration information that the current scenario allows for raising, controlling the side brush assembly to switch to the raised position.

[0071] In this way, as long as the cleaning equipment is in a scenario that needs to be raised, and after determining according to the configuration information that the conditions for allowing the side brush assembly to be raised are met, the side brush assembly can be switched to the raised position, improving the flexibility of the application.

[0072] Optionally, the cleaning device also includes a mop assembly. The cleaning device is configured to have a mopping mode. When the cleaning device is in the mopping mode, the side brush assembly is in a raised position, and the mop assembly contacts the cleaning surface to perform the cleaning work.

[0073] In this way, cleaning based on the mopping mode can reduce the frequency of contact between the side brush assembly and contaminants, reduce the wear and tear on the side brush assembly, and also prevent the dirty side brush assembly from contaminating other areas.

[0074] In a second aspect, this application provides a cleaning control device applied to a cleaning equipment. The cleaning equipment includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is used at least for performing dry cleaning on a cleaning surface, and the mop assembly is used at least for performing wet cleaning on the cleaning surface. The side brush assembly has a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface. The device includes a control module, which is used to:

[0075] When it is confirmed that there is a wet area on the cleaning path of the cleaning equipment, the cleaning equipment performs cleaning on the wet area when the side brush assembly is in the raised position.

[0076] In a third aspect, this application provides a cleaning equipment including a body, a side brush assembly and a mop assembly movably connected to the body, and a controller. The controller is configured to perform the cleaning control method as described in any one of the first aspects.

[0077] In summary, this application provides a cleaning control method, apparatus, and cleaning equipment. The cleaning equipment includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is used at least for dry cleaning of the cleaning surface, and the mop assembly is used at least for wet cleaning of the cleaning surface. The side brush assembly has a cleaning position that contacts the cleaning surface and a lifting position that separates from the cleaning surface. Thus, when the cleaning equipment determines that there is a wet area on the cleaning path to be cleaned, it can...The side brush assembly is controlled to be in a raised position, thereby allowing other cleaning components of the cleaning device, such as the mop assembly, to clean the wet area. This avoids contact between the side brush assembly and the wet area, preventing it from carrying dirt and thus reducing contamination of the cleaning surface and the side brush assembly. Since the cleaning device in this application can directly control the side brush assembly to be in a raised position when encountering a wet area, enabling the cleaning device to clean the wet area, the operation is continuous and does not require complex control logic, greatly improving cleaning efficiency.

[0078] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0079] Figure 1 is a schematic diagram of an application scenario provided by an embodiment of this application;

[0080] Figure 2 is a schematic diagram of a scenario where all side brush components are in the raised position provided by an embodiment of this application;

[0081] Figure 3 is a flowchart of an optional cleaning control method provided by an embodiment of this application;

[0082] Figure 4 is a schematic diagram of a side brush component switching from a cleaning position to a raised position provided by an embodiment of this application;

[0083] Figure 5 is a schematic diagram of a scenario where a cleaning device performs cleaning in a bow-shaped path provided by an embodiment of this application;

[0084] Figure 6 is a schematic diagram of a scenario where a cleaning device cleans a carpet area provided by an embodiment of this application;

[0085] Figure 7 is a schematic diagram of a scenario where another cleaning device cleans a carpet area provided by an embodiment of this application;

[0086] Figure 8 is a schematic diagram of a scenario where all side brush components are in the outward swing position provided by an embodiment of this application;

[0087] Figure 9 is a schematic diagram of a switching of the side brush component from the outward swing position to the inward retraction position provided by an embodiment of this application;

[0088] Figure 10 is an assembly diagram of the side brush assembly and the first drive assembly according to an embodiment of this application;

[0089] Figure 11 is an exploded view of the side brush assembly and the first drive assembly according to an embodiment of this application;

[0090] Figure 12 is a structural schematic diagram of the side brush assembly from one angle according to an embodiment of this application;

[0091] Figure 13 is a structural schematic diagram of the side brush assembly from another angle according to an embodiment of this application;

[0092] Figure 14 is a structural schematic diagram of the side brush assembly from yet another angle according to an embodiment of this application;

[0093] Figure 15 is a structural schematic diagram of the cleaning component according to an embodiment of this application;

[0094] Figure 16 is a schematic diagram of the side brush assembly in the retracted position according to an embodiment of this application;

[0095] Figure 17 is a schematic diagram of the side brush assembly in the outward swing position according to an embodiment of this application;

[0096] Figure 18 is a structural schematic diagram of a cleaning control device provided according to an embodiment of this application;

[0097] Figure 19 is a structural schematic diagram of a cleaning equipment provided according to an embodiment of this application.

[0098] The above figures illustrate specific embodiments of this application, which will be described in more detail below. These figures are descriptions.Page 6 / 30, 9 CN 121400728 A. The textual description is not intended to limit the scope of the concept in any way, but rather to illustrate the concept of the application to those skilled in the art by reference to specific embodiments.

[0099] Explanation of reference numerals:

[0100] 100-cleaning equipment; 102-cleaning equipment base station; 10-side brush assembly; 11-cleaning component; 111-clutch bushing; 112-cleaning strip; 113-avoidance notch; 114-connecting body; 115-brush bristles; 12-side brush housing; 121-mounting cavity; 122-extension; 123-guide surface; 124-side brush base; 125-side brush top cover; 13-connecting shaft; 14-stop component; 15-threaded fastener; 20-first drive assembly; 21-box; 211-assembly cavity; 22-transmission mechanism; 23-output shaft; 24-connecting bushing; 30-swing arm; 40-machine body; 50-controller; 70-mop assembly; 601-carpet area; 501-first path; 502-second path; 503-third path; 1800 - Cleaning control device; 1801 - Control module; 1802 - Switching module. Detailed Description

[0101] In order to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish the same or similar items with basically the same function and role. For example, the first device and the second device are only used to distinguish different devices and do not limit their order. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean that they are different.

[0102] It should be noted that in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or more advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0103] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "OR" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean:a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0104] When the cleaning equipment is working, the cleaning surface can be cleaned by the rotation of the side brush. The side brush is usually fixed to the body of the cleaning equipment and rotates, such as being set on the front side of the body, to move dry garbage or dust on the ground to the vicinity of the roller brush assembly. The suction port of the roller brush assembly sucks the dry garbage or dust into the integrated box of the body. However, due to the complexity of the cleaning scenario of the cleaning equipment, the side brush may fall off and wear out, get caught in the carpet, shed fibers, or become stained.

[0105] Furthermore, after the side brush is stained, if it is not needed in the cleaning scenario, the side brush will still come into contact with the cleaning surface, which will cause contamination to the cleaning surface.

[0106] In one possible implementation, complex walking logic can be introduced into the cleaning device, or targeted scene design can be carried out with the help of sensors. For example, for cleaning scenes with stains, the walking logic in the cleaning device can be set to first control the cleaning device to turn around so as to use the mop assembly to clean the stains. After the stains are cleaned, the cleaning device can be controlled to turn around to the original driving direction and continue cleaning based on the original driving path.

[0107] However, the control logic of the cleaning device in the above way is relatively complex, the cleaning efficiency is poor, and it is difficult to accurately control the side brush assembly to avoid contact with the stains when the cleaning device is cleaning the stains.

[0108] Optionally, the side brush can also be set as a lifting structure to solve some of the above problems. However, how to design the lifting structure of the side brush on page 7 / 30 of the specification 10 CN 121400728 A to make the structure compact, so as to save the body space, reduce the manufacturing cost of the cleaning device, and ensure the working reliability of the cleaning device, and how to design the specific lifting / lowering scenarios of the side brush to ensure the cleaning effect are problems that need to be solved.

[0109] To address the above problems, this application provides a cleaning control method based on a cleaning device. The cleaning device includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is used at least for dry cleaning of the cleaning surface, and the mop assembly is used at least for wet cleaning of the cleaning surface. The side brush assembly has a cleaning position that contacts the cleaning surface and a raised position that separates it from the cleaning surface. Thus, when the cleaning device determines that a wet area exists on the cleaning path to be cleaned, it can control the side brush assembly to be in the raised position. Then, other cleaning components of the cleaning device, such as the mop assembly, clean the wet area, avoiding contact between the side brush assembly and the wet area, thus preventing the side brush assembly from carrying dirt and reducing contamination of the cleaning surface and the side brush assembly. Since the cleaning device in this application can directly control the side brush assembly to be in the raised position when encountering a wet area, the cleaning device can clean the wet area, providing continuous operation and eliminating the need for...The complex control logic greatly improves cleaning efficiency.

[0110] For example, Figure 1 is a schematic diagram of an application scenario provided by an embodiment of this application. As shown in Figure 1, taking a cleaning device in a home scenario as an example, the application scenario includes a cleaning device 100 and a cleaning device base station 102.

[0111] In the living room, the cleaning device 100 can clean the living room based on the side brush assembly. At this time, the side brush assembly of the cleaning device 100 is in a cleaning position that is in contact with the cleaning surface. When the cleaning device 100 determines that there is a wet area on the cleaning surface corresponding to the living room, such as water stains, coffee stains, soup stains, etc., the cleaning device 100 can control the side brush assembly to be in a raised position that is separated from the cleaning surface, and then the cleaning device 100 cleans the wet area. By avoiding contact between the side brush assembly and the wet area, the occurrence of contamination of the cleaning surface when the side brush assembly continues to clean the cleaning surface after being contaminated is reduced.

[0112] It should be noted that when cleaning the living room, the cleaning device 100 can clean the cleaning surface based on a predetermined cleaning path, such as a bow-shaped path. This application embodiment does not specifically limit the planned path corresponding to the cleaning path; it can be set based on the application scenario and / or user needs.

[0113] Optionally, after the cleaning device 100 has finished cleaning the wet area, it can also control the side brush assembly of the cleaning device 100 to be in a cleaning position to clean the corresponding cleaning surface in the living room.

[0114] Optionally, the cleaning device base station 102 can charge the cleaning device 100.

[0115] It should be noted that this cleaning control method can also be applied to shopping mall scenarios, school scenarios, and office scenarios. This application does not limit the specific application scenario of the cleaning control method; the above are merely illustrative examples.

[0116] For example, taking a cleaning device including a body, a side brush assembly movably connected to the body, and a mop assembly, wherein the side brush assembly is at least used for dry cleaning of the cleaning surface, the mop assembly is at least used for wet cleaning of the cleaning surface, and the side brush assembly has a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface, the cleaning control method includes:

[0117] When it is confirmed that there is a wet area on the cleaning path of the cleaning device, the cleaning device performs cleaning on the wet area when the side brush assembly is in the raised position.

[0118] In the embodiments of this application, the wet area may refer to an area with moisture, such as an area with moisture stains and an area that has been wet-cleaned. The moisture stains may be milk stains, egg stains, juice stains, sweat stains, coffee stains, tea stains, soup stains, etc., which can stick to the bristles of the side brush assembly. The embodiments of this application do not limit the specific type of stains.

[0119] The side brush assembly includes a side brush housing and a cleaning component at least partially housed within the side brush housing. The cleaning component includes a clutch bushing and a cleaning strip. The cleaning strip includes a connecting body and bristles. The structure of the side brush assembly is not described in this embodiment.For specific limitations, please refer to the following description of the side brush assembly structure in the embodiments. Specification 8 / 30 pages 11 CN 121400728 A

[0120] It should be noted that the side brush has virtually no cleaning ability for stains in wet areas. Therefore, when it is determined that there is a wet area on the cleaning path of the cleaning device, the side brush assembly can be controlled to be in a raised position so that the cleaning device can clean the wet area.

[0121] It should be noted that the embodiments of this application do not limit the number and specific position of the side brush assembly included in the cleaning device. For example, one side brush assembly can be set and set on the front side of the machine body.

[0122] It can be understood that the cleaning path of the cleaning device is a predefined form path for cleaning the cleaning surface, such as a bow-shaped cleaning path or a Z-shaped cleaning path. The embodiments of this application do not specifically limit the cleaning path.

[0123] In some embodiments, when the cleaning device performs a cleaning task, it can clean the surface according to a predefined cleaning path. During the movement of the cleaning device based on the cleaning path, when a wet area is identified by artificial intelligence (AI), the cleaning device can control the side brush assembly to be in a raised position, thereby enabling the cleaning device to clean the wet area.

[0124] For example, FIG2 is a schematic diagram of a scenario where all side brush assemblies are in a raised position according to an embodiment of this application. As shown in FIG2, the side brush assembly 10 is in a raised position.

[0125] Optionally, after the cleaning device has finished cleaning the wet area, it can control the side brush assembly to be in a cleaning position and continue to clean the surface along the cleaning path.

[0126] In other embodiments, during the movement of the cleaning device to clean the surface according to a predefined cleaning path, a wet area on the cleaning path can be pre-determined based on a work map. When the cleaning device moves along the cleaning path to a preset distance or critical point relative to the wet area, it can control the cleaning device to clean the wet area with the side brush assembly in a raised position.

[0127] The location of wet areas is marked on the operation map. It should be noted that the specific implementation of confirming the existence of wet areas on the cleaning path of the cleaning equipment is not limited in the embodiments of this application; the above is only an example.

[0128] It can be understood that the preset distance or critical point can be preset by the user or determined by the cleaning data collected by the cleaning equipment.

[0129] Therefore, for wet areas in the cleaning surface, the cleaning equipment can control the side brush assembly to be in a raised position to directly clean the wet area without complex control logic, resulting in high cleaning efficiency. Since the side brush assembly may pick up a lot of dirt during the cleaning process, if it encounters a wet area before cleaning the cleaning surface, it may cause contamination to the cleaning surface.The side brush assembly is controlled to be in the raised position to perform cleaning on the wet area. The side brush assembly will not directly contact the wet area, which can avoid contamination of the cleaning surface and improve the cleaning effect.

[0130] Optionally, FIG3 is a flowchart of an optional cleaning control method provided in an embodiment of this application. As shown in FIG3, the cleaning control method includes the following steps:

[0131] S301, before the side brush assembly contacts the wet area, the side brush assembly is controlled to switch from the cleaning position to the raised position.

[0132] S302, the side brush assembly is used to perform cleaning on the wet area in the raised position.

[0133] In the embodiment of this application, before the cleaning device travels to the wet area based on the cleaning path, including the projection of the machine body not contacting the wet area, or just before the side brush assembly is about to contact the wet area, that is, when the cleaning device travels along the cleaning path to a preset distance or critical point relative to the wet area, the side brush assembly of the cleaning device can be controlled to switch from the cleaning position to the raised position.

[0134] For example, FIG4 is a schematic diagram of the side brush assembly switching from the cleaning position to the raised position provided in an embodiment of this application. As shown in Figure 1, when the cleaning device performs cleaning along the cleaning path, it can first perform cleaning in the cleaning position as shown in Figure 4A. When a wet area is determined to exist on the cleaning path, before the cleaning device moves to the wet area, such as when it reaches a preset distance or critical point relative to the wet area, the side brush assembly 10 of the cleaning device is controlled to switch from the cleaning position to the raised position, which is the position shown in Figure 4B. At this time, the side brush assembly 10 is in the raised position, and then the cleaning device performs cleaning on the wet area.

[0135] Optionally, when the cleaning device performs cleaning along the cleaning path, if it is confirmed that there is a wet area on the cleaning path, it can also switch the side brush assembly from the cleaning position to the raised position before the side brush assembly contacts the wet area, such as when it moves to the edge of the relative wet area, and then the cleaning device performs cleaning on the wet area.

[0136] Therefore, in this embodiment, when the side brush assembly is in the cleaning position and the cleaning device is performing cleaning along the cleaning path, before the cleaning device travels to the wet area, or before the side brush assembly contacts the wet area, the side brush assembly of the cleaning device can be controlled to switch from the cleaning position to the lifting position. This allows the cleaning device to lift the side brush assembly before cleaning the wet area, avoiding contact with the wet area and subsequent contamination of the side brush assembly, and preventing contamination of the cleaning surface during the next cleaning cycle. This further improves the flexibility of the cleaning device. Furthermore, since the side brush assembly may accumulate a lot of dirt during the cleaning process, it may contaminate the wet area if it comes into contact with it, causing cleaning difficulties. This application can avoid the above-mentioned situations.

[0137] Optionally, confirming the existence of a wet area on the cleaning path of the cleaning device includes:

[0138] A first area that has been wet-cleaned is confirmed to exist on the cleaning path. The wet area includes the first area.

[0139] For example, a water replenishment mechanism (not shown) is provided inside the cleaning device. The water replenishment mechanism can replenish water to the mop assembly when the cleaning device is working, thereby enabling the mop assembly to perform wet cleaning.

[0140] In this embodiment, the first area may refer to the area range in which the cleaning device has performed wet cleaning. This embodiment does not specifically limit the size of the first area.

[0141] Since the first area in which the cleaning device has performed wet cleaning is also considered a wet area, the wet area does not correspond to stains. However, the first area that has been wet-cleaned may have residual moisture. When the cleaning device passes by, when the dirt on the surface of the side brush assembly comes into contact with the moisture, it may dissolve the dirt and thus contaminate the cleaning surface. In addition, when the side brush assembly comes into contact with moisture, the side brush assembly may contaminate the cleaning surface of other areas, and the cleaning power of the side brush assembly carrying moisture will decrease. Therefore, the cleaning device also needs to control the side brush assembly to be in a raised position in the first area.

[0142] In some embodiments, when the cleaning device performs a cleaning task, it can clean the cleaning surface based on the cleaning path. When the cleaning device travels along the cleaning path, if the AI ​​identifies a first area in the cleaning path, it can control the side brush assembly to be in a raised position to clean the cleaning surface.

[0143] Therefore, in this embodiment, when the cleaning device encounters a first area that has been wet-cleaned based on the mop assembly, it can control the side brush assembly to be in a raised position to prevent dirt that may be present on the side brush from contaminating the first area, thereby ensuring the cleaning effect of the cleaning surface and improving the user experience.

[0144] Optionally, confirming the existence of a wet area on the cleaning path of the cleaning device includes:

[0145] Confirming the existence of a first area on the cleaning path based on sensor signals; and / or, confirming the area that the cleaning device has performed wet cleaning based on the cleaning map of the cleaning device, and determining the existence of a first area on the cleaning path of the cleaning device based on the wet-cleaned area.

[0146] In this embodiment, sensor signal may refer to sensing information collected by a sensor, such as image information corresponding to the cleaning device captured by a camera built into the device or a camera of other devices, or point cloud data scanned by LiDAR. This embodiment does not specifically limit this.

[0147] For example, the cleaning device includes an AI sensor that can identify the environmental information of the cleaning device's operation, and then confirm the existence of a first area on the cleaning path based on image recognition. Specification 10 / 30 pages 13 CN 121400728 A

[0148] The cleaning map may refer to the cleaned area uploaded to the cleaning device after the cleaning device has cleaned the cleaning surface orThe cleaning path has been cleaned. This application embodiment does not specifically limit the formation process of the cleaning map. The cleaning map can also be a virtual area. The virtual area can be set as an area that has been wet-cleaned. The virtual area is an area preset by the user in the cleaning area of ​​the cleaning device, such as an area that the user does not want the cleaning device to clean, or an area that the cleaning device cannot enter during the cleaning process. This application embodiment does not limit the setting of the virtual area.

[0149] Optionally, the cleaning map can also be determined based on the cleaning walking logic of the cleaning device.

[0150] Optionally, since the cleaning device can correspond to multiple cleaning paths during the cleaning process of the cleaning surface, during the cleaning process of the cleaning device, the area that the cleaning device has performed wet cleaning can be determined first, and then the first area in the cleaning path currently corresponding to the cleaning device can be determined in the area that has performed wet cleaning.

[0151] Optionally, the wet area includes a first area that has been wet-cleaned by the cleaning device. Specifically, the first area includes areas that have already been wet-cleaned by the cleaning device, or areas that have been wet-cleaned by the cleaning device may dry out as the cleaning time increases, i.e., areas that have been wet-cleaned become dry. The first area may include areas that have already dried out, or areas that have already dried out may be excluded. Therefore, before the cleaning device travels to the first area, the side brush assembly is controlled to be in a raised position.

[0152] Wherein, whether the side brush assembly is raised or not has little impact on the cleaning device for areas that have already been wet-cleaned and become dry.

[0153] In some embodiments, the cleaning device may capture image information corresponding to the cleaning device based on the built-in camera or the camera of other devices, and then perform AI recognition on the image information to determine whether the first area exists.

[0154] In other embodiments, the cleaning device may also determine whether the first area exists based on point cloud data scanned by LiDAR. After the first area is identified, the outline and location information of the first area can be marked on the cleaning map.

[0155] Furthermore, based on the location of the first area, a preset distance or critical point can be determined relative to the first area for the cleaning device, so that at the preset distance or critical point, the cleaning device can be controlled to clean the cleaning surface with the side brush assembly in a raised position.

[0156] Therefore, the embodiments of this application can predict in advance whether the first area exists based on sensor signals or a cleaning map, and then control the side brush assembly to switch to the raised position in advance, improving the intelligence and timeliness of component switching.

[0157] Optionally, the mop assembly is disposed on the rear side of the body, and the side brush assembly is disposed on the front side of the body. The mop assembly is used at least for wet cleaning of the cleaning surface when the cleaning device performs bow-shaped path cleaning; the bow-shaped path includes adjacently arranged first...A first path, a second path, and a third path transitioning from the first path to the second path; when the cleaning device cleans along the first and second paths, the coverage of wet cleaning at least partially overlaps; the method further includes:

[0158] when cleaning the second or third path, if the side brush assembly is in an area already covered by the mop assembly when cleaning the first path, then the side brush assembly is controlled to be in a raised position for cleaning.

[0159] In this embodiment, when the cleaning device cleans the surface based on the bow-shaped path, the width between the first and second paths is less than the width of the coverage area that the mop assembly can wet clean. Therefore, there are areas that are partially cleaned repeatedly. When cleaning these areas that are partially cleaned repeatedly, the cleaning device needs to raise the side brush assembly to reduce contamination of the area; wherein, the first and second paths are parallel to each other.

[0160] For example, FIG5 is a schematic diagram of a cleaning device performing cleaning in a bow-shaped path according to an embodiment of the present application. As shown in FIG5, the bow-shaped path includes a first path 501 and a second path 502 arranged adjacently, and a third path 503 transitioning from the first path to the second path; the area corresponding to the dashed box in FIG5 is the overlapping area of ​​the wet cleaning coverage area on page 11 / 30 of the specification 14 CN 121400728 A.

[0161] Optionally, when the cleaning device 100 is at position 1, the side brush assembly is in the cleaning position to perform cleaning. If the cleaning device 100 determines that the side brush assembly is in the area covered by the mop assembly when cleaning the first path 501 while cleaning the second path 502 or the third path 503, then the side brush assembly is controlled to be in the raised position to perform cleaning. As shown in FIG5, at position 2, the side brush assembly of the cleaning device 100 is in the raised position. In this way, the side brush assembly and the area already covered by the mop assembly, that is, the area that has been wet cleaned, can be cleaned again.

[0162] It should be noted that, in this embodiment of the application, the positions of the side brush assembly at positions 1 and 2 of the cleaning device 100 are not specifically limited. It can also be that at position 1, the side brush assembly is in a raised position, and at position 2, the side brush assembly is in a cleaning position.

[0163] In some embodiments, the conventional cleaning sequence of the cleaning device is that the side brush assembly cleans the cleaning surface on the front side of the machine body, and the mop assembly performs wet cleaning on the rear side of the machine body. For example, the mop assembly of the cleaning device is a disc-type mop assembly. The cleaning device includes two mop assemblies, which are arranged side-by-side on the machine body. When performing bow-shaped cleaning, there is no gap between the two mop assemblies, thereby avoiding missed cleaning areas during bow-shaped cleaning. The width between the first path and the second path is determined according to the interval width of the bow-shaped path cleaning.

[0164] For example, the interval width can be a preset value, set by the user or by factory settings; orThe interval width can be adaptively adjusted according to the cleaning needs of the cleaning equipment.

[0165] For example, the interval width between the first path and the second path is less than or equal to the sum of the cleaning widths of the two mop components, so that when the cleaning equipment cleans along the first path and the second path, the wet cleaning coverage of the mop components at least partially overlaps. Furthermore, after detecting the overlapping area, the cleaning equipment can control the side brush component to be in a raised position to clean the cleaning surface, thereby avoiding wetting the side brush component or contaminating the cleaning surface with the side brush component.

[0166] It should be noted that the cleaning path may include other types of walking paths in addition to the zigzag path. This application embodiment does not specifically limit the type of cleaning path. However, when the cleaning equipment determines that the side brush component is in an area already covered by the mop component, it must control the side brush component to be in a raised position to clean the cleaning surface.

[0167] It is understood that this application embodiment does not specifically limit the number of side brush components and mop components.

[0168] Therefore, in this embodiment of the application, when the side brush component is detected to be in the area covered by the mop component when cleaning the bow-shaped path, the side brush component can be controlled to be in a raised position for cleaning, so as to avoid repeated cleaning of the already wet-mopped area by the side brush component and to avoid contaminating the cleaning surface.

[0169] Optionally, the number of side brush components is one, and the side brush component is set on the right front side of the body. The method further includes:

[0170] When the cleaning device performs bow-shaped path cleaning, it first cleans along the first path and then cleans along the second path. When the cleaning device cleans along the first path, the side brush component is in the cleaning position; when the cleaning device cleans along the second path, the side brush component is in the raised position.

[0171] In this embodiment of the application, when the cleaning device cleans the cleaning path based on the side brush component and the mop component, the corresponding cleaning path is the first path. At this time, the side brush component is in the cleaning position; the second path is adjacent to the first path. When the cleaning device cleans along the second path, when the cleaning device cleans the cleaning path based on the mop component, the side brush component is in the raised position.

[0172] For example, as shown in FIG5, the cleaning device includes a side brush assembly, which is disposed on the right front side of the body. Thus, when the cleaning device performs a zigzag path cleaning, it first cleans along the first path 501, at which point the side brush assembly is in the cleaning position. Then, it cleans along the second path 502, at which point the side brush assembly is in the raised position.

[0173] In this way, the cleaning device, with just one side brush assembly, can clean the cleaning surface. When it is determined that the side brush assembly is in the area already covered by the mop assembly while cleaning the second path, the side brush assembly can be controlled to be in the raised position for cleaning, avoiding repeated cleaning of already wet-mopped areas and preventing contamination of already cleaned surfaces.

[0174] Optionally, the method further includes: when the cleaning device is cleaning along the first path, the side brush assembly is in the cleaning position; when the cleaning device enters the third path from the first path, the side brush assembly switches from the cleaning position to the raised position.

[0175] For example, as shown in FIG5, when the cleaning device 100 is performing cleaning along the first path 501, the side brush is in the cleaning position. If it is confirmed that the cleaning device 100 enters the third path 503 from the first path, the side brush assembly can be controlled to switch from the cleaning position to the raised position so that the cleaning device 100 performs cleaning on the second path and the third path.

[0176] In this way, the cleaning device can lift the side brush assembly in the third path, so that the cleaning device can perform cleaning on the second and third paths based on the side brush assembly being in the lifted position. If the side brush assembly is controlled to lift in the first path, the lifting time is too early, and it is easy to miss the first path; if the side brush assembly is controlled to lift in the second path, the lifting time is too late, and the side brush assembly is easily contaminated by the wet ground, thereby affecting the cleaning power of the next cleaning, and also causing the side brush assembly to contaminate other areas, affecting the cleaning effect. Therefore, controlling the side brush assembly to lift in the third path avoids the above situation. When the cleaning device enters the third path from the first path, since the side brush assembly is in the cleaning position in the first path, it has at least partially covered the cleaning range of the cleaning device when it moves along the third path. Therefore, controlling the side brush assembly to switch to the lifted position when entering the third path from the first path is beneficial to lift the side brush assembly in time and avoid contamination of the side brush assembly by wet areas.

[0177] In this way, the cleaning effect of the cleaning device can be improved.

[0178] Optionally, confirming the existence of a wet area on the cleaning path of the cleaning device includes: confirming the existence of a second area contaminated by wet stains on the cleaning path, wherein the wet area includes the second area.

[0179] In this embodiment, wet stains usually require cleaning by the mop assembly, while the side brush assembly does not clean wet stains. Typically, during a complete cleaning process, the cleaning device does not reset the cleaning mode for a localized area within the cleaning surface, and the presence of wet stains may be accidental. Therefore, the cleaning device needs to promptly confirm the second area and control the side brush assembly to be in a raised position to perform cleaning.

[0180] In some embodiments, when the cleaning device performs a cleaning task, during travel along the cleaning path, based on AI recognition, if a second area contaminated by wet stains is identified by AI, the cleaning device can control the side brush assembly to be in a raised position, thereby enabling the cleaning device to clean the second area.

[0181] In other embodiments, when the cleaning device performs cleaning along the cleaning path, if it confirms the existence of a second area contaminated by wet stains on the cleaning path, it can also clean the second area before the cleaning device travels to it or after contact with the second area.Before the second area, or when the cleaning device moves to a preset distance or critical point from the second area, the side brush assembly is controlled to switch from the cleaning position to the raised position, and then the cleaning device performs cleaning on the second area. The preset distance or critical point can be determined according to the detection range of the cleaning device's sensors, or it can be preset by the user, or determined by the controller of the cleaning device itself.

[0182] In this way, when cleaning the second area contaminated by wet stains, the side brush assembly can be controlled to be in the raised position to perform cleaning on the second area, so that the side brush assembly will not directly contact the second area, avoiding contamination of the side brush assembly by dirt in the second area. Since the side brush assembly may pick up a lot of dirt during the cleaning process, if it touches the second area and then cleans the cleaning surface, it may contaminate the cleaning surface. The present application intelligently controls the side brush assembly to be in the raised position to perform cleaning on the second area, ensuring the cleaning experience and avoiding the expansion of the wet stains and contamination of the cleaning surface through the side brush assembly. Instruction manual, pages 13 / 30, 16 CN 121400728 A

[0183] Optionally, the second area is determined based on the stain information identified by the stain sensor, or based on a pre-defined stain area on the work map.

[0184] In this embodiment, the stain information includes at least one of the following: stains containing moisture such as beverage stains, milk stains, soup stains, soy sauce stains, and paste stains; the cleaning device may also include a stain sensor.

[0185] Optionally, the second area is confirmed in advance based on the detection signal of the stain sensor; and / or, the cleaning device obtains user preset information and confirms the second area in advance based on the user preset information, wherein the preset information is the location information of the second area in the cleaning surface input by the user in advance, and further, the work map is marked based on the preset information, i.e., the pre-defined stain area, so that the cleaning device can determine the second area in advance based on the pre-defined stain area on the work map.

[0186] Optionally, the stain sensor includes: an image sensor and / or radar.

[0187] In some embodiments, image information acquired by an image sensor is input into an AI model to identify stain information in the image information.

[0188] In other embodiments, point cloud data is acquired based on radar, and the corresponding stain information is determined based on the point cloud data. For example, point cloud data with the characteristics of point-like areas can be determined as stain information. This application embodiment does not specifically limit this.

[0189] Therefore, this application embodiment can determine the second area in advance based on a stain sensor or a work map, and then control the side brush assembly of the cleaning equipment to be in a raised position in advance to clean the second area, solving the problem of the side brush assembly contacting the second area due to the side brush assembly not being in a raised position in time, and ensuring the cleaning effect.

[0190] Optionally, the method further includes: after the stain sensor detects stain information, before the side brush assembly contacts the second area, controlling the side brush assembly to switch from the cleaning position to the lifting position.

[0191] Optionally, after the stain sensor detects stain information, if the side brush assembly is controlled to lift at a certain distance from the second area, the lifting timing is too early, and it is easy to miss some areas before the second area; if the side brush assembly is controlled to lift after contacting the second area, the lifting timing is too late, and the side brush assembly is easily contaminated by stains, thereby affecting the cleaning power of the next cleaning, causing the side brush assembly to contaminate other areas during the next cleaning, expanding the contamination range. Therefore, controlling the side brush assembly to lift at the corresponding critical point before contacting the second area avoids the above situation.

[0192] In this way, the cleaning effect of the cleaning equipment can be improved.

[0193] Optionally, the cleaning device further includes a roller brush assembly, which has suction to perform cleaning work. The method further includes:

[0194] cleaning the wet area with the side brush assembly and roller brush assembly in a raised position separated from the cleaning surface, and the mop assembly in a mopping position in contact with the cleaning surface.

[0195] In this embodiment, the working principle of the roller brush assembly is to lift dust and particles from the cleaning surface by the bristles on the front roller brush, and then suck the dust and particles into the dust collection box by the strong suction of the fan.

[0196] In some embodiments, when the cleaning device cleans the wet area, the side brush assembly and roller brush assembly can be controlled to be in a raised position separated from the cleaning surface, and the mop assembly in a mopping position in contact with the cleaning surface, so that the mop assembly directly cleans the stains in the wet area, thereby avoiding the stains from adhering to the side brush assembly and roller brush assembly, or even the phenomenon of stain diffusion, and keeping the cleaning surface dry and uncontaminated.

[0197] Optionally, the method further includes: controlling the side brush assembly to not rotate in the raised position; and / or controlling the suction at the roller brush assembly to be turned off.

[0198] In some embodiments, when the cleaning device cleans the second area, the side brush assembly and the roller brush assembly can be controlled to be in the raised position (page 14 / 30 of the specification, CN 121400728 A), and the side brush assembly can be controlled to not rotate in the raised position, and / or the suction at the roller brush assembly can be turned off, and / or the roller brush assembly can be controlled to not rotate in the raised position, so that the mop assembly is in the mopping position to directly clean the stains in the second area.

[0199] In this way, power energy can be saved, thereby extending the working time of the cleaning device.

[0200] Optionally, the method further includes: controlling the side brush assembly to rotate in the raised position; and / or controlling the roller brush assembly to have suction in the raised position, so as to air dry at least a portion of the wet area.

[0201] In this embodiment of the application, the area after wet cleaning can be dried by the suction of the side brush assembly and / or the roller brush assembly.

[0202] In some embodiments, when the cleaning device cleans the second area, the side brush assembly and the roller brush assembly can be controlled to be in a raised position, and the side brush assembly can be controlled to rotate in the raised position, and / or the roller brush assembly can be controlled to rotate in the raised position, so that after the mop assembly wet-cleans the stains in the second area, the second area after wet cleaning is air-dried.

[0203] In this way, the range of the first area can be reduced, the drying of the cleaning area can be accelerated, and the cleaning effect of the cleaning device can be improved.

[0204] Optionally, the method further includes: confirming that there is a carpet area in the cleaning surface of the cleaning device, and controlling the side brush assembly to be in a raised position when the cleaning device is in the carpet area.

[0205] In the embodiments of this application, in order to avoid the side brush from getting tangled in the carpet when the cleaning device lifts the side brush assembly in the carpet area, or the side brush from getting caught in the carpet when the side brush assembly is lifted when it is in contact with the edge of the carpet area, the side brush assembly can be controlled to be in a raised position when the cleaning device is in the carpet area, thereby avoiding the side brush from getting tangled in the carpet or damaging the side brush and the carpet.

[0206] In some embodiments, when the cleaning device performs a cleaning task, it can clean the surface according to a predefined cleaning path. During the movement of the cleaning device based on the cleaning path, when the presence of a carpet area is identified by AI recognition, the cleaning device can control the side brush assembly to be in a raised position, thereby enabling the cleaning device to clean the carpet area.

[0207] Optionally, after the cleaning device has finished cleaning the carpet area, it can control the side brush assembly to be in a cleaning position and continue cleaning the surface along the cleaning path.

[0208] In other embodiments, during the movement of the cleaning device to clean the surface according to a predefined cleaning path, the presence of a carpet area on the cleaning path can be pre-determined based on a work map. When the cleaning device moves along the cleaning path to a specific distance relative to the carpet area, it can control the cleaning device to clean the carpet area with the side brush assembly in a raised position.

[0209] The location of the carpet area is marked in the work map. It should be noted that the embodiments of this application do not limit the specific implementation of confirming the presence of a carpet area on the cleaning path of the cleaning device; the above are merely illustrative examples.

[0210] It is understood that the specific distance can be preset by the user or determined by the cleaning data collected by the cleaning device.

[0211] Therefore, for carpet areas within the cleaning surface, the cleaning device can control the side brush assembly to be in a raised position to clean the carpet area. Since the side brush assembly may pick up a lot of dirt during the cleaning process, cleaning the carpet area may cause pollution to the carpet area. This application controls the side brush assembly to be in a raised position to clean the carpet area, so that the side brush assembly will not directly contact the carpet area, which can avoid pollution to the carpet area and the occurrence of the side brush getting tangled in the carpet, thereby improving cleaning efficiency.

[0212] Optionally, the method further includes: when the cleaning device is in the carpet area, controlling the cleaning device to move to the ground area, then controlling the side brush assembly to switch from the cleaning position to the lifting position, and then controlling the cleaning device to enter the carpet area to perform cleaning work. (Instruction manual page 15 / 30 18 CN 121400728 A)

[0213] For example, FIG6 is a schematic diagram of a scenario of cleaning a carpet area provided in an embodiment of this application. As shown in FIG6, during the cleaning process of the cleaning device, the side brush assembly 10 is in the cleaning position. Further, the carpet signal can be detected based on the sensor. As shown in FIG6A, when the cleaning device detects the carpet signal based on the sensor such as the ultrasonic sensor, the existence of the carpet can be confirmed based on the cleaning device being in the carpet area 601. As shown in FIG6B, if the cleaning device confirms that there is a carpet in the carpet area 601, it marks and exits the carpet area 601 and controls the cleaning device to move to the ground area. During the exit process, if the sensor confirms that there is no carpet signal in the ground area, it controls the side brush assembly 10 to lift up, that is, controls the side brush assembly 10 to switch from the cleaning position to the lifting position, as shown in FIG6C, so that the cleaning device re-enters the marked carpet area 601 and performs cleaning.

[0214] Thus, in this embodiment of the application, when the cleaning device is cleaning the carpet area, the side brush assembly can be controlled to switch from the cleaning position to the lifting position before the cleaning device enters the carpet area to perform the cleaning work. This avoids the side brush from getting tangled in the carpet when it is lifted on the carpet area, and also avoids the side brush from contaminating the carpet.

[0215] Optionally, the method further includes: when there is a carpet area in the cleaning surface and the cleaning device is in the ground area, when the cleaning device is in the ground area, first control the side brush assembly to switch from the cleaning position to the lifting position, and then control the cleaning device to move from the ground area to the carpet area.

[0216] For example, FIG7 is a schematic diagram of another cleaning device for cleaning a carpet area provided in an embodiment of this application. As shown in FIG7, during the cleaning process of the cleaning device, the side brush assembly 10 is in the cleaning position. Further, the carpet area can be detected based on sensors, as shown in FIG7A. When the cleaning device outputs the captured image information to the controller for processing based on sensors such as image sensors to determine whether there is a carpet, and the cleaning device is located on the ground area, further, if the cleaning device confirms that there is a carpet in the carpet area 601, it controls the side brush assembly 10 to switch from the cleaning position to the lifting position, and then controls the cleaning device to move from the ground area to the carpet area, as shown in FIG7B, so that the cleaning device enters the carpet area 601 and performs cleaning.

[0217] Wherein, the cleaning device can control the side brush assembly 10 to switch from the cleaning position to the lifting position in advance at a specific position before the carpet area 601.

[0218] Optionally, the presence of a carpet area within the cleaning surface is confirmed based on the cleaning equipment's work map, and / or the presence of a carpet area within the cleaning area is confirmed based on a carpet detection sensor, so that the side brush assembly is controlled to switch from a cleaning position to a raised position before the cleaning equipment enters the carpet area.

[0219] The carpet area in the work map can be obtained based on manual marking or historical mapping, and this application embodiment does not specifically limit this.

[0220] Optionally, the carpet detection sensor can be a combination of an image sensor and a controller, and this application embodiment does not specifically limit the type and number of carpet detection sensors.

[0221] Therefore, this application embodiment can control the side brush assembly to switch from a cleaning position to a raised position in advance when the cleaning equipment is located on the ground area, and then control the cleaning equipment to move from the ground area to the carpet area for cleaning, solving the problem of carpet area contamination caused by untimely state switching. Furthermore, the carpet area can be determined in advance according to the environment where the cleaning equipment is located, and the position of the side brush assembly can be intelligently switched, improving the convenience of the cleaning equipment application.

[0222] Optionally, the method further includes: when the cleaning device is located in a carpet area, controlling both the side brush assembly and the mop assembly to be in a raised position separated from the cleaning surface.

[0223] In some embodiments, during the process of the cleaning device cleaning the cleaning surface according to the cleaning path, if it is determined that there is a carpet area on the cleaning path, when the cleaning device moves along the cleaning path to a specific distance relative to the carpet area, the side brush assembly and the mop assembly of the cleaning device can be controlled to be in a raised position to perform cleaning on the carpet area.

[0224] In this way, the side brush assembly and the mop assembly can be prevented from contacting the carpet, causing contamination to the carpet.

[0225] Optionally, the method further includes: when the cleaning device is in a non-cleaning task scenario, controlling the side brush assembly to be in a raised position, the non-cleaning task scenario includes at least one of the following: the cleaning device returns to the base station, the cleaning device is at the base station, the cleaning device is in the navigation process, and the cleaning device is in the positioning process.

[0226] In this embodiment, when the cleaning device determines that it is in a non-cleaning task scenario based on its own process, such as navigation, mapping, or charging, the cleaning device does not need to perform cleaning work through the side brush assembly. By controlling the side brush assembly to be in a raised position, the side brush assembly is prevented from contacting the cleaning surface, thus avoiding wear or fraying of the side brush.

[0227] In some embodiments, when the cleaning device is in a navigation process, the length of the navigation distance can be determined based on map information and task planning. If the length of the navigation distance is greater than a preset threshold, it is determined to be a long navigation process. In this case, the cleaning device raises the side brush assembly in advance to avoid friction damage; if the length of the navigation distance is less than or equal to the preset threshold, it is determined to be a long navigation process.During short navigation, the side brush assembly is not raised to avoid frequent raising, which would affect the service life of the side brush assembly.

[0228] The preset threshold can be based on the application scenario and / or user needs. This application embodiment does not specifically limit the size of the preset threshold.

[0229] In other embodiments, when the cleaning device is in the mapping process, i.e. the positioning process, the side brush assembly can be raised in advance to locate various positions within a preset area, so as to reduce the friction between the side brush assembly and the cleaning surface, and at the same time avoid the side brush assembly from contacting the cleaning surface, which would cause the side brush to be damaged or contaminated, thereby avoiding the spread of contamination and ensuring the accuracy of the generated map geometric information.

[0230] The preset area can be determined based on the size of the application scenario. This application embodiment does not specifically limit this.

[0231] In yet another embodiment, when the cleaning device receives a charging signal, i.e. when the cleaning device returns to the base station, the side brush can be raised in advance, and the cleaning device can be controlled to return to the base station to reduce the friction between the side brush assembly and the cleaning surface; optionally, it is necessary to ensure that the side brush assembly has been raised before the cleaning device enters the base station to avoid the problem of hair breakage caused by the cleaning device entering the base station.

[0232] It is understood that after the cleaning equipment is positioned at the base station, if the side brush assembly is not in the raised position, it can also be controlled to be in the raised position to avoid the problem of frizz caused by the side brush assembly.

[0233] In this way, the embodiments of this application can control the side brush assembly to be in the raised position during the above process to reduce the friction of the side brush assembly, avoid the problem of frizz caused by the side brush assembly, and improve the service life of the side brush assembly.

[0234] Optionally, the method further includes: when the cleaning equipment is in a difficult cleaning scenario, controlling the side brush assembly to be in the raised position, the difficult cleaning scenario includes at least one of the following: the cleaning equipment overcomes obstacles, the cleaning equipment is trapped, there are obstacles with entanglement characteristics on the cleaning path, and there are particulate obstacles on the cleaning path.

[0235] In this embodiment, obstacles with entanglement characteristics include linear obstacles, hair, fabrics, yarns, cables, and other debris that easily entangles the side brush. Particulate obstacles can refer to particulate dirt. For particulate dirt, since it easily adheres to the side brush, it is necessary to control the side brush assembly to be in a raised position so that the side brush assembly does not clean the particulate dirt.

[0236] In some embodiments, for cleaning scenarios where the cleaning device needs to overcome obstacles, when the cleaning device encounters a marked obstacle, such as a threshold, ramp, or other high protrusion, the side brush assembly can be controlled to be in a raised position so that the cleaning device can smoothly overcome the obstacle.

[0237] In other embodiments, for cleaning scenarios where the cleaning device is trapped, when the cleaning device detects that it is obstructed and cannot move forward, such as when it is stuck under furniture, trapped in a narrow space, or other areas that are difficult to get out of, the cleaning device can control the side brush assembly to be in a raised position.The side brush assembly is in a raised position to reduce the friction of the side brush, making it easier for the cleaning equipment to escape from difficult situations. (Instruction manual, pages 17 / 30, 20 CN 121400728 A)

[0238] In some other embodiments, for cleaning scenarios where there are obstacles with entanglement characteristics or particulate obstacles on the cleaning path, the cleaning equipment can control the side brush assembly to be in a raised position to reduce the occurrence of the side brush assembly getting entangled in obstacles and damaged, reducing the risk of getting stuck and entangled, and maintaining the normal operation and cleaning effect of the cleaning equipment.

[0239] Therefore, the embodiments of this application, for the above-mentioned difficult cleaning scenarios, can control the side brush assembly to be in a raised position to avoid the side brush assembly being worn or knocked off by known obstacles in the above-mentioned scenarios, and to facilitate the cleaning equipment to escape from difficult situations.

[0240] Optionally, the side brush assembly is swayably connected to the body via a swing arm, so that the side brush assembly has an inward retracted position and an outward swing position. When the side brush assembly is in the outward swing position, it is further away from the edge of the body than when it is in the inward retracted position. The method further includes:

[0241] When the side brush assembly is in the outward swing position, first control the side brush assembly to switch from the outward swing position to the inward retracted position, and then control the side brush assembly to move to the raised position.

[0242] In this embodiment of the application, the side brush assembly has an inward retracted position and an outward swing position. When the side brush assembly is in the outward swing position, the portion located on the outer periphery of the body is larger than the portion located on the outer periphery of the body when the side brush assembly is in the inward retracted position.

[0243] For example, FIG8 is a schematic diagram of a scenario in which all side brush assemblies are in the outward swing position according to an embodiment of the application. As shown in FIG8, all side brush assemblies 10 are in the outward swing position.

[0244] In some embodiments, when the cleaning device is cleaning narrow gaps, corners, or the bottom of furniture, the side brush assembly can be controlled to be in an outward position to push the dust, fine particles, or debris accumulated in the above-mentioned areas into the cleaning path of the cleaning device, so as to improve the cleaning effect and ensure more thorough cleaning of gaps. At this time, the side brush assembly is in a cleaning position in contact with the cleaning surface.

[0245] Further, after the cleaning device has cleaned the above-mentioned areas, the side brush assembly can be controlled to switch from the outward position to the inward position, as shown in FIG9. FIG9 is a schematic diagram of the switching of the side brush assembly from the outward position to the inward position provided in the embodiment of this application. As shown in FIG9A, the side brush assembly 10 is in the outward position. After the side brush assembly 10 switches from the outward position to the inward position, as shown in FIG9B, the side brush assembly 10 is in the inward position. Then the side brush assembly is controlled to move from the cleaning position to the raised position.

[0246] It is understood that a moving channel is provided at the bottom of the cleaning device body, and the side brush assembly moves along the moving channel from the inward position to the outward position. When the side brush assembly is in the outward position, at least a portion of the bristles of the side brush assembly are in contact with the moving channel.The brush paths overlap; if the side brush assembly is raised at the outward swing position, the bristles are easily stuck in the moving channel, causing abnormal rotation of the side brush.

[0247] In this way, by avoiding raising the side brush assembly at the outward swing position, it is possible to avoid the side brush assembly from generating resistance due to its excessive diameter or getting stuck in the cleaning device when it is raised, thus ensuring the normal operation of the cleaning device.

[0248] The cleaning device 100 of the present application embodiment is described below with reference to Figures 10-17.

[0249] The cleaning device 100 of the embodiment can be a sweeping robot or other devices. The cleaning device 100 includes a body 40 and a cleaning assembly.

[0250] Optionally, the side brush assembly includes a side brush housing 12 and a cleaning element 11 at least partially housed within the side brush housing. When the side brush housing 12 and the cleaning element 11 move synchronously, the side brush assembly 10 is in a cleaning position to clean the cleaning surface through the cleaning element 11; when the side brush housing 12 and the cleaning element 11 move relative to each other, the side brush assembly 10 switches between a cleaning position and a raised position.

[0251] Wherein, the side brush housing 12 can provide mounting support for the cleaning element 11.

[0252] When the side brush housing 12 and the cleaning element 11 are in a first relative movement state, the side brush assembly 10 is in a cleaning position to clean the cleaning surface through the cleaning element 11; when the side brush housing 12 and the cleaning element 11 are in a second relative movement state, the side brush assembly 10 switches between a cleaning position and a raised position. For example, the first relative motion state can be the synchronous rotation of the cleaning component 11 and the side brush housing 12 (page 18 / 30 of the instruction manual, CN 121400728 A 12), and the first relative motion state can be the rotation of one of the cleaning component 11 and the side brush housing 12 relative to the other.

[0253] According to the cleaning device 100 of the embodiment of this application, when the side brush housing 12 and the cleaning component 11 are in the first relative motion state, the side brush assembly 10 is in the cleaning position to clean the cleaning surface through the cleaning component 11; when the side brush housing 12 and the cleaning component 11 are in the second relative motion state, the side brush assembly 10 switches between the cleaning position and the lifting position. In this way, by simply adjusting the relative motion state of the side brush housing 12 and the cleaning component 11, the position of the side brush assembly 10 relative to the cleaning surface can be flexibly controlled according to the working conditions, so as to avoid the dirt on the side brush assembly 10 from contaminating the cleaning surface, resulting in low cleaning efficiency, and can also improve the adaptability of the cleaning device 100 to the environment, which helps to improve the user experience.

[0254] In some embodiments, when the side brush housing 12 and the cleaning component 11 are in a first motion state, the side brush housing 12 and the cleaning component 11 move synchronously; that is, when the side brush assembly 10 cleans the cleaning surface, the side brush housing 12 and the cleaning component 11 rotate synchronously. When the side brush housing 12 and the cleaning component 11 are in a second motion state, the side brush housing 12 and the cleaning component 11 generate relative motion.Furthermore, the cleaning component 11 switches between a cleaning position and a raised position under the contact force of the side brush housing 12. Thus, through the relative movement between the side brush housing 12 and the cleaning component 11, at least a portion of the structure of the cleaning component 11 moves inward into the side brush housing 12, thereby separating from the cleaning surface. The operating principle is relatively simple and easy to implement.

[0255] When the side brush housing 12 and the cleaning component 11 are in the second movement state, the side brush housing 12 and the cleaning component 11 generate relative movement, which is a rotational relative movement. For example, the side brush housing 12 generates rotational movement relative to the cleaning component 11, or the cleaning component 11 generates relative movement relative to the side brush housing 12.

[0256] In some embodiments, when the side brush housing 12 and the cleaning component 11 generate relative movement, the side brush housing 12 and the cleaning component 11 generate circumferential relative displacement and axial relative displacement.

[0257] In some embodiments, referring to Figures 10 and 11, the side brush assembly 10 includes a first drive assembly 20. The first drive assembly 20 can be driven in a transmission relationship with the side brush assembly 10. The first drive assembly 20 is used to drive the side brush housing 12 and the cleaning component 11 to move synchronously and / or generate relative movement. By setting the first drive assembly 20, it is convenient to control the side brush assembly 10 to switch between a cleaning position and a raised position, so as to avoid the side brush assembly 10 from contaminating the cleaning surface.

[0258] In some embodiments, when the side brush assembly 10 is in the cleaning position, the first drive assembly 20 drives the side brush housing 12 and the cleaning component 11 to move synchronously. In this way, the first drive assembly 20 can drive the side brush assembly 10 to perform cleaning on the cleaning surface. When the first drive assembly 20 drives the side brush housing 12 and the cleaning component 11 to generate relative movement, the side brush assembly 10 can be switched between a cleaning position and a raised position. In this way, the motion control method of the first drive assembly 20 is relatively simple and easy to implement.

[0259] In some embodiments, referring to Figures 12 and 13, the side brush housing 12 may be disc-shaped, cylindrical, or other shapes. The side brush housing 12 has a mounting cavity 121 and an extension 122. The extension 122 communicates with the mounting cavity 121 and may be located on the side wall or bottom wall of the side brush housing 12. The cleaning component 11 is partially disposed in the mounting cavity 121, and the extension 122 allows the cleaning component 11 to extend out. Thus, the matching method between the side brush housing 12 and the cleaning component 11 is relatively simple and easy to implement. In addition, through the structural combination of the cleaning component and the side brush housing, the space required for the side brush assembly can be saved advantageously. The stroke required by the side brush assembly in the height direction is small, thereby reducing the height space occupied by the side brush assembly, which is conducive to the thin and light design of the cleaning device.

[0260] In some embodiments, referring to Figures 10, 12, and 13, the cleaning component 11 is in a relative motion state with respect to the side brush housing 12, that is, when the two are in a second relative motion state, the height of the cleaning component 11 relative to the cleaning surface and the cleaning component 11At least one of the extension lengths relative to the outer side of the side brush housing 12 can be varied to raise or lower the cleaning member 11 relative to the cleaning surface.

[0261] In other words, in this embodiment, only the height of the cleaning member 11 relative to the cleaning surface can be controlled, such as controlling the cleaning member 11 to rise or fall, so that the cleaning member 11 contacts or separates from the cleaning surface; or, only the variation of the extension length of the cleaning member 11 can be controlled, for example, the cleaning member 11 is configured to contact the cleaning surface when it is in an unfolded state, and to separate from the cleaning surface when it is in any one of a contracted state, a bent state, or a deformed state; or, the cleaning member 11 can contact or separate from the cleaning surface by simultaneously controlling the change in the height of the cleaning member 11 relative to the cleaning surface and the change in the extension length of the cleaning member 11.

[0262] For example, the cleaning component 11 can rotate relative to the side brush housing 12 to adjust the angular position of the cleaning component 11 in the circumferential direction. Alternatively, the cleaning component 11 can extend or retract relative to the side brush housing 12 by moving along the protrusion 122 to adjust the length of the portion of the cleaning component 11 extending out of the side brush housing 12, thereby achieving the purpose of changing at least one of the height of the cleaning component 11 relative to the cleaning surface and the extension length of the cleaning component 11. In this way, the side brush housing 12 can be used to provide support and containment for the relative position change of the cleaning component 11, so as to better achieve the purpose of adjusting the distance between the cleaning component 11 and the cleaning surface.

[0263] Thus, the cleaning component 11 can be implemented in various ways, which can better meet the usage requirements. In addition, by changing the length of the portion of the cleaning component extending out of the side brush housing, the height of the cleaning component from the ground can be affected, so that the space required by the side brush assembly in the height direction is smaller, which can save the axial space of the side brush assembly, so that the cleaning equipment can flexibly set the position of the side brush assembly, and the specific structure of the cleaning component 11 can be flexibly selected according to actual needs.

[0264] In some embodiments, referring to Figures 10 and 11, the cleaning member 11 is provided with bristles 115, and the cleaning member 11 cleans the cleaning surface through the bristles 115. The cleaning member 11 is configured to move in contact with the cleaning surface to clean the cleaning surface, wherein the cleaning member 11 and the cleaning surface can contact or separate. In other words, in this embodiment, the side brush assembly 10 is switched to the raised position by controlling the separation of the cleaning member 11 from the cleaning surface, and the side brush assembly 10 is switched to the cleaning position by controlling the contact of the cleaning member 11 with the cleaning surface. In this way, the cleaning member 11 of the side brush device can avoid secondary contamination of the cleaning surface, and it is easy to implement.

[0265] In some embodiments, the first drive assembly 20 includes a first motor. When the side brush assembly 10 is in the cleaning position, when the first motor rotates in the first direction, the side brush housing 12 and the cleaning member 11 move synchronously, and the cleaning member 11 performs cleaning on the cleaning surface;When the side brush assembly 10 is in the cleaning position, and the first motor rotates in the second direction, the side brush housing 12 and the cleaning component 11 move relative to each other, causing the cleaning component 11 to lift. In other words, the first motor can rotate in both directions. Thus, the side brush assembly 10 can be switched from the first relative motion state to the second relative motion state, and from the cleaning position to the lifted position, using only the first motor. This makes the overall structure simple, easy to implement, and low-cost.

[0266] When the cleaning component 11 is in the lifted position, and the first motor rotates in the first direction, there is a speed difference between the rotation of the side brush housing 12 and the cleaning component 11, causing the side brush assembly 10 to move to the cleaning position. This allows the side brush assembly 10 to switch from the lifted position to the cleaning position.

[0267] Thus, when the first drive assembly drives the side brush housing 12 and the cleaning component 11 to move synchronously, the first drive assembly can drive the cleaning component to perform cleaning work in the cleaning position; when the first drive assembly drives the side brush housing 12 and the cleaning component 11 to generate relative movement, the side brush assembly can switch between the cleaning position and the lifting position. That is, the cleaning work and lifting action of the side brush assembly can be realized by the first drive assembly alone, which further simplifies the structural design of the side brush assembly and helps to reduce the manufacturing cost of the cleaning equipment.

[0268] In some embodiments, one of the side brush housing 12 and the cleaning component 11 is configured to rotate unidirectionally under the drive of the first motor. Wherein, when the first motor drives the side brush assembly 10 to rotate in the first direction, the cleaning component 11 and the side brush housing 12 rotate synchronously; when the first motor drives the side brush assembly 10 to rotate in the second direction, one of the cleaning component 11 and the side brush housing 12 rotates relative to the other, so that the side brush assembly reaches the lifting position.

[0269] In some embodiments, the first drive assembly 20 includes a stop 14 and an output shaft 23. One of the stop 14 and the output shaft 23 is connected to the cleaning member 11, and the other is connected to the side brush housing 12. The stop 14 is configured to rotate in a first direction. For example, the stop 14 may be connected to the cleaning member 11, and the output shaft 23 may be connected to the side brush housing 12; or the stop 14 may be connected to the side brush housing 12, and the output shaft 23 may be connected to the stop 14. Thus, when the first drive assembly 20 is driven in the first direction, the stop 14 and the output shaft 23 rotate in the first direction, so that the side brush housing 12 and the cleaning member 11 can move synchronously; when the first drive assembly 20 is driven in the second direction, the output shaft 23 rotates in the second direction, and the stop 14 does not rotate, so that the side brush housing 12 and the cleaning member 11 can generate relative movement.

[0270] In one specific embodiment, the stop 14 includes a one-way bearing, since the inner ring of the one-way bearing can only...The one-way bearing rotates in one direction relative to its outer ring, so the one-way bearing can be used as a stop. The inner ring of the one-way bearing is connected to the cleaning component 11. The inner ring of the bearing is configured to rotate in the first direction. The output shaft 23 rotates under the drive of the first motor. The output shaft 23 is connected to the side brush housing 12 so that the side brush housing 12 rotates with the rotation direction of the first motor. In this way, both the cleaning component 11 and the side brush housing 12 can rotate synchronously in the first direction under the drive of the first motor. The side brush housing 12 can also rotate in the second direction under the drive of the first motor, thereby generating relative motion with the cleaning component 11. Moreover, the implementation method is relatively simple and the cost is low.

[0271] In other embodiments, the connection relationship between the one-way bearing and the output shaft 23 can also be changed. For example, the inner ring of the one-way bearing is connected to the side brush housing 12, and the output shaft 23 is connected to the cleaning strip 11. Then the relative motion state of the side brush assembly 10 also changes accordingly.

[0272] In addition to the one-way bearing described above, the stop 14 can also be constructed in other ways. For example, the stop 14 can be constructed such that when the cleaning member 11 rotates about the second direction, the stop 14 and the cleaning member 11 interfere with each other in the rotation direction; or, the stop 14 can be constructed such that it can only rotate in the first direction and cannot rotate in the second direction. The construction of the stop 14 can be reasonably designed according to actual needs, for example, using a one-way ratchet, a one-way gear rack, etc.

[0273] In this way, by setting the stop, one of the cleaning member or the side brush housing can rotate in one direction, while the other can rotate in both directions following the output shaft, thereby realizing the relative movement between the side brush housing and the cleaning member. The structure is simple and easy to implement.

[0274] In some embodiments, referring to FIG10 and FIG11, the side brush assembly 10 may also include a connecting shaft 13. Specifically, one end of the connecting shaft 13 (e.g., the lower end of the connecting shaft 13) is located in the mounting cavity 121 and connected to the side brush housing 12, and the other end (e.g., the upper end of the connecting shaft 13) extends out from the mounting cavity 121 and is connected to the output shaft 23 of the first drive assembly 20. The connecting shaft 13 is connected to the cleaning member 11 and is adapted to drive the cleaning member 11 to rotate around the connecting shaft 13. By setting the connecting shaft 13, it is convenient for the side brush assembly 10 and the first drive assembly 20 to connect and cooperate. When the first drive assembly 20 drives the connecting shaft 13 to rotate, the connecting shaft 13 can drive the cleaning member 11 to rotate relative to the side brush housing 12, so as to realize that the cleaning member 11 extends from the protrusion 122.

[0275] In some embodiments, referring to FIG10 and FIG11, the edge sidewall of the protrusion 122 of the side brush housing 12 forms a guide surface 123. When the first motor rotates in the second direction, the guide surface 123 and the cleaning member 11 abut against each other, and the cleaning member 11 slides relative to the guide surface 123 to change the position of the cleaning member 11 relative to the side brush housing 12. Thus, by setting the guide surface 123, in the side brush housing 12When the connecting shaft 13 rotates, the side brush housing 12 can press the cleaning component 11 inward, making it easier for the cleaning component 11 to retract into the side brush housing 12, and the retraction process is relatively smooth, reducing jamming.

[0276] In some embodiments, the opposite side walls of the protrusion 122 extend obliquely relative to the axial direction of the connecting shaft 13 to form at least a partial guide surface 123. For example, the protrusion 122 extends obliquely relative to the axial direction of the connecting shaft 13 along the opposite side walls of the connecting shaft 13 to form the guide surface 123. In this way, when the side brush housing 12 rotates relative to the cleaning component 11 in the second direction, the cleaning component 11 can retract into the side brush housing 12 along the guide surface 123, and the retraction process is relatively smooth, which can minimize the squeezing force of the side brush housing 12 on the cleaning component 11, thereby reducing the degree of bending deformation of the cleaning component 11 and ensuring the reliability of the cleaning component 11.

[0277] In some embodiments, at least a portion of the guide surface 123 forms a preset angle with the horizontal direction, so that the guide surface 123 extends obliquely upward. When the cleaning component 11 retracts into the mounting cavity 121, the cleaning component 11 moves along the guide surface 123 to change the height relative to the cleaning surface on page 21 / 30 of the specification, CN 121400728 A. In this way, the cleaning component 11 can retract into the side brush housing 12 along the guide surface 123, and the retraction process is relatively smooth, which can minimize the squeezing force of the side brush housing 12 on the cleaning component 11, thereby reducing the degree of bending deformation of the cleaning component 11 and ensuring the reliability of the cleaning component 11.

[0278] It can be understood that the effect of the guide surface 123 on the cleaning component 11 realizes the change of the angle of the cleaning component 11 relative to the cleaning surface. By retracting the cleaning component 11 into the mounting cavity 121, the extension length of the cleaning component 11 outside the side brush housing 12 is changed.

[0279] In summary, by changing the angle and extension length of the cleaning component 11, the cleaning component 11 can be effectively controlled to switch from the cleaning position to the lifting position, thereby achieving separation from the cleaning surface and avoiding secondary contamination of the cleaning surface. In addition, by setting the guide surface 123 to form a preset angle with the horizontal direction, when the cleaning strip 112 retracts into the side brush housing 12, the side brush assembly 10 has a lifting effect based on the guide surface 123, thereby further enhancing the ground clearance of the cleaning strip 112; and the method of setting the guide surface 123 is simple in structure and easy to implement, without the need to add a power element to drive the change in ground clearance of the side brush assembly 10, thereby further simplifying the structural design of the side brush assembly 10.

[0280] In some embodiments, referring to FIG10, FIG11 and FIG15, the cleaning component 11 may include a clutch bushing 111 and a cleaning strip 112. Specifically, the clutch bushing 111 may be sleeved on the connecting shaft 13, and the stop member 14 is provided on the first drive assembly 20, and sleeved on the connecting shaft 13.Located on the outside of the clutch bushing 111, the stop 14 can stop the clutch bushing 111 when the connecting shaft 13 rotates about the second direction. There are multiple cleaning strips 112, which are used to clean the cleaning surface. The multiple cleaning strips 112 are arranged at intervals along the circumference of the clutch bushing 111. One end of the cleaning strip 112 is connected to the clutch bushing 111, and the other end extends out from the extension port 122.

[0281] In this way, the rotational engagement between the cleaning component 11 and the connecting shaft 13 can be realized through the clutch bushing 111, and the engagement between the stop 14 and the clutch bushing 111 can stop the cleaning component 11. The overall fit is relatively simple and easy to implement. The clutch sleeve is fitted onto the connecting shaft, and the stop is fitted onto the outside of the clutch sleeve. Through the circumferential fitting relationship, it is beneficial to the fit between the structures on the one hand, and on the other hand, it is beneficial to minimize the axial space required by the side brush assembly, thereby reducing the height space occupied by the cleaning equipment and reducing the height of the cleaning equipment, thus making the cleaning equipment more passable in low areas.

[0282] In some embodiments, referring to Figures 10 and 11, the first drive assembly 20 has an assembly cavity 211, in which a rotatable output shaft 23 is provided. At least a part of the structure of the connecting shaft 13 extends into the assembly cavity 211. The connecting shaft 13 can be fitted onto the outside of the output shaft 23. The stop 14 is a one-way bearing, which is fixedly installed in the assembly cavity 211. Since the clutch sleeve 111 of the cleaning component 11 is fitted onto the outside of the connecting shaft 13, the one-way bearing can fit with the clutch sleeve 111. Of course, this embodiment does not limit this, and the stop 14 can also be other one-way stop elements. In this way, the axial space required for the side brush assembly can be reduced, which is beneficial to reducing the height of the cleaning equipment.

[0283] In this way, the cooperation between the first drive assembly 20 and the connecting shaft 13 is relatively simple. Since the stop 14 is a one-way bearing, it can provide rotational support for the connecting shaft 13 when it rotates in the first direction, and can also stop the cleaning component 11 separately when the connecting shaft 13 rotates in the second direction. Moreover, the complexity of the overall structure is not increased by realizing the stop of the cleaning component 11, and the cost is low.

[0284] In some embodiments, referring to FIG10, the inner side of the connecting shaft 13 has a fixed end plate, and the fixed end plate is provided with a threaded connection hole. The inner wall of the output shaft 23 is provided with a threaded mating hole. After the connecting sleeve 24 is provided on the outer side of the output shaft 23, the connecting shaft 13 and the output shaft 23 are fastened together by threaded fasteners 15 passing through the threaded connection hole and the threaded mating hole in sequence. In this way, the connection method of the connecting shaft 13 and the output shaft 23 is simple and reliable, and can ensure the transmission of power.

[0285] In some embodiments, referring to FIG10 and FIG11, the first drive assembly 20 may further include a connecting sleeve 24. SpecificallyThe connecting sleeve 24 is embedded between the clutch sleeve 111 and the inner ring of the one-way bearing. The connecting sleeve 24 is respectively limited and fitted with the inner ring of the bearing and the clutch sleeve 111 along the circumferential direction of the connecting sleeve 24. In this way, when the first drive assembly 20 drives the connecting shaft 13 to rotate in the second direction, the one-way bearing can transmit the stopping force to the clutch sleeve 111 in sequence through the inner ring of the bearing and the connecting sleeve 24, which can reduce the wear on the clutch sleeve 111 and ensure its working life.

[0286] In some embodiments, the connecting sleeve 24 is interference-fitted with the inner ring of the bearing, so that the stopping force can be reliably transmitted between the inner ring of the bearing and the connecting sleeve 24, and the fit is simple.

[0287] In some embodiments, the inner hole of the connecting sleeve 24 and the outer wall of the clutch sleeve 111 are both formed into mutually adaptable polygons. For example, the inner hole of the connecting bushing 24 and the outer wall of the clutch bushing 111 can both be quadrilateral, hexagonal, or octagonal. In this way, the stopping force can be reliably transmitted between the connecting bushing 24 and the clutch bushing 111, and the matching method is simple. At the same time, when the side brush housing and the cleaning component move synchronously, slippage between the side brush housing and the cleaning component is avoided, which would affect the cleaning experience.

[0288] In some embodiments, the extension direction of the projection of the cleaning strip 112 in the reference plane deviates from the radial direction of the connecting shaft 13, wherein the reference plane is perpendicular to the axis of the connecting shaft 13, that is, the cleaning strip 112 is biased towards one side of the connecting shaft 13 along the circumferential direction relative to the axis of the connecting shaft 13. As the side brush housing 12 rotates relative to the cleaning component 11, the side brush housing 12 exerts a circumferential squeezing force on the cleaning strip 112. In this embodiment, the cleaning strip 112 is configured such that the extension direction of its projection in the reference plane deviates from the radial direction of the connecting shaft 13. Compared with the scheme where the cleaning strip 112 extends radially along the connecting shaft 13, the degree of deformation of the cleaning strip 112 can be reduced, ensuring that it will not suffer structural damage. At the same time, it also makes it easier for the cleaning strip 112 to converge into the side brush housing 12 to achieve the purpose of separation from the cleaning surface.

[0289] In some embodiments, referring to Figures 12-15, the extension lines of multiple cleaning strips 112 are all tangent to the same circle, the center of which passes through the central axis of the side brush assembly 10. In this way, the convergence force of the cleaning strip 112 can be further reduced, making the switching process of the side brush assembly 10 smoother. Thus, during operation, the cleaning strip 112 and the side brush assembly 10 rotate at approximately a 45° angle. During the operation of the side brush assembly 10, the hair adhering to the cleaning strip 112 will detach downwards, thereby at least partially achieving the anti-tangling effect of the side brush assembly 10.

[0290] In some embodiments, the height of the side brush assembly 10 is in the range of 2-15mm; in other words, the bottom end of the cleaning component 11...The distance between the brush assembly 10 and the cleaning surface is 2-15mm. For example, the height of the brush assembly 10 can be 2mm, 4mm, 6mm, 8mm, 10mm, 12mm or 15mm. Of course, this application does not limit this. The height of the brush assembly 10 can be reasonably selected within the above range according to actual needs.

[0291] In this way, it can avoid the situation where the height is too small, for example less than 2 mm, and the distance between it and the cleaning surface is too small, which may cause contact with the cleaning surface and cause contamination, especially when the cleaning surface is not flat enough, the cleaning component may come into contact with the cleaning surface and cause contamination; in addition, it can also avoid the situation where the height is too large, for example greater than 15 mm, which would cause the side brush assembly 10 to occupy too much space in the height direction. For example, when the cleaning device is performing cleaning work, there is a height between the chassis of the cleaning device and the cleaning surface, which is exemplarily no more than 15 mm, so as to ensure good walking performance and cleaning performance of the cleaning device. By setting the height range of the side brush assembly to no more than 15 mm, the cleaning device will not increase its own height due to the lifting height of the side brush assembly, which would cause the overall volume of the cleaning device 100 to be too large, which is not conducive to the design of a thin and light device.

[0292] In some embodiments, referring to FIG15, the cleaning strip 112 is connected to the clutch bushing 111 on one side along its own width direction. An avoidance notch 113 is provided on the side of the connection between the cleaning strip 112 and the clutch bushing 111 near the clutch bushing 111. The avoidance notch 113 faces the circumferential opening of the clutch bushing 111. By providing the avoidance notch 113, when the cleaning strip 112 retracts into the side brush housing 12, the cleaning strip 112 can adhere to the clutch bushing towards the avoidance notch 113, which can reduce the compression of various parts when the cleaning strip 112 is retracted, reduce the degree of deformation, extend the service life of the cleaning strip 112, and make the retraction process smoother.

[0293] In some embodiments, the width of the clearance notch 113 gradually increases in the circumferential and outward direction along the clutch bushing 111. This increases the deformability of the cleaning strip 112 while ensuring its service life, making the retraction process smoother.

[0294] In some embodiments, the opposite sidewalls of the clearance notch 113 are constructed as arc surfaces suitable for mutual contact. This helps to reduce the degree of compression deformation of the opposite side structures of the clearance notch 113, prolongs the service life of the cleaning strip 112, and also makes the retraction process smoother.

[0295] In some embodiments, referring to Figures 11-15, the cleaning strip 112 may include a connecting body 114 and bristles 115. Specifically, the connecting body 114 can be strip-shaped, and is connected to the clutch bushing 111. Brush bristles 115 are located at the end of the connecting body 114 furthest from the clutch bushing 111. The brush bristles 115 are used to clean the cleaning surface, and can be attached to the connecting body.The main body 114, or the bristles 115, can be integrally formed with the connecting body 114. This makes the structure of the cleaning strip 112 relatively simple and easy to manufacture.

[0296] In some embodiments, the connecting body 114 is at least one of TPU, silicone, and spring steel; and / or, the bristles 115 are at least one of nylon and PVC. This allows the connecting body 114 to have sufficient flexibility, making it easier to retract into the side brush housing 12 and reducing the risk of damage.

[0297] In some embodiments, the cleaning strip 112 is at least one of ABS and PP. This allows the connecting body 114 to have a certain degree of hardness and structural strength, helping to ensure the cleaning effect.

[0298] In some embodiments, the cleaning strip 112 and the clutch bushing 111 are detachably connected. For example, the cleaning strip 112 can be snapped into the clutch bushing 111 or connected in other ways. This allows only the cleaning strip 112 to be replaced when it is damaged or fails, reducing maintenance costs.

[0299] Alternatively, in some embodiments, the cleaning strip 112 and the clutch bushing 111 are integrally formed. For example, the cleaning strip 112 can be integrally formed with the clutch bushing 111 through a rubber coating process. In this way, the connection strength between the cleaning strip 112 and the clutch bushing 111 can be guaranteed, so as to ensure that the cleaning strip 112 and the clutch bushing 111 move synchronously.

[0300] In some embodiments, the first drive assembly 20 may further include a transmission assembly. Specifically, the first motor can be fixedly mounted on the body 40, and the transmission assembly may include a housing 21 and a transmission mechanism 22. The housing 21 defines an assembly cavity 211, and the transmission mechanism 22 is disposed in the assembly cavity 211. The output shaft 23 is connected to the transmission mechanism 22. The first motor drives the output shaft 23 to rotate through the transmission mechanism 22, so as to drive the connecting shaft 13 to rotate. In this way, the overall structure of the first drive assembly 20 is relatively simple and easy to implement.

[0301] In some embodiments, referring to FIG10, the transmission mechanism 22 includes a plurality of meshing gears. The specific number of gears and the transmission ratio can be reasonably set according to actual needs. The output shaft 23 is connected to the last gear among the plurality of gears. For example, the output shaft 23 and the last gear can be an integral structure, or the output shaft 23 and the last gear can be two independent components connected by mechanical means. By setting a plurality of gears, the size and number of teeth of the gears can be flexibly adjusted, thereby adjusting the rotation speed and rotation direction of the output shaft 23. Furthermore, the structure of the transmission mechanism 22 is relatively simple and easy to implement.

[0302] In some embodiments, referring to FIG10 and FIG11, the side brush housing 12 may include a side brush base 124 and a side brush top cover 125. The side brush base 124 and the side brush top cover 125 are mated together and jointly define the mounting cavity 121. One end of the connecting shaft 13 is connected to the side brush housing 124.The brush base 124 is connected, and the other end passes through the side brush top cover 125 and is connected to the first drive assembly 20. For example, the side brush base 124 and the side brush top cover 125

[0303] Thus, by connecting the connecting shaft 13 to the side brush base 124, the side brush housing 12 can be rotated in the first direction and in the second direction. At the same time, it is convenient to connect the cleaning strip 112 to the connecting shaft 13 so that the side brush housing 12 can rotate relative to the cleaning strip 112 in the second direction.

[0304] In some embodiments, the side brush base 124 and the side brush top cover 125 can both be metal parts. In this case, the side brush base 124 and the side brush top cover 125 can be connected to each other by welding methods such as ultrasonic welding and thermal conductive welding. Alternatively, the side brush base 124 and the side brush top cover 125 can also be glued together, for example, by UV glue. Thus, the connection between the bottom cover and the top cover 125 of the side brush is stable and reliable, which is conducive to better realizing its function. Moreover, the connection method is relatively simple and easy to implement.

[0305] In some embodiments, the first drive component 20 is adapted to drive the side brush component 10 to perform lifting and lowering movements to switch between the cleaning position and the lifting position. That is, in this embodiment, the first drive component 20 can drive the side brush component 10, i.e., the entire side brush device, to lift and lower, so as to adjust the distance between the side brush component 10 and the cleaning surface. For example, the first drive component 20 drives the side brush component 10 to descend so that the side brush component 10 reaches the cleaning position, and the second drive component drives the side brush component 10 to rise so that the side brush component 10 reaches the lifting position. In this way, the cooperation between the first drive component 20 and the side brush component 10 can be further simplified.

[0306] In some embodiments, the cleaning device 100 may also include a second drive component (not shown in the figure). The second drive component is connected to the connecting shaft 13 and is adapted to drive the connecting shaft 13 to rotate so that the cleaning component 11 performs the cleaning operation. That is, in this embodiment, the first drive component 20 is only configured to drive the side brush component 10 to the cleaning position and the lifting position, while the second drive component is configured to drive the side brush component 10 to rotate after the first drive component 20 drives the side brush component 10 to the cleaning position, so as to clean the cleaning surface. In this way, the control method of the first drive component 20 and the second drive component can be further simplified.

[0307] In some embodiments, referring to FIG16 and FIG17, the cleaning device 100 may further include a swing arm 30, the swing arm 30 is rotatably connected to the body 40, the side brush component 10 is disposed on the swing arm 30 to follow the movement of the swing arm 30, the swing arm 30 moves relative to the body 40 between an inward position and an outward position, wherein, when the swing arm 30 is in the outward position, the range of the side brush component 10 beyond the body 40 is greater than the range of the side brush component 10 beyond the body 40 when it is in the inward position, so that when the side brush component is in the inward position andWhen in the outward swing position, the side brush assembly can have different cleaning ranges. For example, when the side brush assembly is in the inward position, the cleaning device performs regular cleaning work. When the side brush assembly is in the outward swing position, the side brush assembly can get closer to the corner area, thereby achieving a better cleaning effect on the corner area. For example, the swing arm 30 can be provided with a mounting part. The mounting part can be a cavity structure or other structures. The first drive assembly 20 can be installed in the mounting part to realize the installation of the side brush assembly onto the swing arm 30.

[0308] In this way, by controlling the swing of the swing arm 30, the side brush assembly 10 can be controlled to move to the side of the machine body 40 and to a position with a certain distance from the machine body 40. Thus, the cleaning range of the cleaning device 100 can be larger and can adapt to more complex cleaning conditions.

[0309] In some embodiments, the cleaning device 100 further includes a third drive assembly disposed on the body 40 to drive the swing arm 30 to move between an inward position and an outward position; when the side brush assembly 10 is in the cleaning position, the third drive assembly drives the swing arm 30 to move between the inward position and the outward position. In this way, the side brush assembly 10 can perform the cleaning task in either the inward position or the outward position.

[0310] In some possible embodiments, the third drive assembly may include a swing arm drive motor and a swing arm transmission mechanism 22. The swing arm transmission mechanism 22 may be a gear and rack mechanism, a gear set mechanism or other structures. Of course, this application does not limit this, and the specific structure of the swing arm transmission mechanism 22 can be reasonably set according to actual needs. In this way, by setting the swing arm drive device, it is convenient to control the rotation state of the swing arm 30, thereby flexibly controlling the position of the side brush assembly relative to the body 40, so that the cleaning device 100 can better perform the cleaning task.

[0311] In some embodiments, the cleaning device 100 may also include a position detection device and a control device. Specifically, a position detection device is located on the body 40. For example, the position detection device can be a proximity sensor, radar sensor, infrared sensor, etc., or other detection devices. The position detection device can be used to detect the position of the cleaning equipment 100 and the surrounding environment. The control device is connected to the position detection device and the swing arm 30 drive device respectively. The control device controls the swing arm 30 drive device to move according to the signal of the position detection device on pages 25 / 30 of the specification CN 121400728 A, so as to drive the swing arm 30 to rotate. In this way, the automation level of the cleaning equipment 100 can be further improved, and the cleaning task can be executed smoothly, which can improve the user experience.

[0312] Optionally, the method also includes: confirming the scenario in which the side brush assembly is allowed to be raised according to the configuration information; when the cleaning equipment confirms that there is a scenario that needs to be raised, and confirms that the current scenario allows the raising according to the configuration information, controlling the side brush assembly to switch to the raised position.

[0313] In this embodiment, the configuration information may refer to the structural information and control logic information configured in advance for the cleaning device to be used for lifting the side brush assembly. This embodiment does not specifically limit the content of the configuration information.

[0314] It should be noted that after determining that the cleaning device confirms that there is a scenario that needs to be lifted, it is also necessary to confirm whether the current scenario allows lifting according to the configuration information. If so, the side brush assembly is controlled to switch to the lifted position. Otherwise, even if the cleaning device confirms that there is a scenario that needs to be lifted, the side brush assembly is not controlled to switch to the lifted position because the cleaning device may not have the structure and control logic to support the lifting of the side brush assembly.

[0315] Optionally, when the cleaning device confirms that there is a scenario that needs to be lifted, and confirms that the current scenario allows lifting according to the configuration information, the side brush assembly is controlled to switch from any position to the lifted position.

[0316] Therefore, as long as the cleaning device is in a scenario that needs to be lifted, and after determining that the conditions for allowing the side brush assembly to be lifted are met according to the configuration information, the side brush assembly can be switched to the lifted position, which improves the flexibility of the application.

[0317] Optionally, the cleaning device further includes a mop assembly. The cleaning device is configured to have a mopping mode. When the cleaning device is in the mopping mode, the side brush assembly is in a raised position, and the mop assembly contacts the cleaning surface to perform cleaning work.

[0318] In some embodiments, when the cleaning device is in the mopping mode, the side brush assembly is raised, and the mop assembly cleans the cleaning surface. This can reduce the frequency of contact between the side brush assembly and contaminants, reduce the wear and tear on the side brush assembly, and also prevent the dirty side brush assembly from contaminating other areas.

[0319] Optionally, when the cleaning device is in the mopping mode, both the side brush assembly and the roller brush assembly are in a raised position, and the mop assembly contacts the cleaning surface to perform cleaning work, thereby preventing stains from adhering to the side brush assembly and the roller brush assembly, and preventing the spread of stains, keeping the cleaning surface uncontaminated.

[0320] Optionally, the cleaning device is configured to have a sweeping mode. When the cleaning device is in the sweeping mode, the side brush assembly is in a cleaning position, and the mop assembly is in a raised position separated from the cleaning surface to perform cleaning work.

[0321] Optionally, the cleaning device is configured to have a sweeping and mopping mode. When the cleaning device is in the sweeping and mopping mode, the side brush assembly is in the cleaning position, and the mop assembly contacts the cleaning surface to perform the cleaning work.

[0322] Optionally, when the cleaning device switches from the sweeping and mopping mode to the mopping mode, the side brush assembly is controlled to switch from the cleaning position to the raised position, thereby avoiding continuous friction between the side brush assembly and the ground when in the cleaning position, which would affect the service life of the side brush.

[0323] Based on the above settings of multiple modes, different application scenarios and user needs can be applied, thereby improving the cleaning flexibility of the cleaning device.

[0324] Optionally, after the side brush assembly is in the raised position, the position detector can be activated to detect and record the side brush assembly.The initial position of the side brush assembly is monitored, and the number of rotations of the side brush motor is compared with a first threshold. When the number of rotations exceeds the first threshold, it is confirmed that the side brush assembly has been fully raised to the position. The first threshold can be set based on a large number of experiments or manually. The specific value corresponding to the first threshold is not limited in this embodiment. For example, the first threshold is determined based on the structure of the side brush assembly. The first threshold is 2-5 rotations. When the number of rotations exceeds the first threshold, it is confirmed that the side brush has been fully raised to the position. In this way, it is not necessary to set a separate lifting position sensor to detect the position of the side brush assembly. This solution is simple to implement and does not increase hardware costs, thereby reducing the manufacturing cost of the cleaning equipment. Specification 26 / 30 pages 29 CN 121400728 A

[0325] Optionally, after the side brush assembly is in the raised position and cleaning is performed, the first motor is rotated at preset time intervals and the first motor is locked to prevent the side brush assembly from accidentally loosening or being interfered with during movement.

[0326] Optionally, during the operation of the first motor, the current of the first motor can be monitored in real time. If the current exceeds the second threshold, an overcurrent protection mechanism is triggered, and the cleaning equipment can perform abnormal detection and processing to prevent damage to the first motor or further malfunction. The setting of the second threshold can be based on a large number of experiments or set manually. The specific value corresponding to the second threshold is not limited in this embodiment.

[0327] Optionally, in this embodiment, the current status information of the side brush component can be displayed on the human-machine interface corresponding to the cleaning equipment through icons, text, or indicator lights to prompt the user about the various states of the cleaning equipment.

[0328] Considering the above, in order to improve the usability of the side brush assembly of the cleaning equipment and to efficiently control the side brush assembly in bow-shaped path cleaning, carpet area cleaning, or other non-cleaning tasks, this application designs strategies for side brush lifting and lowering in various scenarios. Furthermore, to enhance the flexibility of the side brush assembly in different scenarios, it also designs multiple cooperation modes between the side brush assembly and mop assembly, roller brush assembly, etc., thereby improving the cleaning efficiency and flexibility of the cleaning equipment. Moreover, to improve the accuracy of side brush assembly control, it also sets up schemes such as position detection and overcurrent protection.

[0329] In the foregoing embodiments, the cleaning control method provided by the embodiments of this application has been described. To achieve the various functions in the methods provided by the embodiments of this application, the cleaning equipment, as the executing entity, may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0330] For example, Figure 18 is a schematic diagram of a cleaning control device provided in an embodiment of this application. The cleaning control device 1800 is applied to a cleaning device, which includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is used at least for dry cleaning of the cleaning surface, and the mop assembly is used at least for wet cleaning of the cleaning surface. The side brush assembly has a cleaning position that contacts the cleaning surface and a raised position that separates it from the cleaning surface. As shown in Figure 18, the cleaning control device 1800 includes a control module 1801, which is used to:

[0331] When it is confirmed that there is a wet area on the cleaning path of the cleaning device, the cleaning device performs cleaning on the wet area when the side brush assembly is in the raised position.

[0332] Optionally, the cleaning control device 1800 also includes a switching module 1802, which is used to: control the side brush assembly to switch from the cleaning position to the raised position before the side brush assembly contacts the wet area.

[0333] Optionally, the control module 1801 includes a confirmation unit; the confirmation unit is configured to:

[0334] confirm that a first area that has been wet-cleaned exists on the cleaning path, the wet area including the first area.

[0335] Optionally, the confirmation unit is specifically configured to:

[0336] confirm that a first area exists on the cleaning path based on sensor signals; and / or, confirm that an area that has been wet-cleaned by the cleaning equipment is based on the cleaning map of the cleaning equipment, and determine that a first area exists on the cleaning path of the cleaning equipment based on the area that has been wet-cleaned.

[0337] Optionally, the mop assembly is disposed on the rear side of the body, and the side brush assembly is disposed on the front side of the body. The mop assembly is used at least to perform wet cleaning on the cleaning surface when the cleaning device performs bow-shaped path cleaning. The bow-shaped path includes a first path and a second path arranged adjacent to each other, and a third path transitioning from the first path to the second path. When the cleaning device cleans along the first path and the second path, the coverage area of ​​the wet cleaning has at least partial overlap. The cleaning control device 1800 also includes a first control module, which is used for: Specification 27 / 30 pages 30 CN 121400728 A

[0338] When cleaning the second path or the third path, if the side brush assembly is in the area already covered by the mop assembly when cleaning the first path, the side brush assembly is controlled to be in a raised position for cleaning.

[0339] Optionally, the number of side brush components is one, and the side brush component is disposed on the right front side of the machine body. The cleaning control device 1800 also includes a first cleaning module, which is used for:

[0340] When the cleaning device performs bow-shaped path cleaning, it first cleans along the first path and then cleans along the second path. When the cleaning device cleans along the first path, the side brush component is in the cleaning position; when the cleaning device cleans along the second path, the side brush component is in the raised position.

[0341] Optionally, the first cleaning module is further configured to: when the cleaning device cleans along the first path, the side brush assembly is in the cleaning position; when the cleaning device enters the third path from the first path, the side brush assembly switches from the cleaning position to the lifting position.

[0342] Optionally, the confirmation unit is specifically configured to: confirm that there is a second area contaminated by wet stains on the cleaning path, the wet area including the second area.

[0343] Optionally, the second area is determined based on the stain information identified by the stain sensor, or based on the stain area pre-defined on the work map.

[0344] Optionally, the cleaning control device 1800 further includes a first switching module, which is configured to: after the stain sensor identifies the stain information and before the side brush assembly contacts the second area, control the side brush assembly to switch from the cleaning position to the lifting position.

[0345] Optionally, the cleaning device further includes a roller brush assembly, which has suction to perform cleaning work. The cleaning control device 1800 also includes a second cleaning module, which is used to:

[0346] clean the wet area with the side brush assembly and roller brush assembly in a raised position separated from the cleaning surface, and the mop assembly in a mopping position in contact with the cleaning surface.

[0347] Optionally, the cleaning control device 1800 also includes a second control module, which is used to: control the side brush assembly to not rotate in the raised position; and / or control the suction at the roller brush assembly to be turned off.

[0348] Optionally, the cleaning control device 1800 also includes a third control module, which is used to: control the side brush assembly to rotate in the raised position; and / or control the roller brush assembly to have suction in the raised position to dry at least a portion of the wet area.

[0349] Optionally, the cleaning control device 1800 further includes a fourth control module, which is used to: confirm that there is a carpet area within the cleaning surface of the cleaning device, and control the side brush assembly to be in a raised position when the cleaning device is in the carpet area.

[0350] Optionally, the cleaning control device 1800 further includes a fifth control module, which is used to: when the cleaning device is identified to be in the carpet area, control the cleaning device to move to the ground area, then control the side brush assembly to switch from the cleaning position to the raised position, and then control the cleaning device to enter the carpet area to perform cleaning work.

[0351] Optionally, the cleaning control device 1800 further includes a sixth control module, which is used to: when there is a carpet area within the cleaning surface and the cleaning device is in the ground area, first control the side brush assembly to switch from the cleaning position to the raised position when the cleaning device is in the ground area, and then control the cleaning device to move from the ground area to the carpet area.

[0352] Optionally, the cleaning control device 1800 further includes a seventh control module, which is used to control the side brush assembly and the mop assembly to be in a raised position separated from the cleaning surface when the cleaning equipment is located in the carpet area.

[0353] Optionally, the cleaning control device 1800 further includes an eighth control module, which is used to: control the side brush assembly to be in a raised position when the cleaning device is in a non-cleaning task scenario. The non-cleaning task scenario includes at least one of the following: the cleaning device returns to the base station, the cleaning device is at the base station, the cleaning device is in the navigation process, and the cleaning device is in the positioning process.

[0354] Optionally, the cleaning control device 1800 further includes a ninth control module, which is used to: control the side brush assembly to be in a raised position when the cleaning device is in a difficult cleaning scenario. The difficult cleaning scenario includes at least one of the following: the cleaning device overcomes an obstacle, the cleaning device is trapped, there is an obstacle with entanglement characteristics on the cleaning path, and there are particulate obstacles on the cleaning path.

[0355] Optionally, the side brush assembly is swayably connected to the body via a swing arm, so that the side brush assembly has an inward retracted position and an outward swing position. When the side brush assembly is in the outward swing position, it is further away from the edge of the body than when it is in the inward retracted position. The cleaning control device 1800 also includes a tenth control module, which is used to:

[0356] When the side brush assembly is in the outward swing position, first control the side brush assembly to switch from the outward swing position to the inward retracted position, and then control the side brush assembly to move to the raised position.

[0357] Optionally, the control module is specifically used to: confirm the scenario in which the side brush assembly is allowed to be raised according to the configuration information; when the cleaning device confirms that there is a scenario that needs to be raised, and confirms that the current scenario allows the raising according to the configuration information, control the side brush assembly to switch to the raised position.

[0358] Optionally, the cleaning device also includes a mop assembly. The cleaning device is configured to have a mopping mode. When the cleaning device is in the mopping mode, the side brush assembly is in the raised position, and the mop assembly contacts the cleaning surface to perform cleaning work.

[0359] It should be noted that the specific implementation principle and effect of the cleaning control device provided in the above embodiments can be found in the relevant description and effect of the cleaning control method in the above embodiments, and will not be elaborated here.

[0360] This application embodiment also provides a structural schematic diagram of a cleaning device. Figure 19 is a structural schematic diagram of a cleaning device provided in this application embodiment. As shown in Figure 19, the cleaning device 100 may include: a body 40, a side brush assembly 10 and a mop assembly 70 movably connected to the body, and a controller 50. The controller 50 is configured to execute the method described in any of the foregoing embodiments of this application.

[0361] This application embodiment also provides a computer-readable storage medium storing computer program execution instructions. When the computer execution instructions are executed by a processor, they are used to implement the method described in any of the foregoing embodiments of this application.

[0362] This application embodiment also provides a chip for running instructions, which is used to execute any of the foregoing embodiments of this application.The method described in any of the foregoing embodiments is executed by an electronic device in the embodiments.

[0363] The embodiments of this application also provide a computer program product, which includes a computer program that, when executed by a processor, can implement the method described in any of the foregoing embodiments as executed by an electronic device in any of the foregoing embodiments of this application.

[0364] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of modules is merely a logical functional division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or modules may be electrical, mechanical or other forms.

[0365] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. The solution of this embodiment can be implemented by selecting some or all of the modules according to actual needs.

[0366] In addition, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The above-mentioned modular unit can be implemented in hardware or in the form of hardware plus software functional units.

[0367] The integrated module implemented in the form of software functional modules can be stored in a computer-readable storage medium. The above-mentioned software functional module stored in a storage medium includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the method described in the various embodiments of this application.

[0368] It should be understood that the above-mentioned processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be...This is directly reflected in the execution completed by the hardware processor, or by the combination of hardware and software modules in the processor.

[0369] The memory may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, portable hard drive, read-only memory, disk or optical disk, etc.

[0370] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, the bus in the accompanying drawings of this application is not limited to only one bus or one type of bus.

[0371] The above-mentioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0372] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Of course, the processor and storage medium can also exist as discrete components in the electronic device or the main control device.

[0373] The above description is only a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application is not...Therefore, any variations or substitutions within the technical scope disclosed in the embodiments of this application should be included within the protection scope of the embodiments of this application. Thus, the protection scope of the embodiments of this application should be determined by the protection scope of the claims. Instruction manual 30 / 30 pages 33 CN 121400728 A Figure 1 Figure 2 Figure 3 Instruction manual drawing 1 / 10 pages 34 CN 121400728 A Figure 4 Figure 5 Instruction manual drawing 2 / 10 pages 35 CN 121400728 A Figure 6 Figure 7 Instruction manual drawing 3 / 10 pages 36 CN 121400728 A Figure 8 Figure 9 Instruction manual drawing 4 / 10 pages 37 CN 121400728 A Figure 10 Instruction manual drawing 5 / 10 pages 38 CN 121400728 A Figure 11 Instruction manual drawing 6 / 10 pages 39 CN 121400728 A Figure 12 Figure 13 Instruction manual drawing 7 / 10 pages 40 CN 121400728 A Figure 14 Figure 15 Instruction manual drawing 8 / 10 pages 41 CN 121400728 A Figure 16 Figure 17 Figure 18 Figure 9 / 10 of the description, page 42 CN 121400728 A Figure 19 Figure 10 / 10 of the description, page 43 CN 121400728 A CLEANING CONTROL METHOD, APPARATUS, AND CLEANING EQUIPMENT Abstract The present application relates to the field of cleaning equipment, and provides a cleaning control method, an apparatus, and cleaning equipment, which are applied to a cleaning device. The cleaning device includes a main body, a side brush assembly movably connected to the main body, and a mop assembly. The side brush assembly has a cleaning position in contact with a cleaning surface and a liftedposition separated from the cleaning surface. The method includes: during the process of cleaning the cleaning surface by the cleaning device according to a predefined cleaning path, if it is confirmed that a wet area exists on the cleaning path of the cleaning device, controlling the cleaning device to travel to a position before the wet area, and controlling the cleaning device to perform cleaning on the wet area with the side brush assembly in the lifted position. In this way, the cleaning device can lift the side brush assembly before cleaning the wet area, avoiding the need to lift the side brush assembly after contacting the wet area, which would contaminate the side brush assembly and cause the side brush assembly to contaminate the cleaning surface during the next cleaning, thereby further improving the cleaning flexibility of the cleaning device. Before the side brush assembly contacts the wet area, controlling the side brush assembly to switch from the cleaning position tothe lifted position Performing cleaning on the wet area with the side brush assembly in the lifted position S301 S302

Claims

1. A cleaning control method, characterized in that, The method is applied to a cleaning device, the cleaning device comprising a body, a side brush assembly movably connected to the body, and a mop assembly, wherein the side brush assembly is at least used for dry cleaning of a cleaning surface, and the mop assembly is at least used for wet cleaning of the cleaning surface; the side brush assembly has a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface; the method includes: During the cleaning process of the cleaning device following a predefined cleaning path, if a wet area is detected on the cleaning path, the cleaning device is controlled to move to the wet area and clean the wet area with the side brush assembly in a raised position.

2. The cleaning control method according to claim 1, characterized in that, Before the cleaning equipment travels to the wet area, any of the following situations apply: The projection of the cleaning equipment body does not contact the wet area; The cleaning equipment moves along the cleaning path to a preset distance or critical point relative to the wet area.

3. The cleaning control method according to claim 1, characterized in that, The method further includes: After the cleaning device has finished cleaning the wet area, the side brush assembly is controlled to be in the cleaning position, and the cleaning surface continues to be cleaned along the cleaning path.

4. The cleaning control method according to claim 1, characterized in that, The method further includes: controlling the side brush assembly to switch from the cleaning position to the raised position before the side brush assembly contacts the wet area; Before the side brush assembly contacts the wet area, the cleaning device travels to the edge relative to the wet area.

5. The cleaning control method according to claim 1, characterized in that, The confirmation that there are wet areas on the cleaning path of the cleaning equipment includes: Based on the cleaning map of the cleaning equipment, it was confirmed that there were wet areas on the cleaning path of the cleaning equipment; The cleaning map is a virtual area, which is a region preset by the user in the cleaning area of ​​the cleaning equipment, or a region that the cleaning equipment identifies as inaccessible during the cleaning process.

6. The cleaning control method according to claim 1, characterized in that, The step of controlling the cleaning device to move to the wet area and controlling the cleaning device to perform cleaning on the wet area with the side brush assembly in the raised position includes: Before confirming that there is a first area that has been wet-cleaned on the cleaning path, based on the position of the first area, a preset distance or critical point is determined relative to the first area for the cleaning device, and the cleaning device is controlled to perform cleaning on the wet area with the side brush assembly in a raised position. The wet area includes the first area.

7. The cleaning control method according to claim 1, characterized in that, The step of controlling the cleaning device to move to the wet area and controlling the cleaning device to perform cleaning on the wet area with the side brush assembly in the raised position includes: When it is confirmed that there is a second area contaminated by wet stains on the cleaning path, before the cleaning device moves to the second area, or when the cleaning device moves to a preset distance or critical point from the second area, the side brush assembly is controlled to switch from the cleaning position to the lifting position to perform cleaning on the second area; The wet area includes the second area.

8. The cleaning control method according to claim 7, characterized in that, The confirmation method for the second area includes any of the following: The second area is identified based on the detection signal from the stain sensor; Obtain user-preset information, and confirm the second area based on the user-preset information. The preset information is information input by the user in advance to determine the position of the second area on the cleaning surface.

9. The cleaning control method according to claim 1, characterized in that, The method further includes: When the cleaning equipment is in the navigation process, the length of the navigation distance is determined based on map information and task planning; If the length of the navigation distance is greater than a preset threshold, the side brush assembly is controlled to be in the raised position; if the length of the navigation distance is less than or equal to the preset threshold, the side brush assembly is controlled to be in the cleaning position.

10. The cleaning control method according to claim 1, characterized in that, The method further includes: When the cleaning device is in the positioning process, the side brush assembly is controlled to be in the raised position, and the cleaning device is controlled to position itself at various locations within a preset area.

11. The cleaning control method according to claim 1, characterized in that, The method further includes: Before the cleaning equipment enters the base station, the side brush assembly is controlled to be in the raised position; If, after the cleaning device is positioned at the base station, it is detected that the side brush assembly is not in the raised position, then the side brush assembly is controlled to be in the raised position.

12. A cleaning control device, characterized in that, The device is applied to cleaning equipment, which includes a body, a side brush assembly movably connected to the body, and a mop assembly. The side brush assembly is used at least for dry cleaning of the cleaning surface, and the mop assembly is used at least for wet cleaning of the cleaning surface. The side brush assembly has a cleaning position in contact with the cleaning surface and a raised position separated from the cleaning surface. The device includes a control module, which is used for: During the cleaning process of the cleaning device following a predefined cleaning path, if a wet area is detected on the cleaning path, the cleaning device is controlled to move to the wet area and clean the wet area with the side brush assembly in a raised position.

13. A cleaning device, characterized in that, The device includes a body, a side brush assembly and a mop assembly movably connected to the body, and a controller configured to perform the cleaning control method as described in any one of claims 1-11.

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