Method for controlling cleaning device and cleaning device

Abstract

The present invention provides a method for controlling a cleaning device and a cleaning device. The cleaning device comprises a driving mechanism and a rolling brush mechanism. The rolling brush mechanism comprises a first rolling brush, a second rolling brush, a first operation member, and a second operation member, wherein the first operation member is connected to the first rolling brush, and the second operation member is connected to the second rolling brush. The control method comprises: controlling the driving mechanism to move, such that the driving mechanism drives at least one of the first rolling brush and the second rolling brush to rotate and thus drives at least one of the first operation member and the second operation member to rotate; and when first current position information of the first operation member and second current position information of the second operation member meet a first position condition, controlling the driving mechanism to stop rotating, wherein the first position condition comprises a first operation part of the first operation member and a second operation part of the second operation member being both at least partially exposed out of the cleaning device. For the method for controlling a cleaning device and the cleaning device, as provided by the present application, the rolling brush mechanism of the cleaning device is convenient to disassemble.

Description

Control method of cleaning equipment and cleaning equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 21, 2023, with application number 202311563357.6 and invention name “Control method for cleaning equipment and cleaning equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the technical field of cleaning equipment, and in particular to a control method for cleaning equipment and the cleaning equipment. Background Art

[0003] In the related art, cleaning equipment generally includes a main body and a roller brush mechanism, wherein the main body is connected to the roller brush mechanism, and the roller brush mechanism can rotate relative to the main body to clean the surface to be cleaned. However, when the roller brush mechanism needs to be removed for replacement or maintenance, it is inconvenient to disassemble the roller brush mechanism.

[0004] Summary of the Invention

[0005] The present invention provides a control method for cleaning equipment and the cleaning equipment, aiming to facilitate the disassembly of a roller brush mechanism.

[0006] The present invention provides a control method for a cleaning device, wherein the cleaning device includes a driving mechanism and a roller brush mechanism, the roller brush mechanism includes a first roller brush, a second roller brush, a first operating member and a second operating member, the first operating member is connected to the first roller brush, and the second operating member is connected to the second roller brush; the control method includes: controlling the movement of the driving mechanism so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate; when the first current position information of the first operating member and the second current position information of the second operating member meet a first position condition, controlling the driving mechanism to stop rotating; wherein the first position condition includes: the first operating part of the first operating member and the second operating part of the second operating member are at least partially exposed to the outside of the cleaning device.

[0007] In the control method of an embodiment of the present invention, the first position condition also includes: the second operating part is located in a preset plane, and the preset plane passes through the axis of the roller brush mechanism and the first operating part; or, the first position condition also includes: the second operating part and the first operating part are arranged along a preset straight line, and the preset straight line is parallel to the axis of the roller brush mechanism.

[0008] In the control method of an embodiment of the present invention, controlling the driving mechanism to rotate so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate includes: when the first current position information and the second current position information meet the second position condition, controlling the driving mechanism to rotate so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate; wherein, the second position condition includes at least one of the following: at least one of the first operating part and the second operating part is not exposed to the outside of the cleaning device; the second operating part is not located on the preset plane.

[0009] In the control method of the embodiment of the present invention, the first position condition further includes: a central angle of projections of the first operating portion and the second operating portion on the cross section of the roller brush mechanism is less than or equal to 40°.

[0010] In the control method of an embodiment of the present invention, the first roller brush includes a first roller brush body and a first telescopic member; the second roller brush includes a second roller brush body and a second telescopic member; the control method also includes: when the first current position information and the second current position information meet the first position condition, the first operating member can drive the first telescopic member to move so that the first roller brush can be detached from the driving mechanism; the second operating member can drive the second telescopic member to move so that the second roller brush can be detached from the driving mechanism.

[0011] In the control method of an embodiment of the present invention, the roller brush mechanism also includes a first elastic member and a second elastic member; when the first current position information and the second current position information meet the first position condition, the first operating member can drive the first telescopic member to move axially along the first roller brush body, so that the first telescopic member located outside the first roller brush body is at least partially retracted into the first roller brush body, thereby allowing the first roller brush to be detached from the driving mechanism; the first telescopic member can apply a force to the first elastic member under the drive of the first operating member; when the first current position information and the second current position information meet the first position condition, the second operating member can drive the second telescopic member to move axially along the second roller brush body, so that the second telescopic member located outside the second roller brush body is at least partially retracted into the second roller brush body, thereby allowing the second roller brush to be detached from the driving mechanism; the second telescopic member can apply a force to the second elastic member under the drive of the second operating member.

[0012] In the control method of an embodiment of the present invention, the driving mechanism includes a first driving member and a second driving member, and controlling the movement of the driving mechanism so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate, includes: controlling the movement of at least one of the first driving member and the second driving member to drive at least one of the first roller brush and the second roller brush to rotate, and then driving at least one of the first operating member and the second operating member to rotate.

[0013] In the control method of an embodiment of the present invention, the control of at least one of the first driving member and the second driving member to move so as to drive at least one of the first roller brush and the second roller brush to rotate, and then drive at least one of the first operating member and the second operating member to rotate, includes: controlling the first driving member to move with a first motion parameter and controlling the second driving member to move with a second motion parameter, so that the first driving member and the second driving member respectively drive the first roller brush and the second roller brush to rotate, and then respectively drive the first operating member and the second operating member to rotate.

[0014] In the control method of the embodiment of the present invention, the first motion parameter includes at least one of the following: a first rotational angular velocity, a first rotational direction; the second motion parameter includes at least one of the following: a second rotational angular velocity, a second rotational direction.

[0015] In the control method of an embodiment of the present invention, controlling the movement of at least one of the first driving member and the second driving member includes: controlling the first driving member and the second driving member to move at a first rotational angular velocity and a second rotational angular velocity, respectively, and the first rotational angular velocity and the second rotational angular velocity are different in magnitude.

[0016] In the control method of an embodiment of the present invention, the first roller brush and the second roller brush are rotatably connected; controlling the movement of the driving mechanism so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate includes: controlling the movement of the driving mechanism so that the driving mechanism can drive the first roller brush and the second roller brush to rotate separately.

[0017] The control method in the embodiment of the present invention further includes: acquiring first current position information of the first operating member and second current position information of the second operating member detected by the position detection mechanism.

[0018] The control method of an embodiment of the present invention also includes: when a preset dismantling signal is received, obtaining the working status of the cleaning device detected by the status sensor, the working status including the rotational angular velocity of the driving mechanism; if the current rotational angular velocity of the driving mechanism is greater than the preset speed threshold, controlling the driving mechanism to decelerate at least twice so that the rotational angular velocity of the driving mechanism after deceleration is less than or equal to the preset speed threshold.

[0019] In the control method of an embodiment of the present invention, the control method also includes: obtaining the handedness set by the user, and determining the relative position relationship between the first operating part and the second operating part according to the handedness, the relative position relationship including a first relative position relationship or a second relative position relationship; the first relative position relationship includes: the first operating part and the second operating part are arranged at intervals along a first line, and the first operating part is closer to the bottom of the cleaning device relative to the second operating part; the second relative position relationship includes: the first operating part and the second operating part are arranged at intervals along a second line, and the second operating part is closer to the bottom of the cleaning device relative to the first operating part, and the first line intersects with the second line.

[0020] In the control method of an embodiment of the present invention, the control method also includes: when a preset dismantling signal is received, obtaining the working state of the cleaning device detected by the state sensor, the working state includes a first state and a second state, the second state includes a rollover state or a flipping state; the cleaning device can perform cleaning operations in the first state, the area of ​​the first operating part exposed to the outside when the cleaning device is in the second state is larger than the area of ​​the first operating part exposed to the outside when the cleaning device is in the first state, and the area of ​​the second operating part exposed to the outside when the cleaning device is in the second state is larger than the area of ​​the second operating part exposed to the outside when the cleaning device is in the first state; when the working state of the cleaning device is the first state, controlling the drive mechanism to work so that the cleaning device switches to the second state.

[0021] An embodiment of the present invention also provides a cleaning device, comprising: a driving mechanism; a roller brush mechanism, comprising a first roller brush, a second roller brush, a first operating member and a second operating member, the first operating member being connected to the first roller brush, and the second operating member being connected to the second roller brush; the cleaning device is used to execute the steps of the control method described above.

[0022] In the cleaning device of an embodiment of the present invention, the cleaning device also includes: a first position sensor, including a first trigger member and a first sensing member, the first trigger member is arranged in the roller brush mechanism, the position of the first sensing member is set corresponding to the position of the first trigger member, and the first sensing member is used to sense the position information of the first trigger member to detect the first current position information of the first operating member; a second position sensor, including a second trigger member and a second sensing member, the second trigger member is arranged in the roller brush mechanism, and the second sensing member is used to sense the position information of the second trigger member to detect the second current position information of the second operating member.

[0023] In the cleaning device of the embodiment of the present invention, the first trigger member and the second trigger member are respectively arranged at two ends of the roller brush mechanism; or, the first trigger member and the second trigger member are both arranged in the middle of the roller brush mechanism.

[0024] In the cleaning device of an embodiment of the present invention, the first trigger member and the second trigger member are both arranged in the middle of the roller brush mechanism, the central angle between the first trigger member and the first operating part is greater than zero, and the central angle between the second trigger member and the second operating part is greater than zero.

[0025] The control method and cleaning device of the cleaning device provided by the present invention control the movement of the driving mechanism so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate; obtains the first current position information of the first operating member and the second current position information of the second operating member detected by the position detection mechanism; when the first current position information and the second current position information meet the first position condition, controls the driving mechanism to stop rotating. At this time, the user can conveniently operate the first operating member and the second operating member to respectively drive at least part of the first roller brush and at least part of the second roller brush to move, so that the first roller brush and the second roller brush can be conveniently removed, and the roller brush mechanism is easy to disassemble.

[0026] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and are not intended to limit the disclosure of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] FIG1 is a schematic structural diagram of a cleaning device provided by one embodiment of the present invention;

[0029] FIG2 is a schematic structural diagram of a cleaning device provided by an embodiment of the present invention;

[0030] FIG3(A) is a schematic structural diagram of a roller brush mechanism provided in one embodiment of the present invention;

[0031] FIG3(B) is a schematic structural diagram of a roller brush mechanism provided in one embodiment of the present invention;

[0032] FIG4 is a cross-sectional view of a roller brush mechanism provided in one embodiment of the present invention;

[0033] FIG5 is a schematic diagram of a partial structure of a cleaning device provided in one embodiment of the present invention;

[0034] FIG6 is a partial structural diagram of a roller brush mechanism provided in one embodiment of the present invention;

[0035] FIG7 is a schematic structural diagram of a cleaning device provided in one embodiment of the present invention;

[0036] FIG8 is a schematic diagram of a partial structure of a cleaning device provided by an embodiment of the present invention;

[0037] FIG9 is a cross-sectional view of a cleaning device provided by one embodiment of the present invention;

[0038] FIG10 is a schematic diagram of a control method for a cleaning device according to an embodiment of the present invention;

[0039] 11 is a structural diagram of a roller brush mechanism according to an embodiment of the present invention;

[0040] FIG12 is a schematic structural diagram of a roller brush mechanism provided in one embodiment of the present invention.

[0041] DESCRIPTION OF REFERENCE NUMERALS: 100, cleaning device; 10, device body; 20, power mechanism; 21, driving wheel; 22, driven wheel; 23, transmission belt; 30, driving mechanism; 31, first driving member; 32, second driving member; 33, second assembly portion; 40, roller brush mechanism; 41, first roller brush; 411, first roller brush body; 412, first telescopic member; 42, second roller brush; 421. Second roller brush body; 422. Second telescopic member; 43. First operating member; 431. First operating portion; 432. First connecting portion; 44. Second operating member; 441. Second operating portion; 442. Second connecting portion; 45. Elastic structure; 451. First elastic member; 452. Second elastic member; 46. Connecting member; 47. Position detecting mechanism; 471. First position sensor; 4711. First triggering member; 4712. First sensing member; 472. Second position sensor; 4721. Second triggering member; 4722. Second sensing member; 50. Control unit; 60. Receiving groove. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0044] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0045] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0046] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0047] Referring to FIG. 1 , an embodiment of the present invention provides a cleaning device 100 , which can clean dirt.

[0048] For example, the cleaning device 100 can travel in at least one of underwater, on water, and on land, so that the cleaning device 100 can be moved to a target area to perform a cleaning operation.

[0049] In some embodiments, the cleaning device 100 can clean dirt from at least one of the pool walls and the liquid within the pool. For example, the pool can include at least one of the following: a swimming pool, a fish pond, a landscape pond, etc. For example, the liquid within the pool can include water or other liquids. For example, the dirt includes at least one of the following: sediment attached to the pool walls, floating objects (such as fallen leaves), suspended matter in the water, and settled debris (such as sand and gravel).

[0050] For example, the cleaning device 100 can clean dirt attached to the wall of a pool.

[0051] For example, the cleaning device 100 can clean the liquid in the pool. For example, the cleaning device 100 can absorb the liquid containing dirt, filter the liquid containing dirt, leave the dirt at the cleaning device 100, and drain the filtered liquid back into the pool, thereby cleaning the liquid in the pool.

[0052] Referring to FIG1 , in some embodiments, a cleaning device 100 includes a device body 10 and a power mechanism 20. The power mechanism 20 is used to drive the device body 10 to move, such as to drive the device body 10 to move forward and / or turn. Exemplarily, the power mechanism 20 includes at least one of the following: a motor drive structure, a propeller structure, etc.

[0053] Please refer to Figure 1. Exemplarily, the power mechanism 20 includes a power motor (not marked) and a drive wheel 21. The power motor is provided in the device body 10. The power motor is used to drive the drive wheel 21 to move, thereby driving the device body 10 to move and / or turn.

[0054] The number of drive wheels 21 and power motors can be designed according to actual needs. For example, the number of drive wheels 21 and power motors can include one, two, three, four, or more. For example, the number of drive wheels 21 includes two, and each of the two drive wheels 21 corresponds to a power motor. For example, the same power motor can drive the two drive wheels 21 to move.

[0055] Please refer to Figure 1. In some embodiments, the power mechanism 20 also includes a driven wheel 22 and a transmission belt 23. The transmission belt 23 is connected to the driving wheel 21 and the driven wheel 22. When the power motor drives the driving wheel 21 to rotate, the driving wheel 21 can drive the transmission belt 23 and the driven wheel 22 to rotate, thereby making the device body 10 move and / or turn.

[0056] Please refer to Figure 1. In some embodiments, the cleaning device 100 includes a driving mechanism 30 (see Figure 2) and a roller brush mechanism 40. The driving mechanism 30 is used to drive the roller brush mechanism 40 to move so that the roller brush mechanism 40 can clean dirt, providing a guarantee for the cleaning device 100 to clean dirt.

[0057] For example, the drive mechanism 30 may include a power motor according to any of the above-described embodiments, thereby reducing the number of components and facilitating a miniaturized and lightweight design of the product. For example, the drive mechanism 30 may be different from the above-described power motor, without limitation. For example, a power motor for driving the drive wheel 21 and a drive motor for driving the roller brush mechanism 40 may be provided separately.

[0058] Referring to Figure 2, in some embodiments, the driving mechanism 30 includes a first driving member 31 and a second driving member 32. The first driving member 31 is used to drive the first roller brush 41 to rotate, and the second driving member 32 is used to drive the second roller brush 42 to rotate. Exemplarily, the first driving member 31 and the second driving member 32 both include driving motors. Exemplarily, the first driving member 31 corresponds to the power motor of one of the driving wheels 21, and the second driving member 32 corresponds to the power motor of the other driving wheel 21, that is, the first driving member 31 can drive the first roller brush 41 and one driving wheel 21 to move, and the second driving member 32 can drive the second roller brush 42 and the other driving wheel 21 to move. In other embodiments, one of the first driving member 31 and the second driving member 32 can also be omitted, for example, by using one driving member to drive the first roller brush 41 and the second roller brush 42 to rotate synchronously.

[0059] 1 , 3(A), and 3(B), in some embodiments, the roller brush mechanism 40 includes a first roller brush 41, a second roller brush 42, a first operating member 43, and a second operating member 44. The first operating member 43 is connected to the first roller brush 41, and the second operating member 44 is connected to the second roller brush 42. For example, at least one of the first roller brush 41 and the second roller brush 42 is connected to the drive mechanism 30.

[0060] Please refer to Figure 4. In some embodiments, the first roller brush 41 is detachably connected to at least one of the driving mechanism 30, the power mechanism 20 and the device body 10, and the second roller brush 42 is detachably connected to at least one of the driving mechanism 30, the power mechanism 20 and the device body 10. In this way, when the roller brush mechanism 40 needs to be maintained or replaced, the roller brush mechanism 40 can be disassembled and assembled, thereby maintaining or replacing the roller brush mechanism 40, which provides a guarantee for the cleaning device 100 to perform cleaning operations efficiently.

[0061] Please refer to Figure 4. For example, the first roller brush 41 includes a first roller brush body 411 and a first telescopic member 412, and the second roller brush 42 includes a second roller brush body 421 and a second telescopic member 422. The first telescopic member 412 is connected to the first operating member 43, and the second telescopic member 422 is connected to the second operating member 44. The first telescopic member 412 and the second telescopic member 422 can be detachably connected to the driving mechanism 30 respectively. In this way, the driving mechanism 30 can drive the first telescopic member 412 and the second telescopic member 422 to move, thereby driving the first roller brush body 411 and the second roller brush body 421 to rotate to clean dirt; when the roller brush mechanism 40 needs maintenance or replacement, the first operating member 43 and the second operating member 44 can respectively drive the first telescopic member 412 and the second telescopic member 422 to move, so that the connection between the first telescopic member 412 and the driving mechanism 30 is loosened, and the connection between the second telescopic member 422 and the driving mechanism 30 is loosened, so that the roller brush mechanism 40 can be conveniently and quickly removed. It can be understood that the first telescopic member 412 can drive the first roller brush body 411 to rotate under the drive of the driving mechanism 30, and the second telescopic member 422 can drive the second roller brush body 421 to rotate under the drive of the driving mechanism 30; in addition, the first telescopic member 412 can be operated by the first operating member 43. For example, the first telescopic member 412 passes through the first roller brush body 411, and the second telescopic member 422 passes through the second roller brush body 421.

[0062] Exemplarily, the first operating member 43 can drive the first telescopic member 412 to move, so that the first telescopic member 412 located in the first roller brush body 411 can at least partially extend out of the first roller brush body 411 along the axial direction of the first roller brush 41; or, the first operating member 43 can drive the first telescopic member 412 to move, so that the first telescopic member 412 located outside the first roller brush body 411 can at least partially retract into the first roller brush body 411 along the axial direction of the first roller brush 41, so as to facilitate the disassembly and assembly of the roller brush mechanism 40 and the driving mechanism 30. Exemplarily, the second operating member 44 can drive the second telescopic member 422 to move so that the second telescopic member 422 located in the second roller brush body 421 can at least partially extend out of the second roller brush body 421 along the axial direction of the second roller brush 42; or, the second operating member 44 can drive the second telescopic member 422 to move so that the second telescopic member 422 located outside the second roller brush body 421 can at least partially retract into the second roller brush body 421 along the axial direction of the second roller brush 42, so as to facilitate the disassembly and assembly of the roller brush mechanism 40 and the driving mechanism 30.

[0063] For example, the first operating member 43 can move along the axial direction of the first roller brush 41 under the action of an external force to drive the first telescopic member 412 to extend or retract. For example, the second operating member 44 can move along the axial direction of the second roller brush 42 under the action of an external force to drive the second telescopic member 422 to extend or retract.

[0064] Please refer to Figure 5. In some embodiments, the driving mechanism 30 includes a first assembly part (not marked) and a second assembly part 33. The first assembly part is configured to be detachably connected to the first telescopic member 412, and the second assembly part 33 is configured to be detachably connected to the second telescopic member 422. Exemplarily, the detachable connection method between the first assembly part and the first telescopic member 412 includes at least one of the following: a snap connection, a plug-in connection, a magnetic connection, etc. The detachable connection method between the second assembly part 33 and the second telescopic member 422 includes at least one of the following: a snap connection, a plug-in connection, a magnetic connection, etc. Exemplarily, the first driving member 31 is transmission-connected to the first assembly part, and the second driving member 32 is transmission-connected to the second assembly part 33.

[0065] Please refer to Figures 4 and 6. In some embodiments, the roller brush mechanism 40 also includes an elastic structure 45, which is arranged between the first telescopic member 412 and the second telescopic member 422, and is used to provide a reset force for at least one of the first telescopic member 412 and the second telescopic member 422, so that after the force acting on at least one of the first operating member 43 and the second operating member 44 is removed, at least one of the first telescopic member 412 and the second telescopic member 422 can be reset under the action of the elastic force of the elastic structure 45, thereby providing a guarantee for the reliable connection between the roller brush mechanism 40 and the driving mechanism 30.

[0066] Referring to Figure 4 , in some embodiments, the elastic structure 45 includes a first elastic member 451 and a second elastic member 452, which are respectively provided on the first telescopic member 412 and the second telescopic member 422. For example, one end of the first elastic member 451 abuts the first roller brush body 411, and the other end abuts the first telescopic member 412. One end of the second elastic member 452 abuts the second roller brush body 421, and the other end abuts the second telescopic member 422.

[0067] For example, when the first operating member 43 drives the first telescopic member 412 to move under the action of external force to disassemble the roller brush mechanism 40, the first telescopic member 412 can apply a force to the first elastic member 451, causing the first elastic member 451 to elastically deform; when the external force applied to the first operating member 43 is removed, the first telescopic member 412 can move under the elastic force of the first elastic member 451, so that the first telescopic member 412 located in the first roller brush body 411 partially extends out of the first roller brush body 411, so that the first roller brush 41 can be reliably connected to the first assembly part. When the second operating member 44 drives the second telescopic member 422 to move under the action of external force to disassemble the roller brush mechanism 40, the second telescopic member 422 can apply a force to the second elastic member 452, causing the second elastic member 452 to elastically deform; when the external force applied to the second operating member 44 is removed, the second telescopic member 422 can move under the elastic force of the second elastic member 452, so that the second telescopic member 422 located in the second roller brush body 421 partially extends out of the second roller brush body 421, so that the second roller brush 42 can be reliably connected to the second assembly part 33.

[0068] Referring to FIG. 6 , in some embodiments, the first operating member 43 includes a first operating portion 431 and a first connecting portion 432. The first operating portion 431 is connected to the first connecting portion 432, which is connected to the first telescopic member 412. The first operating portion 431 is operated so that the first operating portion 431 drives the first telescopic member 412 to move via the first connecting portion 432. The second operating member 44 includes a second operating portion 441 and a second connecting portion 442. The second operating portion 441 is connected to the second connecting portion 442, which is connected to the second telescopic member 422. The second operating portion 441 is operated so that the second operating portion 441 drives the second telescopic member 422 to move via the second connecting portion 442. For example, the first operating portion 431 can be pressed or pushed so that the first operating member 43 drives the first telescopic member 412 to move. Furthermore, the second operating portion 441 can be pressed or pushed so that the second operating member 44 drives the second telescopic member 422 to move, thereby enabling the roller brush mechanism 40 to be removed.

[0069] Please refer to Figure 4. In some embodiments, the roller brush mechanism 40 also includes a connecting member 46, and the first roller brush 41 is connected to the second roller brush 42 through the connecting member 46. In this way, after the roller brush mechanism 40 is connected to the driving mechanism 30, the first roller brush 41 and the second roller brush 42 can rotate more smoothly and reliably under the action of the driving mechanism 30.

[0070] In some embodiments, the first roller brush 41 is rotatably connected to the second roller brush 42 via a connector 46, so that the drive mechanism 30 can drive the first roller brush 41 and the second roller brush 42 to rotate via the first telescopic member 412 and the second telescopic member 422, respectively. The rotation speeds of the first roller brush 41 and the second roller brush 42 can be the same or different, and are not limited here. For example, a first bearing (not marked) is provided between the first roller brush 41 and the connector 46, and a second bearing (not marked) is provided between the second roller brush 42 and the connector 46 to ensure smooth rotation of the first roller brush 41 and the second roller brush 42 relative to the connector 46, reduce friction between the connector 46 and the first roller brush 41, and reduce friction between the connector 46 and the second roller brush 42.

[0071] Please refer to FIG7 . In some embodiments, the cleaning device 100 further includes a position detection mechanism 47 for detecting first current position information of the first operating member 43 and second current position information of the second operating member 44. Exemplarily, when the first current position information and the second current position information satisfy a first position condition, the driving mechanism 30 is controlled to stop rotating; wherein the first position condition includes: the first operating portion 431 of the first operating member 43 and the second operating portion 441 of the second operating member 44 are at least partially exposed to the outside of the cleaning device 100. In this way, the user can conveniently operate the first operating member 43 and the second operating member 44 to respectively drive at least a portion of the first roller brush 41 and at least a portion of the second roller brush 42 to move, thereby conveniently removing the first roller brush 41 and the second roller brush 42. The roller brush mechanism 40 is convenient, easy, and simple to remove.

[0072] Referring to FIG. 7 , in some embodiments, the position detection mechanism 47 may include a first position sensor 471 and a second position sensor 472. The first position sensor 471 is used to detect first current position information of the first operating member 43, and the second position sensor 472 is used to detect second current position information of the second operating member 44. The first position sensor 471 and the second position sensor 472 are capable of respectively obtaining the first current position information of the first operating member 43 and the second current position information of the second operating member 44, thereby reducing mutual interference when obtaining the first current position information and the second current position information, improving the detection accuracy of the first current position information and the second current position information, and ensuring that the cleaning device 100 accurately controls the driving mechanism 30 to drive the first operating member 43 and the second operating member 44 to move.

[0073] Exemplarily, the first position sensor 471 can be at least partially provided at least one of the driving mechanism 30, the first roller brush body 411, the first telescopic member 412, and the first operating member 43, and the second position sensor 472 can be at least partially provided at least one of the driving mechanism 30, the second roller brush body 421, the second telescopic member 422, and the second operating member 44.

[0074] In some embodiments, the first position sensor 471 and the second position sensor 472 may each include at least one of the following: a magnetic position sensor, a potential position sensor, a capacitive position sensor, an optical position sensor, etc. For example, illustratively, the first position sensor 471 and / or the second position sensor 472 include an encoder. For another example, the first position sensor 471 includes a Hall element (not marked) and a magnetic element (not marked), and the magnetic element is provided at the first assembly portion, the first roller brush body 411, the first telescopic member 412 or the first operating member 43. Exemplarily, the magnetic element includes a magnet. The second position sensor refers to the first position sensor and will not be described in detail here.

[0075] Referring to FIG. 8 , in some embodiments, the first position sensor 471 includes a first trigger member 4711 and a first sensing member 4712. The first trigger member 4711 is disposed on the roller brush mechanism 40. The position of the first sensing member 4712 corresponds to the position of the first trigger member 4711. The first sensing member 4712 is configured to sense the position of the first trigger member 4711 to detect the first current position of the first operating member 43. The second position sensor 472 includes a second trigger member 4721 and a second sensing member 4722. The second trigger member 4721 is disposed on the roller brush mechanism 40. The second sensing member 4722 is configured to sense the position of the second trigger member 4721 to detect the second current position of the second operating member 44.

[0076] Exemplarily, the first triggering member 4711 and / or the second triggering member 4721 includes a magnetic element or a magnet, and the first sensing member 4712 and / or the second sensing member 4712 includes a Hall element.

[0077] The first position sensor 471 and the second position sensor 472 can be arranged at any suitable location. For example, referring to FIG8 , the first trigger member 4711 and the second trigger member 4721 are respectively arranged at the two ends of the roller brush mechanism 40. As another example, referring to FIG9 , the first trigger member 4711 and the second trigger member 4721 are both arranged in the middle of the roller brush mechanism 40 to facilitate the arrangement of the wires of the position detection mechanism 47. It can be understood that the first trigger member 4711 is arranged on the first roller brush 41, and the first trigger member 4711 is arranged at any suitable location between the two ends of the roller brush mechanism 40; the second trigger member 4721 is arranged on the second roller brush 42, and the second trigger member 4721 is arranged at any suitable location between the two ends of the roller brush mechanism 40.

[0078] In some embodiments, the first trigger member 4711 and the second trigger member 4721 are both located in the middle of the roller brush mechanism 40, the central angle between the first trigger member 4711 and the first operating part 431 is greater than zero, and the central angle between the second trigger member 4721 and the second operating part 4441 is greater than zero. This is beneficial to improving the position detection accuracy of the position detection mechanism 47.

[0079] Referring to FIG. 7 , in some embodiments, the cleaning device 100 further includes a control unit 50, which is signal-connected to the position detection mechanism 47 and the drive mechanism 30. The control unit 50 can control the movement of the drive mechanism 30 based on the first current position information of the first operating member 43 and the second current position information of the second operating member 44 detected by the position detection mechanism 47, so that at least one of the first operating member 43 and the second operating member 44 is adjusted to a suitable position to facilitate the user to remove the roller brush mechanism 40. Exemplarily, the control unit 50 includes a control circuit or a circuit board.

[0080] Please refer to Figure 5. For example, the cleaning device 100 is formed with a receiving groove 60 for receiving at least part of the roller brush mechanism 40. The receiving groove 60 can be formed in the device body 10; or, the device body 10 and the power mechanism 20 cooperate to form the receiving groove 60.

[0081] In some embodiments, the cleaning device 100 includes a cleaning mode and a disassembly mode. The cleaning device 100 can switch between the cleaning mode and the disassembly mode according to actual needs. In the cleaning mode, the cleaning device 100 can control the movement of the driving mechanism 30 so that the driving mechanism 30 drives the roller brush mechanism 40 to rotate, thereby enabling at least one of the first roller brush body 411 and the second roller brush body 421 to clean the dirt. In the disassembly mode, the cleaning device 100 can control the movement of the driving mechanism 30 so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, so as to adjust the position of the first operating member 43 and the second operating member 44 to a suitable position, making it convenient for the user to disassemble the roller brush mechanism 40.

[0082] In some embodiments, the first operating member 43 can be moved relative to the first roller brush body 411 under the action of an external force, so that the first operating member 43 can drive the first telescopic member 412 to move; the second operating member 44 can be moved relative to the second roller brush body 421 under the action of an external force, so that the second operating member 44 can drive the second telescopic member 422 to move. In addition, the driving mechanism 40 can drive the first roller brush 41 and the second roller brush 42 to rotate, and the first operating member 43 and the second operating member 44 can rotate in conjunction with the rotation of the first roller brush 41 and the second roller brush 42, respectively.

[0083] It is understandable that when the cleaning device 100 completes the cleaning operation in the cleaning mode, the position of the first operating member 43 (or the second operating member 44) may not be convenient for the user to remove the roller brush mechanism 40. For example, when the first operating member 43 (or the second operating member 44) faces the inner wall of the accommodating groove 60 or is blocked by other components of the cleaning device 100, it is difficult for the user to access the first operating member 43 (or the second operating member 44). As a result, the user cannot conveniently and quickly operate the first operating member 43 (or the second operating member 44), and it is difficult to conveniently and quickly remove the roller brush mechanism 40. To this end, an embodiment of the present invention provides a control method for the cleaning device 100 to facilitate the disassembly and assembly of the roller brush mechanism 40.

[0084] In some embodiments, the cleaning device 100 is configured to execute the steps of the control method for the cleaning device 100 according to any embodiment of the present invention. The cleaning device 100 includes the cleaning device 100 according to any of the above embodiments. For example, the cleaning device 100 includes a drive mechanism 30 and a roller brush mechanism 40. The roller brush mechanism 40 includes a first roller brush 41, a second roller brush 42, a first operating member 43, and a second operating member 44. The first operating member 43 is connected to the first roller brush 41, and the second operating member 44 is connected to the second roller brush 42.

[0085] Referring to FIG. 10 , in some embodiments, a method for controlling a cleaning device 100 includes steps S101 and S102 .

[0086] S101 : Control the driving mechanism 30 to move so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate.

[0087] It can be understood that in scenarios where the roller brush mechanism 40 needs to be replaced or maintained, the driving mechanism 30 can be controlled to move so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate; when the first roller brush 41 rotates, the first operating member 43 provided at the first roller brush 41 rotates along with the first roller brush 41; when the second roller brush 42 rotates, the second operating member 44 provided at the second roller brush 42 rotates along with the second roller brush 42.

[0088] In some embodiments, upon receiving a preset removal signal, the cleaning device 100 can control the driving mechanism 30 to move so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate. The preset removal signal can include at least one of the following: a press signal of a user pressing a preset button, a touch signal of a user touching a preset touch area, a user gesture signal, etc.

[0089] In some embodiments, controlling the movement of the driving mechanism 30 so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate includes: controlling the driving mechanism 30 to rotate so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate.

[0090] In some embodiments, the drive mechanism 30 includes a first drive member 31 and a second drive member 32. Controlling the movement of the drive mechanism 30 so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the movement of at least one of the first drive member 31 and the second drive member 32 to drive at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate. In this way, the movement of the first drive member 31 and the second drive member 32 can be flexibly controlled according to actual needs, thereby flexibly controlling the rotation of at least one of the first operating member 43 and the second operating member 44.

[0091] For example, controlling the driving mechanism 30 to rotate so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the first driving member 31 to rotate so that the first driving member 31 drives the first roller brush 41 to rotate, thereby driving the first operating member 43 to rotate; and the second driving member 32 is not operated. For another example, controlling the driving mechanism 30 to rotate so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the second driving member 32 to move so that the second driving member 32 drives the second roller brush 42 to rotate, thereby driving the second operating member 44 to rotate; and the first driving member 31 is not operated. For another example, controlling the movement of the driving mechanism 30 so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the movement of the first driving member 31 so that the first driving member 31 drives the first roller brush 41 to rotate, thereby driving the first operating member 43 to rotate; controlling the movement of the second driving member 32 so that the second driving member 32 drives the second roller brush 42 to rotate, thereby driving the second operating member 44 to rotate.

[0092] In some embodiments, controlling the movement of at least one of the first driving member 31 and the second driving member 32 to drive at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate, includes: controlling the first driving member 31 to move with a first motion parameter and controlling the second driving member 32 to move with a second motion parameter, so that the first driving member 31 and the second driving member 32 respectively drive the first roller brush 41 and the second roller brush 42 to rotate, thereby respectively driving the first operating member 43 and the second operating member 44 to rotate. For example, the first motion parameter and the second motion parameter can be the same or different.

[0093] In some embodiments, the first motion parameter includes at least one of the following: a first rotational angular velocity, a first rotational direction, etc.; the second motion parameter includes at least one of the following: a second rotational angular velocity, a second rotational direction, etc.

[0094] In some embodiments, controlling the movement of at least one of the first driving member 31 and the second driving member 32 includes controlling the first driving member 31 and the second driving member 32 to move at a first rotational angular velocity and a second rotational angular velocity, respectively, where the first rotational angular velocity and the second rotational angular velocity are different in magnitude. In other embodiments, the first rotational angular velocity and the second rotational angular velocity may also be the same.

[0095] For example, the first rotational angular velocity may be the same as or different from the rotational angular velocity of the first driving member 31 in the cleaning mode. The second rotational angular velocity may be the same as or different from the rotational angular velocity of the second driving member 32 in the cleaning mode.

[0096] It is understandable that in the disassembly mode, the first rotational angular velocity of the first driving member 31 at different times may be the same or different. Similarly, in the disassembly mode, the second rotational angular velocity of the second driving member 32 at different times may be the same or different.

[0097] In some embodiments, the first roller brush 41 and the second roller brush 42 are rotatably connected; controlling the drive mechanism 30 to rotate so that the drive mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate includes: controlling the drive mechanism 30 to rotate so that the drive mechanism 30 can independently drive the first roller brush 41 and the second roller brush 42 to rotate. In this way, the rotation of the first roller brush 41 and the second roller brush 42 can be flexibly controlled according to actual needs, thereby flexibly controlling the rotation of the first operating member 43 and the second operating member 44. The position of the first operating member 43 and the position of the second operating member 44 can be adjusted independently, which facilitates accurate and rapid adjustment of the first operating member 43 and / or the second operating member 44 to the desired position, facilitating user disassembly of the roller brush mechanism 40, and reducing power consumption of the drive mechanism 30.

[0098] S102. When the first current position information and the second current position information meet the first position condition, the driving mechanism 30 is controlled to stop rotating; wherein the first position condition includes: the first operating part 431 of the first operating member 43 and the second operating part 441 of the second operating member 44 are at least partially exposed outside the cleaning device 100.

[0099] When the first current position information and the second current position information meet the first position condition, the user can conveniently, quickly and easily access the first operating part 431 of the first operating member 43 and the second operating part 441 of the second operating member 44, making it convenient for the user to remove the roller brush mechanism 40 by operating the first operating member 43 and the second operating member 44.

[0100] Exemplarily, the first operating part 431 of the first operating member 43 and the second operating part 441 of the second operating member 44 are at least partially exposed outside the cleaning device 100, including at least one of the following: the first operating part 431 and the second operating part 441 are at least partially not blocked by the cleaning body, the power mechanism 20 and the driving mechanism 30; the first operating part 431 and the second operating part 441 are at least partially facing outside the accommodating groove 60.

[0101] In some embodiments, the first position condition further includes: the second operating portion 441 is located in a preset plane, which passes through the axis of the roller brush mechanism 40 and the first operating portion 431; or the first position condition further includes: the second operating portion 441 and the first operating portion 431 are arranged along a preset straight line, which is parallel to the axis of the roller brush mechanism 40. In this way, the user can easily and quickly operate the first operating member 43 and the second operating member 44 with one hand to respectively move at least a portion of the first roller brush 41 (such as the first telescopic member 412) and at least a portion of the second roller brush 42 (such as the second telescopic member 422), thereby conveniently and quickly removing the first roller brush 41 and the second roller brush 42 without using hands or other auxiliary tools for disassembly and assembly, making disassembly and assembly of the roller brush mechanism 40 convenient, quick, and simple.

[0102] For example, the preset plane is the δ plane in Figure 3(B). For example, the preset straight line is the dotted line m in Figure 1. For example, the preset straight line is parallel to the axis of the first roller brush 41 or the axis of the second roller brush 42.

[0103] Exemplarily, when the first current position information and the second current position information meet the first position condition, the user can use two fingers of the same hand to apply force to the first operating member 43 and the second operating member 44, respectively, so that the first telescopic member 412 and the second telescopic member 422 are at least partially retracted into the first roller brush body 411 and the second roller brush body 421, respectively, and then the roller brush mechanism 40 is removed from the driving mechanism 30, thereby realizing one-handed disassembly and assembly of the roller brush mechanism 40; after releasing the force applied to the first operating member 43 and the second operating member 44, the first telescopic member 412 can move under the elastic force of the first elastic member 451, so that the first telescopic member 412 located in the first roller brush body 411 partially extends out of the first roller brush body 411; the second telescopic member 422 can move under the elastic force of the second elastic member 452, so that the second telescopic member 422 located in the second roller brush body 421 partially extends out of the second roller brush body 421. In this way, the roller brush mechanism 40 can be disassembled and assembled with one hand, and the disassembly and assembly of the roller brush mechanism 40 is convenient, fast and simple.

[0104] In some embodiments, the first position condition also includes: the central angle of the projection of the first operating part 431 and the second operating part 441 on the cross section of the roller brush mechanism 40 is less than or equal to 40°. In this way, the position requirements for the first operating part 431 and the second operating part 441 are reduced, and the control difficulty of the driving mechanism 30 is also reduced, which is easy to implement.

[0105] In some embodiments, controlling the driving mechanism 30 to rotate so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate includes: when the first current position information and the second current position information meet the second position condition, controlling the driving mechanism 30 to rotate so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate; wherein the second position condition includes at least one of the following: at least one of the first operating part 431 and the second operating part 441 is not exposed to the outside of the cleaning device 100; the second operating part 441 is not located in a preset plane.

[0106] Exemplarily, at least one of the first operating part 431 and the second operating part 441 is not exposed outside the cleaning device 100, including at least one of the following: at least one of the first operating part 431 and the second operating part 441 is blocked by at least one of the cleaning body, the power mechanism 20, and the driving mechanism 30; at least one of the first operating part 431 and the second operating part 441 is facing into the accommodating groove 60.

[0107] In some embodiments, the first roller brush 41 includes a first roller brush body 411 and a first telescopic member 412; the second roller brush 42 includes a second roller brush body 421 and a second telescopic member 422; and the control method further includes: when the first current position information and the second current position information meet a first position condition, the first operating member 43 can drive the first telescopic member 412 to move, so that the first roller brush 41 can be detached from the drive mechanism 30; and the second operating member 44 can drive the second telescopic member 422 to move, so that the second roller brush 42 can be detached from the drive mechanism 30. In this way, the roller brush mechanism 40 can be easily and conveniently assembled and disassembled.

[0108] In some embodiments, the roller brush mechanism 40 further includes a first elastic member 451 and a second elastic member 452. When the first current position information and the second current position information satisfy a first position condition, the first operating member 43 can drive the first telescopic member 412 to move axially along the first roller brush body 411, causing the first telescopic member 412, located outside the first roller brush body 411, to at least partially retract into the first roller brush body 411, thereby enabling the first roller brush 41 to be detached from the drive mechanism 30. Driven by the first operating member 43, the first telescopic member 412 can apply a force to the first elastic member 451. When the first current position information and the second current position information satisfy the first position condition, the second operating member 44 can drive the second telescopic member 422 to move axially along the second roller brush body 421, causing the second telescopic member 422, located outside the second roller brush body 421, to at least partially retract into the second roller brush body 421, thereby enabling the second roller brush 42 to be detached from the drive mechanism 30. Driven by the second operating member 44, the second telescopic member 422 can apply a force to the second elastic member 452. In this way, the roller brush mechanism 40 can be disassembled and assembled conveniently, easily and quickly. After the roller brush mechanism 40 is assembled with the driving mechanism 30 , the connection between the roller brush mechanism 40 and the driving mechanism 30 is reliable.

[0109] In some embodiments, the control method of the cleaning device 100 further includes: acquiring first current position information of the first operating member 43 and second current position information of the second operating member 44 detected by the position detection mechanism 47 .

[0110] For example, the first current position information of the first operating member 43 and the second current position information of the second operating member 44 detected by the position detection mechanism 47 can be acquired in real time or periodically according to actual needs.

[0111] In some embodiments, the position detection mechanism 47 includes a first position sensor 471 and a second position sensor 472. Acquiring first current position information of the first operating member 43 and second current position information of the second operating member 44 detected by the position detection mechanism 47 includes: acquiring the first current position information of the first operating member 43 detected by the first position sensor 471; and acquiring the second current position information of the second operating member 44 detected by the second position sensor 472. In this way, the first current position information of the first operating member 43 and the second current position information of the second operating member 44 can be acquired from the first position sensor 471 and the second position sensor 472, respectively. This reduces mutual interference when acquiring the first current position information and the second current position information, improves the detection accuracy of the first current position information and the second current position information, and ensures that the cleaning device 100 can accurately control the driving mechanism 30.

[0112] Exemplarily, after obtaining the first current position information of the first operating member 43 and the second current position information of the second operating member 44 detected by the position detection mechanism 47, the method further includes:

[0113] Based on the first current position information and the second current position information, the relative position information of the first operating member 43 and the second operating member 44 is determined. The drive mechanism 30 is controlled to move based on the relative position information so that the first operating member 41 and the second operating member 42 meet the first position condition. For example, the relative position information includes the circumferential spacing between the second operating member 44 and the first operating member 43 as projected on a cross-section of the roller brush mechanism 40.

[0114] In some embodiments, the control method of the cleaning device 100 further includes: upon receiving a preset removal signal, obtaining the working state of the cleaning device 100 detected by a status sensor (not shown), the working state including the rotational angular velocity of the drive mechanism 30; if the current rotational angular velocity of the drive mechanism 30 is greater than a preset speed threshold, controlling the drive mechanism 30 to decelerate at least twice so that the rotational angular velocity of the decelerated drive mechanism 30 is less than or equal to the preset speed threshold, so as to reduce damage to the drive mechanism 30 caused by excessive deceleration. Exemplarily, the rotational angular velocity of the drive mechanism 30 is a preset speed threshold, which can avoid centrifugal splashing of liquid or stains on the roller brush mechanism 40 and improve the user experience. Exemplarily, the preset speed threshold can be set according to actual needs, such as 0.3-1 seconds / rev, such as 0.3, 0.5, 0.7, 1 or any other suitable value between 0.3-1 seconds / rev. Exemplarily, the status sensor may include an encoder, etc.

[0115] In other embodiments, when the current rotational angular velocity of the driving mechanism 30 is greater than a preset speed threshold, the driving mechanism 30 may be controlled to decelerate once so that the rotational angular velocity of the driving mechanism 30 after deceleration is less than or equal to the preset speed threshold.

[0116] In some embodiments, the control method further includes: obtaining a handedness set by the user, and determining the relative positional relationship between the first operating part 431 and the second operating part 441 based on the handedness. The relative positional relationship includes a first relative positional relationship or a second relative positional relationship; the first relative positional relationship includes: the first operating part 431 and the second operating part 441 are spaced apart along a first line, with the first operating part 431 closer to the bottom of the cleaning device 100 than the second operating part 441; the second relative positional relationship includes: the first operating part 431 and the second operating part 441 are spaced apart along a second line, with the second operating part 441 closer to the bottom of the cleaning device 100 than the first operating part 431, and the first line and the second line intersect. For example, please refer to Figure 11. The first relative position relationship includes: the first operating part 431 and the second operating part 441 are arranged at intervals along the first line n1, and the first operating part 431 is closer to the bottom of the cleaning device 100 relative to the second operating part 441; if the cleaning device 100 obtains the hand-using habit corresponding to the first relative position relationship, the driving mechanism 30 is controlled to move, so that the driving mechanism 30 drives the first operating member 43 and the second operating member 44 to move until the position relationship between the first operating part 431 and the second operating part 441 is in the first relative position relationship. At this time, it is convenient for users who are accustomed to using their right hand to operate the first operating part 431 and the second operating part 441, so that the first operating member 43 and the second operating member 44 respectively drive the first roller brush and the second roller brush to move, and then the first roller brush and the second roller brush can be conveniently removed. The disassembly of the roller brush mechanism 4040 is simple, easy and convenient. For another example, referring to FIG. 12 , the second relative position relationship includes: the first operating portion 431 and the second operating portion 441 are spaced apart along a second line n2, with the second operating portion 441 being closer to the bottom of the cleaning device 100 than the first operating portion 431. If the cleaning device 100 detects a handedness corresponding to the second relative position relationship, the driving mechanism 30 is controlled to move, causing the driving mechanism 30 to drive the first operating member 43 and the second operating member 44 to move until the first operating member 431 and the second operating member 441 are in the second relative position relationship. This facilitates left-handed users to operate the first operating member 431 and the second operating member 441, thereby causing the first operating member 43 and the second operating member 44 to respectively drive the first and second roller brushes, thereby facilitating removal of the first and second roller brushes. Removal of the roller brush mechanism 4040 is simple, easy, and convenient. Thus, the user can control the driving mechanism 30 to adjust the relative positions of the first and second operating members 43 and 44 according to their handedness, thereby improving the user experience.

[0117] In some embodiments, the control method of the cleaning device 100 further includes: upon receiving a preset removal signal, obtaining an operating state of the cleaning device 100 detected by a state sensor, the operating state including a first state and a second state, the second state including a rollover state or a flipped state. When the operating state of the cleaning device 100 is the first state, controlling the drive mechanism 30 to operate so that the cleaning device 100 switches to the second state. The cleaning device 100 can perform cleaning operations in the first state, the exposed area of ​​the first operating portion 431 when the cleaning device 100 is in the second state is larger than the exposed area of ​​the first operating portion 431 when the cleaning device 100 is in the first state, and the exposed area of ​​the second operating portion 441 when the cleaning device 100 is in the second state is larger than the exposed area of ​​the second operating portion 441 when the cleaning device 100 is in the first state. When the cleaning device 100 is in the second state, the exposed areas of the first operating portion 431 and the second operating portion 441 are larger, thereby providing a larger operating space, making it easier for the user to remove the roller brush mechanism 40. For example, the operating state includes the position of the cleaning device 100 relative to the surface to be cleaned. For example, when the cleaning device 100 is in the first state, both the driving wheel 21 and the driven wheel 22 of the cleaning device 100 are in contact with the surface to be cleaned; when the cleaning device 100 is in the second state, at least one of the two driving wheels 21 and the two driven wheels 22 of the cleaning device 100 is not in contact with the surface to be cleaned. The operating state may also include the rotational angular velocity of the drive mechanism 30.

[0118] It can be understood that the execution entity of the control method of the cleaning device 100 in any embodiment of the present invention can be the control unit 50 of the cleaning device 100, or other controllers, such as the controller of an external device.

[0119] The control method of the cleaning device 100 of the above embodiment controls the movement of the driving mechanism 30 so that the driving mechanism 30 drives at least one of the first roller brush 41 and the second roller brush 42 to rotate, thereby driving at least one of the first operating member 43 and the second operating member 44 to rotate; obtains the first current position information of the first operating member 43 and the second current position information of the second operating member 44 detected by the position detection mechanism 47; when the first current position information and the second current position information meet the first position condition, controls the driving mechanism 30 to stop rotating. At this time, the user can conveniently operate the first operating member 43 and the second operating member 44 to respectively drive at least part of the first roller brush 41 and at least part of the second roller brush 42 to move, so that the first roller brush 41 and the second roller brush 42 can be easily removed, and the roller brush mechanism 40 is convenient, easy and simple to dismantle.

[0120] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "mechanically coupled" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. The mechanical coupling or coupling of two components includes direct coupling and indirect coupling, for example, direct fixed connection, connection through a transmission mechanism, etc. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0121] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0122] The disclosure above provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0123] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific method steps, features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific method steps, features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0124] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a driving mechanism and a roller brush mechanism, the roller brush mechanism comprises a first roller brush, a second roller brush, a first operating member and a second operating member, the first operating member is connected to the first roller brush, and the second operating member is connected to the second roller brush; the control method comprises: Controlling the movement of the driving mechanism so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate; When the first current position information of the first operating member and the second current position information of the second operating member meet the first position condition, the driving mechanism is controlled to stop rotating; wherein, the first position condition includes: the first operating part of the first operating member and the second operating part of the second operating member are at least partially exposed outside the cleaning device.

2. The control method according to claim 1, characterized in that: The first position condition also includes: the second operating part is located in a preset plane, and the preset plane passes through the axis of the roller brush mechanism and the first operating part; or, the first position condition also includes: the second operating part and the first operating part are arranged along a preset straight line, and the preset straight line is parallel to the axis of the roller brush mechanism.

3. The control method according to claim 2, characterized in that: The controlling the driving mechanism to rotate so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate comprises: When the first current position information and the second current position information meet the second position condition, the driving mechanism is controlled to rotate so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate; wherein, the second position condition includes at least one of the following: at least one of the first operating part and the second operating part is not exposed outside the cleaning device; the second operating part is not located on the preset plane.

4. The control method according to claim 1, characterized in that: The first position condition also includes: a central angle of a projection of the first operating portion and the second operating portion on a cross section of the roller brush mechanism is less than or equal to 40°.

5. The control method according to claim 1, characterized in that: The first roller brush comprises a first roller brush body and a first telescopic member; the second roller brush comprises a second roller brush body and a second telescopic member; the control method further comprises: When the first current position information and the second current position information meet the first position condition, the first operating member can drive the first telescopic member to move so that the first roller brush can be detached from the driving mechanism; the second operating member can drive the second telescopic member to move so that the second roller brush can be detached from the driving mechanism.

6. The control method according to claim 1, characterized in that: The driving mechanism comprises a first driving member and a second driving member, and controlling the driving mechanism to move so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate, comprises: Control at least one of the first driving member and the second driving member to move, so as to drive at least one of the first roller brush and the second roller brush to rotate, thereby driving at least one of the first operating member and the second operating member to rotate.

7. The control method according to claim 6, characterized in that: The controlling at least one of the first driving member and the second driving member to move so as to drive at least one of the first roller brush and the second roller brush to rotate, and further drive at least one of the first operating member and the second operating member to rotate, comprises: The first driving member is controlled to move with a first motion parameter and the second driving member is controlled to move with a second motion parameter, so that the first driving member and the second driving member respectively drive the first roller brush and the second roller brush to rotate, and then respectively drive the first operating member and the second operating member to rotate.

8. The control method according to claim 7, characterized in that: The first motion parameter includes at least one of the following: a first rotation angular velocity and a first rotation direction; the second motion parameter includes at least one of the following: a second rotation angular velocity and a second rotation direction.

9. The control method according to claim 6, characterized in that: The controlling at least one of the first driving member and the second driving member to move comprises: The first driving member and the second driving member are controlled to move at a first rotational angular velocity and a second rotational angular velocity respectively, and the first rotational angular velocity is different from the second rotational angular velocity.

10. The control method according to claim 1, characterized in that: The first roller brush is rotatably connected to the second roller brush; and controlling the driving mechanism to move so that the driving mechanism drives at least one of the first roller brush and the second roller brush to rotate includes: The driving mechanism is controlled to move so that the driving mechanism can drive the first roller brush and the second roller brush to rotate separately and independently.

11. The control method according to any one of claims 1 to 10, characterized in that: Also includes: The first current position information of the first operating element and the second current position information of the second operating element are acquired.

12. The control method according to any one of claims 1 to 10, characterized in that: Also includes: Upon receiving a preset removal signal, obtaining a working state of the cleaning device detected by a state sensor, wherein the working state includes a rotational angular velocity of the driving mechanism; If the current rotational angular velocity of the driving mechanism is greater than a preset speed threshold, the driving mechanism is controlled to decelerate at least twice so that the rotational angular velocity of the driving mechanism after deceleration is less than or equal to the preset speed threshold.

13. The control method according to any one of claims 1 to 10, characterized in that: The control method further comprises: Acquire the handedness set by the user, and determine the relative position relationship between the first operating part and the second operating part according to the handedness, the relative position relationship including a first relative position relationship or a second relative position relationship; the first relative position relationship includes: the first operating part and the second operating part are arranged at intervals along a first line, and the first operating part is closer to the bottom of the cleaning device than the second operating part; the second relative position relationship includes: the first operating part and the second operating part are arranged at intervals along a second line, and the second operating part is closer to the bottom of the cleaning device than the first operating part, and the first line intersects with the second line.

14. The control method according to any one of claims 1 to 10, characterized in that: The control method further comprises: Upon receiving a preset removal signal, the working state of the cleaning device detected by the state sensor is obtained, the working state including a first state and a second state, the second state including a rollover state or a flipping state; the cleaning device can perform cleaning operations in the first state, the area of ​​the first operating part exposed to the outside when the cleaning device is in the second state is larger than the area of ​​the first operating part exposed to the outside when the cleaning device is in the first state, and the area of ​​the second operating part exposed to the outside when the cleaning device is in the second state is larger than the area of ​​the second operating part exposed to the outside when the cleaning device is in the first state; When the working state of the cleaning device is the first state, the driving mechanism is controlled to operate so that the cleaning device switches to the second state.

15. A cleaning device, characterized in that: include: Driving mechanism; The roller brush mechanism comprises a first roller brush, a second roller brush, a first operating member and a second operating member, wherein the first operating member is connected to the first roller brush, and the second operating member is connected to the second roller brush; The cleaning device is used to execute the steps of the control method according to any one of claims 1-14.

16. The cleaning device according to claim 15, characterized in that The cleaning device also includes: a first position sensor, comprising a first trigger member and a first sensing member, wherein the first trigger member is disposed on the roller brush mechanism, the position of the first sensing member is arranged corresponding to the position of the first trigger member, and the first sensing member is used to sense the position information of the first trigger member to detect the first current position information of the first operating member; The second position sensor includes a second trigger member and a second sensing member, wherein the second trigger member is arranged on the roller brush mechanism, and the second sensing member is used to sense the position information of the second trigger member to detect the second current position information of the second operating member.

17. The cleaning device according to claim 16, characterized in that The first trigger member and the second trigger member are respectively arranged at two ends of the roller brush mechanism; or, the first trigger member and the second trigger member are both arranged in the middle of the roller brush mechanism.

18. The cleaning device according to claim 17, characterized in that The first trigger member and the second trigger member are both arranged in the middle of the roller brush mechanism, the central angle between the first trigger member and the first operating part is greater than zero, and the central angle between the second trigger member and the second operating part is greater than zero.

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