Control methods, apparatus, system and storage medium

Abstract

Control methods, an apparatus, a system and a storage medium. A self-cleaning control method for a cleaning apparatus comprises: performing a pre-cleaning operation first (S110), and then performing a cutting cleaning operation (S120). The pre-cleaning operation comprises: controlling a roller brush to perform a rotation action, wherein the rotation action comprises at least one instance of alternate rotation in a first rotation direction and a second rotation direction, and the first rotation direction and the second rotation direction are opposite directions; during the process of the roller brush performing the at least one instance of alternate rotation in the first rotation direction and the second rotation direction, the roller brush comes into contact with a scraper bar; and the scraper bar is disposed on the cleaning apparatus or disposed on a base station, and the base station is configured to cooperate with the cleaning apparatus. The cutting cleaning operation comprises: controlling a cutting device to move to cut at least a portion of an entanglement on the roller brush, wherein the cutting device is disposed on the cleaning apparatus or disposed on the base station.

Description

Control method, device, system and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, and particularly relates to a control method, device, system and storage medium. BACKGROUND

[0002] Nowadays, cleaning equipment is widely used for cleaning a to-be-cleaned surface, and brings great convenience to people's life. The cleaning equipment uses a roller brush to clean the to-be-cleaned surface. When the cleaning equipment cleans the to-be-cleaned surface, the roller brush is easy to roll the hair or linear object on the to-be-cleaned surface onto the roller brush, and some other garbage is also adhered to the roller brush. In the related art, the cleaning equipment can remove the winding object and the other garbage through self-cleaning processing, but the cleaning effect is not good.

[0003] SUMMARY

[0004] The present application provides a control method, device, system and storage medium, which aims to improve the cleaning effect of self-cleaning of the cleaning equipment.

[0005] In a first aspect, an embodiment of the present application provides a self-cleaning control method of a cleaning equipment, the cleaning equipment comprising a roller brush, the roller brush contacting a to-be-cleaned surface to clean the to-be-cleaned surface when the cleaning equipment cleans the to-be-cleaned surface, the self-cleaning control method of the cleaning equipment comprising: performing a pre-cleaning operation first, and then performing a cutting cleaning operation.

[0006] The pre-cleaning operation comprises: controlling the roller brush to perform a rotating action, the rotating action comprising at least one rotating alternately in a first rotating direction and a second rotating direction, wherein the first rotating direction and the second rotating direction are opposite directions; in the process of the roller brush rotating alternately at least once in the first rotating direction and the second rotating direction, the roller brush contacts a scraping strip, the scraping strip being arranged on the cleaning equipment or on a base station, the base station being used for cooperating with the cleaning equipment.

[0007] The cutting cleaning operation comprises: controlling a cutting device to move to cut at least part of the winding object on the roller brush, the cutting device being arranged on the cleaning equipment or on the base station.

[0008] In a second aspect, the embodiments of the present application provide a control method of a cutting device, the cutting device being configured to cut a wrapped object on a roller brush of a cleaning device, the cleaning device being placed on a base station for maintenance, the maintenance including cutting the wrapped object on the roller brush, the cutting device being arranged on the cleaning device or the base station, the cutting device being configured to perform a cutting process, the cutting process including reciprocating movement of the cutting device between a first position and a second position, a line between the first position and the second position being substantially parallel to an axis direction of the roller brush, the first position being a starting position of cutting the wrapped object on the roller brush, and the second position being an end position of cutting the wrapped object on the roller brush, the control method of the cutting device including the self-cleaning control method of the cleaning device according to the first aspect.

[0009] The control method includes:

[0010] During the cutting process performed by the cutting device, when the cleaning device is away from the base station, the cutting device is controlled to stop moving.

[0011] After the cutting device stops moving, when the cleaning device is placed back on the base station, the cutting device is controlled to move back to the first position.

[0012] In a third aspect, the embodiments of the present application provide a control method of a cutting device, the cutting device being configured to cut a wrapped object on a roller brush of a cleaning device, the cleaning device being placed on a base station for maintenance, the maintenance including cutting the wrapped object on the roller brush, the cutting device being arranged on the cleaning device or the base station, the control method of the cutting device including the self-cleaning control method of the cleaning device according to the first aspect.

[0013] The control method includes:

[0014] During the cutting process performed by the cutting device, when the cleaning device is away from the base station, the cutting device is controlled to move back to the first position in a third direction, wherein the cutting process includes cutting at least part of the wrapped object on the roller brush by moving the cutting device in a first direction, and moving the cutting device in the third direction to return to the first position, the first direction and the third direction being substantially parallel to the axis direction of the roller brush, and the first position being a position of the cutting device before the cutting process starts.

[0015] After the cutting device returns to the first position, when the cleaning device is placed back on the base station, the cutting device is controlled to perform the cutting process again.

[0016] In a fourth aspect, an embodiment of the present application provides a control method of a cutting device, the cutting device being used to cut the winding object on a rolling brush of a cleaning device, the cleaning device being placed on a base station for maintenance, the maintenance including cutting the winding object on the rolling brush, the cutting device being arranged on the cleaning device or the base station, the control method of the cutting device including the self-cleaning control method of the cleaning device in the first aspect;

[0017] The control method includes:

[0018] During execution of a cutting process of the cutting device, when the cleaning device leaves the base station, the cutting device is controlled to stop moving, wherein the cutting process includes cutting at least part of the winding object on the rolling brush by moving the cutting device in a first direction, and moving the cutting device in a third direction to return to a first position, the first direction and the third direction being substantially parallel to the axis direction of the rolling brush, and the first position being the position of the cutting device before the cutting process starts;

[0019] After the cutting device stops moving, when the cleaning device is placed back on the base station, the cutting device is controlled to continue the cutting process.

[0020] In a fifth aspect, an embodiment of the present application provides a control method of a cutting device, the control method being applied to a cleaning device or a base station, the base station being used to maintain the cleaning device; the cleaning device including a rolling brush, the rolling brush rotating to clean a surface to be cleaned when the cleaning device performs a cleaning task, the cutting device being used to cut the winding object on the rolling brush, the control method of the cutting device including the self-cleaning control method of the cleaning device in the first aspect;

[0021] The control method includes:

[0022] The cutting device is controlled to execute a cutting process, wherein the cutting process includes a cutting process of moving in a first direction and a homing process of moving in a third direction, the first direction and the third direction being opposite;

[0023] In the cutting process, when the cutting device is in a stop state, it is determined whether the stop state of the cutting device is normal;

[0024] If the stop state of the cutting device is normal, the cutting device is controlled to move in the third direction;

[0025] If the stop state of the cutting device is abnormal, the cleaning device or the base station is controlled to output an abnormal prompt.

[0026] In a sixth aspect, an embodiment of the present application provides a base station for adapting a cleaning device, the cleaning device being placed on the base station for maintenance after cleaning a surface to be cleaned, and the base station comprising:

[0027] a housing provided with a suction port, the position of the suction port being opposite to the position of the roller brush when the cleaning device is placed on the base station;

[0028] a fan provided in the housing and in communication with the suction port;

[0029] a cutting device provided on the housing; and

[0030] a control device in communication with the cutting device and the cleaning device, the control device being configured to execute the self-cleaning control method of the cleaning device according to the first aspect and / or the control method of the cutting device according to the second aspect to the fifth aspect.

[0031] In a seventh aspect, an embodiment of the present application provides a cleaning device comprising a roller brush, a fan, a cutting device and a control device, the control device being in communication with the roller brush, the fan and the cutting device, the control device being configured to execute the self-cleaning control method of the cleaning device according to the first aspect and / or the control method of the cutting device according to the second aspect to the fifth aspect.

[0032] In an eighth aspect, an embodiment of the present application provides a cleaning system comprising:

[0033] a cleaning device; and

[0034] a base station capable of maintaining the cleaning device;

[0035] wherein the base station is the base station according to the sixth aspect, or the cleaning device is the cleaning device according to the seventh aspect.

[0036] In a ninth aspect, an embodiment of the present application provides a computer readable storage medium storing a computer program, the computer program being configured to cause a processor to implement the self-cleaning control method of the cleaning device according to the first aspect and / or the control method of the cutting device according to the second aspect to the fifth aspect when the computer program is executed by the processor.

[0037] The embodiment of the present application provides a control method, device, system and storage medium. The cleaning device comprises a rolling brush. When the cleaning device cleans a to-be-cleaned surface, the rolling brush contacts the to-be-cleaned surface to clean the to-be-cleaned surface. The self-cleaning control method of the cleaning device comprises: performing a pre-cleaning operation first, and then performing a cutting cleaning operation. The pre-cleaning operation comprises: controlling the rolling brush to perform a rotating action, and the rotating action comprises at least one rotating action in a first rotating direction and a second rotating direction alternately, wherein the first rotating direction and the second rotating direction are opposite directions. During the process that the rolling brush rotates at least once in the first rotating direction and the second rotating direction alternately, the rolling brush contacts a scraping strip, and the scraping strip is arranged on the cleaning device or a base station. The base station is used for cooperating with the cleaning device. The cutting cleaning operation comprises: controlling a cutting device to move to cut at least part of the winding object on the rolling brush, and the cutting device is arranged on the cleaning device or the base station. By performing the pre-cleaning operation before performing the cutting cleaning operation, the winding object on the rolling brush is close to the rolling brush by rotating the rolling brush in different directions alternately, and the garbage on the rolling brush can also be scraped off from the rolling brush by the scraping strip, so that the winding object on the rolling brush is cut by the cutting device moving later. The pre-cleaning operation and the cutting cleaning operation improve the cleaning effect of the self-cleaning of the cleaning device.

[0038] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0040] FIG. 1 is a flow diagram of a self-cleaning control method of a cleaning device according to an embodiment of the present application;

[0041] FIG. 2 is a schematic block diagram of a base station according to an embodiment of the present application;

[0042] FIG. 3 is a structural schematic diagram of a base station in an embodiment;

[0043] FIG. 4 is a partial cross-sectional view of a base station in an embodiment;

[0044] FIG. 5 is a partially exploded schematic diagram of a base station in an embodiment;

[0045] FIG. 6 is a structural schematic diagram of a cutting device in an embodiment;

[0046] FIG. 7 is a sectional view of a cutting device in an embodiment;

[0047] FIG. 8 is a schematic block diagram of a cleaning apparatus according to an embodiment of the present application;

[0048] FIG. 9 is a schematic structural diagram of a cleaning system according to an embodiment of the present application;

[0049] FIG. 10 is a timing diagram of a pre-cleaning operation according to an embodiment;

[0050] FIG. 11 is a flowchart of a self-cleaning control method of a cleaning apparatus according to an embodiment of the present application;

[0051] FIG. 12 is a flowchart of a self-cleaning control method of a cleaning apparatus according to an embodiment of the present application;

[0052] FIG. 13 is a schematic diagram of a first position and a second position of a first end and a second end of a roller brush and a cutting device in motion according to an embodiment;

[0053] FIG. 14 is a schematic diagram of a cutting device in motion to cut a wrap on a roller brush according to an embodiment;

[0054] FIG. 15 is a flowchart of a method of controlling a cutting device and a roller brush to move in opposite directions according to an embodiment of the present application;

[0055] FIG. 16 is a flowchart of a self-cleaning control method of a cleaning apparatus according to an embodiment of the present application;

[0056] FIG. 17 is a flowchart of a self-cleaning control method of a cleaning apparatus according to an embodiment of the present application;

[0057] FIG. 18 is a flowchart of a self-cleaning control method of a cleaning apparatus according to an embodiment of the present application;

[0058] FIG. 19 is a timing diagram of a cutting cleaning operation according to an embodiment;

[0059] FIG. 20 is a flowchart of a self-cleaning control method of a cleaning apparatus according to an embodiment of the present application;

[0060] FIG. 21 is a flowchart of a self-cleaning control method of a cleaning apparatus according to an embodiment of the present application;

[0061] FIG. 22 is a flowchart of a cleaning operation according to an embodiment of the present application;

[0062] FIG. 23 is a timing diagram of a cleaning operation according to an embodiment;

[0063] FIG. 24 is a flowchart of a control method of a cutting device according to an embodiment of the present application;

[0064] FIG. 25 is a flowchart of a control method of a cutting device according to another embodiment of the present application;

[0065] FIG. 26 is a flowchart of a control method of a cutting device according to another embodiment of the present application;

[0066] FIG. 27 is a flowchart of a control method of a cutting device according to another embodiment of the present application;

[0067] FIG. 28 is a flowchart of a control method of a cutting device according to another embodiment of the present application;

[0068] FIG. 29 is a flowchart of a control method of a cutting device according to another embodiment of the present application;

[0069] FIG. 30 is a flowchart of a method for determining whether a stop state of a cutting device is normal when the cutting device is in the stop state in a cutting process according to an embodiment of the present application;

[0070] FIG. 31 is a flowchart of a method for determining whether a stop state of a cutting device is normal when the cutting device is in the stop state in a cutting process according to another embodiment of the present application;

[0071] FIG. 32 is a flowchart of a method for determining whether a stop state of a cutting device is normal when the cutting device is in the stop state in a cutting process according to another embodiment of the present application;

[0072] FIG. 33 is a flowchart of a method for determining whether a stop state of a cutting device is normal when the cutting device is in the stop state in a cutting process according to another embodiment of the present application.

[0073] Legend of reference numerals:

[0074] 1000, base station;

[0075] 100, housing; 200, fan; 300, cutting device; 400, control device; 600, first sealing member; 700, first driving assembly;

[0076] 101, inner cavity; 102, cleaning cavity; 103, chute; 104, opening; 105, cavity wall; 106, storage cavity;

[0077] 301, base; 302, cutting member; 31, fixed blade; 32, movable blade; 303, adjusting member;

[0078] 2000, cleaning device;

[0079] 200, fan; 300, cutting device; 400, control device; 500, rolling brush. DETAILED DESCRIPTION

[0080] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0081] The flowchart shown in the drawings is only an example and does not necessarily include all contents and operations / steps, nor does it necessarily execute in the order described. For example, some operations / steps can be further decomposed, combined or partially merged, so the actual execution order may be changed according to the actual situation.

[0082] Some embodiments of the present application will be described in detail below with reference to the drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0083] The cleaning device uses a rolling brush to clean the surface to be cleaned. When the cleaning device cleans the surface to be cleaned, the rolling brush is easy to roll the hair or linear objects on the surface to be cleaned onto the rolling brush, and some other garbage objects, such as sticky garbage, are also attached to the rolling brush. The cleaning device in the related art can remove the entangled objects and other garbage objects through self-cleaning processing, but the cleaning effect is not good. The entangled objects include hair, linear objects, etc.

[0084] The cleaning device includes but is not limited to a scrubber, a sweeping and mopping all-in-one machine, a cleaning robot, etc. The cleaning device can be a scrubber, a sweeping and mopping all-in-one machine, a cleaning robot, etc. The cleaning device will be described in detail below with the scrubber as an example. The scrubber includes a water tank, a rolling brush, and a sewage tank. The water tank supplies water to the rolling brush. The rolling brush rotates to clean the surface to be cleaned. The sewage and dirt after the rolling brush cleans the surface to be cleaned are collected into the sewage tank.

[0085] To solve the above problems, the present application provides a control method, device, system and storage medium, which aims to improve the cleaning effect of the self-cleaning of the cleaning device.

[0086] Please refer to FIG. 1, which is a flowchart of a self-cleaning control method of a cleaning device according to an embodiment of the present application. The self-cleaning control method of the cleaning device can be applied in the cleaning device or a base station cooperating with the cleaning device. After the cleaning device cleans the surface to be cleaned, it is placed in the base station for maintenance. The maintenance of the cleaning device includes charging the cleaning device, supplementing water, discharging sewage, self-cleaning, hair cleaning, etc.

[0087] Before introducing the self-cleaning control method of the cleaning device, the cleaning device, the base station cooperating with the cleaning device, and the cleaning system are described.

[0088] Please refer to FIG. 2, which is a schematic block diagram of the base station 1000 according to an embodiment of the present application. The base station 1000 comprises a housing 100, a fan 200, a cutting device 300, a control device 400, and the like.

[0089] The housing 100 is provided with a suction port (not shown in the figure). When the cleaning device is placed on the base station 1000, the position of the suction port is opposite to the position of the roller brush of the cleaning device. The fan 200 is arranged in the housing 100 and is in communication with the suction port. The cutting device 300 is arranged on the housing 100 and is used to cut the entanglements on the roller brush of the cleaning device. The entanglements include at least one of hair, silk, and lint. After the cutting device 300 cuts the entanglements on the roller brush, the fan 200 can suck away the cut entanglements from the suction port.

[0090] The control device 400 is in communication connection with the fan 200, the cutting device 300, and the cleaning device. The control device 400 can control the fan 200 and the cutting device 300 to work and control the cleaning device to work to execute the entanglement cutting control method in the present application, cut the entanglements on the roller brush, and execute the self-cleaning control method of the cleaning device in the present application to clean the roller brush. In some examples, the control device 400 communicates with the controller of the cleaning device. The controller controls the cleaning device to work according to the information sent by the control device 400, or the control device 400 controls the fan 200 and the cutting device 300 to work according to the information sent by the controller.

[0091] As shown in FIG. 3, which is a structural schematic diagram of the base station 1000 in an embodiment. When the cleaning device returns to the base station 1000, the cutting device 300 can work and cut the entanglements on the roller brush of the cleaning device. When the cleaning device leaves the base station 1000, the cutting device 300 stops working.

[0092] Please refer to FIGS. 3 to 5. In some embodiments, the inside of the housing 100 forms an inner cavity 101, and the outside of the housing 100 forms a cleaning cavity 102. The cleaning cavity 102 is used to place the roller brush and has a cavity opening (not shown in the figure) for the roller brush to enter. The cavity wall 105 of the cleaning cavity 102 is provided with a chute 103. The chute 103 is in communication with the inner cavity 101 and the cleaning cavity 102, and the chute 103 is arranged correspondingly to the roller brush of the cleaning device. The cutting device 300 is arranged in the chute 103, and at least part of the cutting device 300 is located in the cleaning cavity 102 to cut the entanglements on the roller brush.

[0093] Referring to FIG. 5, in some embodiments, the cavity wall 105 of the cleaning cavity 102 is further provided with an opening 104, and the housing 100 further comprises a receiving cavity 106 which is located outside the length range of the chute 103 and communicates with the inner cavity 101. The opening 104 communicates one end of the chute 103, and the opening 104 communicates the receiving cavity 106 and the cleaning cavity 102. At least part of the cutting device 300 in the cleaning cavity 102 moves along the chute 103 and enters the receiving cavity 106 through the opening 104. When the cutting device 300 is parked in the receiving cavity 106, it corresponds to the first position of the cutting device (the starting position of the cutting device to cut the winding on the roller brush). In this way, it can ensure that at least part of the cutting device 300 can move into the receiving cavity 106, realize the storage of at least part of the cutting device 300, avoid the cutting device 300 from easily hurting the cleaning equipment or the user, and improve the use safety of the cutting device 300 when it does not need to cut the winding. In addition, it can ensure that at least part of the cutting device 300 can extend to the cleaning cavity 102, so that the cutting device 300 can strip and cut the winding on the roller brush, and the structure of the base station 1000 is simple.

[0094] The number of receiving cavities 106 can be one, two or more, which can be designed according to actual conditions, and the embodiments of the present disclosure are not limited herein. For example, there is one receiving cavity 106, which is located on one side of the chute 103 outside the length range and communicates with the inner cavity 101. Compared with the arrangement of multiple receiving cavities 106, the arrangement of one receiving cavity 106 can save space and facilitate the layout of the overall structure.

[0095] Referring to FIG. 5, in some embodiments, the base station 1000 further comprises a first sealing member 600 and a first driving assembly 700. The first sealing member 600 is connected with the cutting device 300, and the first driving assembly 700 is arranged in the inner cavity 101 and connected with the cutting device 300 and / or the first sealing member 600, so as to drive at least part of the cutting device 300 and the first sealing member 600 to move along the chute 103. During the movement of at least part of the cutting device 300 and the first sealing member 600 along the chute 103, the first sealing member 600 at least partially seals the chute 103 to separate the cleaning cavity 102 and the inner cavity 101. In this way, the first sealing member 600 can dynamically seal at least part of the chute 103, to a certain extent, block dust or liquid from entering the inner cavity 101 through the chute 103, and ensure that the electrical elements in the inner cavity 101 can work normally.

[0096] In this embodiment, the first sealing member 600 is connected with the cutting device 300, which can be fixedly connected or detachably connected, for example, the first sealing member 600 and the cutting device 300 can be installed or detached in the form of buckle connection, so as to facilitate the user to replace and maintain. Of course, other connection modes can also be adopted, as long as the first sealing member 600 and the cutting device 300 can be connected and moved together, and the present embodiment is not limited in this regard.

[0097] It should be noted that in some embodiments, the first driving assembly 700 can be connected with the cutting device 300, and in other embodiments, it can also be connected with the first sealing member 600, or simultaneously connected with the cutting device 300 and the first sealing member 600, as long as the first driving assembly 700 can drive at least part of the cutting device 300 and the first sealing member 600 to move along the sliding groove 103, and the present embodiment is not limited in this regard.

[0098] Please refer to FIG. 6, in some embodiments, the cutting device 300 includes a base 301 and a cutting member 302, at least part of the cutting member 302 is connected with the base 301; the cutting member 302 includes a fixed blade 31 and a movable blade 32. The cutting device 300 can reciprocate along the direction parallel to the axis of the roller brush under the action of the first external force; at least when the cutting device 300 moves to the length range of the roller brush, the fixed blade 31 abuts against the roller brush. Among them, at least during the movement of the cutting device 300 in the length range of the roller brush: the fixed blade 31 can strip at least part of the winding on the roller brush from the roller brush, and the movable blade 32 moves relative to the fixed blade 31, so that the movable blade 32 cooperates with the fixed blade 31 to shear the winding.

[0099] The cutting device 300 of the above embodiment can strip at least part of the wrapping on the roller brush from the roller brush by the fixed blade 31, and the movable blade 32 moves relative to the fixed blade 31 to cooperate with the fixed blade 31 to shear the wrapping, at least during the movement of the cutting device 300 within the length range of the roller brush, so that the fixed blade 31 and the movable blade 32 cooperate to act on the wrapping, so that the two have the effect of gathering the wrapping, thereby improving the cutting efficiency of the cutting device 300 in cutting the wrapping. In addition, the cutting device 300 can move in a direction parallel to the axis of the roller brush under the action of the first external force, and at least during the movement of the cutting device 300 within the length range of the roller brush, the fixed blade 31 abuts against the roller brush, so that the cutting device 300 can cut the wrapping at different positions in the axial direction of the roller brush, which is conducive to more comprehensive cleaning of the wrapping on the roller brush. In addition, at least during the movement of the cutting device 300 within the length range of the roller brush, the fixed blade 31 abuts against the roller brush, so that the fixed blade 31 can strip at least part of the wrapping on the roller brush from the roller brush and cooperate with the movable blade 32 to shear the wrapping, thereby expanding the function of the fixed blade 31, without the need to separately provide two independent structural components for the two functions, thereby saving the number of components, improving the assembly efficiency of the cutting device 300, reducing the mass of the cutting device 300, and reducing the volume of the cutting device 300.

[0100] Referring to FIG. 7, in some embodiments, the cutting device 300 comprises a base 301, a cutting member 302, and an adjusting member 303, the cutting member 302 is used to cut at least part of the wrapping on the roller brush, and the adjusting member 303 is connected with the base 301 and at least part of the cutting member 302 respectively, so that at least part of the cutting member 302 moves relative to the base 301 in a predetermined direction to abut against the roller brush.

[0101] The cutting device 300 of the above embodiment can strip at least part of the entanglements on the roller brush from the roller brush due to the abutting of the at least part of the cutting member 302 to the roller brush, and facilitate the cutting of the entanglements by the cutting member 302, so as to clean the entanglements on the roller brush. In addition, the cutting device 300 comprises the adjusting member 303, which is connected with the base 301 and the at least part of the cutting member 302 respectively, and enables the at least part of the cutting member 302 to move along the preset direction relative to the base 301 to abut to the roller brush. Therefore, even if there is an assembly position deviation of the roller brush during the assembly of the cleaning device, or there is a deviation of the placement position of the roller brush relative to the base 301, or the cutting device 300 is used to clean roller brushes of different specifications, etc., the adjusting member 303 can adjust the position of the at least part of the cutting member 302 along the preset direction, so that the at least part of the cutting member 302 abuts to the roller brush, thereby enabling the cutting device 300 to strip at least part of the entanglements on the roller brush and cut the entanglements, which is beneficial to improve the cleaning effect of the entanglements on the roller brush, reduce or even eliminate the requirement for the assembly deviation of the roller brush during the assembly of the cleaning device, reduce or even eliminate the requirement for the deviation of the placement position of the roller brush, and enable the cleaning of roller brushes of different specifications, thereby expanding the application range of the cutting device 300. In addition, during the cleaning of the entanglements on the roller brush by the cutting device 300, the adjusting member 303 can adjust the position of the at least part of the cutting member 302 along the preset direction, so that the at least part of the cutting member 302 abuts to the roller brush, thereby preventing the cutting member 302 from colliding with the roller brush rigidly, ensuring that the cutting device 300 does not damage the roller brush during the cleaning of the entanglements on the roller brush, and improving the user experience.

[0102] In some embodiments, the base station 1000 is provided with a scraping strip, the length of the scraping strip is greater than or equal to the length of the roller brush of the cleaning device, and at least part of the scraping strip contacts the roller brush of the cleaning device when the cleaning device is placed on the base station 1000. In this way, when the roller brush rotates, the entanglements on the roller brush can be rolled to one place or scraped off from the roller brush by the scraping strip, so as to clean the entanglements on the roller brush. The whole roller brush can be in contact with the scraping strip, which is beneficial to clean the entanglements on the roller brush.

[0103] In other embodiments, the cutting device 300 can be arranged on the cleaning device, and the cutting device 300 can cut the entanglements on the roller brush during the working gap of the cleaning device, so as to avoid affecting the working efficiency of the cleaning device.

[0104] Please refer to FIG. 8, which is a schematic block diagram of the cleaning device 2000 provided by the embodiments of the present application, and the cleaning device 2000 comprises a fan 200, a cutting device 300, a control device 400, and a roller brush 500, etc.

[0105] In the cleaning process of the cleaning device 2000, the roller brush 500 contacts the surface to be cleaned and rotates to clean the surface to be cleaned.

[0106] The cutting device 300 is used to cut the winding on the rolling brush 500, and the cut winding can be sucked away by the air blower 200 after the cutting device 300 cuts the winding on the rolling brush 500.

[0107] The control device 400 is in communication connection with the rolling brush 500, the air blower 200 and the cutting device 300, and the control device 400 can control the working of the rolling brush 500, the air blower 200 and the cutting device 300, execute the winding cutting control method in the embodiments of the present application to cut the winding on the rolling brush 500, and execute the self-cleaning control method of the cleaning device in the embodiments of the present application to clean the rolling brush 500. Specifically, the rolling brush 500 is connected with the rolling brush motor, and the rolling brush 500 is driven to rotate by the rolling brush motor, and the control device 400 is in communication connection with the rolling brush 500, which means that the control device 400 is in communication connection with the rolling brush motor to control the rotation of the rolling brush 500.

[0108] In some embodiments, the rolling brush 500 includes a rolling brush cylinder and a velvet cloth arranged on the side of the rolling brush cylinder, and the velvet cloth includes bristles. When the cleaning device 2000 cleans the surface to be cleaned, the bristles of the rolling brush 500 contact the surface to be cleaned, and the cleaning effect of the surface to be cleaned is better.

[0109] In some embodiments, the cleaning device 2000 is provided with a scraping strip, the length of the scraping strip is greater than or equal to the length of the rolling brush 500, and at least part of the scraping strip contacts the rolling brush 500. In this way, when the rolling brush 500 rotates, the winding on the rolling brush 500 can be rolled to one place or scraped off from the rolling brush 500 by the scraping strip, so as to clean the winding on the rolling brush 500. The whole rolling brush 500 can be in contact with the scraping strip, which facilitates the cleaning of the winding on the rolling brush 500.

[0110] Please refer to FIG. 9, which is a structural schematic diagram of a cleaning system in an embodiment, and the cleaning system includes a base station 1000 and a cleaning device 2000, wherein the base station 1000 can maintain the cleaning device 2000.

[0111] In some embodiments, the base station 1000 of the cleaning system is the base station 1000 described in the embodiments of FIG. 2 to FIG. 5, and reference can be made to the foregoing description, which will not be repeated here. It can be understood that when the base station is provided with a cutting device, the cleaning device can not be provided with a cutting device, so as to avoid repeated setting of the cutting device and waste of resources.

[0112] In some embodiments, the cleaning device 2000 of the cleaning system is the cleaning device 2000 described in the corresponding embodiment of FIG. 8, which can be referred to the foregoing description and will not be repeated here. It can be understood that when the cleaning device is provided with the cutting device, the suction port, the fan and the scraping strip, the base station can not be provided with the cutting device, the suction port, the fan and the scraping strip, so as to avoid the repeated provision of the cutting device, the suction port, the fan and the scraping strip, and to avoid the waste of resources.

[0113] It should be understood that the cleaning device, the base station and the cleaning system described in the embodiments of the present application are only specific examples and do not constitute a specific limitation on the cleaning device, the base station and the cleaning system of the embodiments of the present application. The cleaning device, the base station and the cleaning system of the embodiments of the present application can also be other specific implementation manners. For example, in other implementation manners, the cleaning device, the base station and the cleaning system can have more or fewer components.

[0114] In the following, the cutting device is provided in the base station, and the scraping strip, the fan and the suction port are provided in the cleaning device as an example for illustration.

[0115] As shown in FIG. 1, the self-cleaning control method of the cleaning device according to the embodiments of the present application includes steps S110 and S120.

[0116] S110, performing a pre-cleaning operation; the pre-cleaning operation includes: controlling the roller brush to perform a rotating action, the rotating action including at least one alternating rotation in a first rotating direction and a second rotating direction, wherein the first rotating direction and the second rotating direction are opposite directions; during the at least one alternating rotation of the roller brush in the first rotating direction and the second rotating direction, the roller brush is in contact with the scraping strip.

[0117] For example, the first rotating direction is the rotating direction of the roller brush when cleaning the surface to be cleaned, and the second rotating direction is the opposite direction of the rotating direction of the roller brush when cleaning the surface to be cleaned. Of course, the first rotating direction can also be the opposite direction of the rotating direction of the roller brush when cleaning the surface to be cleaned, and the second rotating direction is the rotating direction of the roller brush when cleaning the surface to be cleaned.

[0118] On the one hand, the at least one alternating rotation of the roller brush in the first rotating direction and the second rotating direction can make the winding on the roller brush close to the roller brush. On the other hand, during the at least one alternating rotation of the roller brush in the first rotating direction and the second rotating direction, the roller brush is in contact with the scraping strip, and the garbage on the roller brush can be scraped off from the roller brush by the scraping strip, so as to prevent larger garbage from interfering with the cutting of the winding on the roller brush by the cutting device, and to prevent sticky garbage from sticking to the cutting device, thereby affecting the cutting efficiency of the cutting device and the service life of the cutting device.

[0119] It can be understood that the rolling brush rotates in the first rotation direction to scrape off the garbage on the rolling brush to prevent the garbage from affecting the cutting device to cut the entangled object. Here, the first rotation direction is the same as the rotation direction of the rolling brush when the cleaning device cleans the surface to be cleaned. The scraping strip rolls up the fluff on the rolling brush when the rolling brush rotates in the second rotation direction, so that the radial dimension of the rolling brush increases, so that the entangled object is more closely wrapped around the rolling brush, facilitating the cutting device to cut the entangled object.

[0120] For the case where the first rotation direction is the rotation direction of the rolling brush when the rolling brush cleans the surface to be cleaned, in some embodiments, in step S110, the rolling brush is controlled to perform a rotating action, including:

[0121] First, the rolling brush is controlled to rotate in the first rotation direction, and then the rolling brush is controlled to rotate in the second rotation direction.

[0122] That is, first, the rolling brush is controlled to perform a rotating action in the rotation direction of the rolling brush when the rolling brush cleans the surface to be cleaned, and then the rolling brush is controlled to perform a rotating action in the opposite direction of the rotation direction of the rolling brush when the rolling brush cleans the surface to be cleaned. After the rolling brush rotates in the rotation direction of the rolling brush when the rolling brush cleans the surface to be cleaned, the fluff of the rolling brush is close to the side of the rolling brush cylinder, and after the garbage on the rolling brush is scraped off, the rolling brush rotates in the opposite direction of the rotation direction of the rolling brush when the rolling brush cleans the surface to be cleaned. The rolling brush contacts the scraping strip, and the fluff of the rolling brush can be loosened by the scraping strip to stand up, so that the entangled object is more closely wrapped around the rolling brush, thereby facilitating the cutting device to cut the entangled object during subsequent cutting and cleaning operations, and the cutting device is more easily cut off the entangled object wrapped around the rolling brush, so that the cutting operation is more effective.

[0123] In some embodiments, in step S110, while the rolling brush is controlled to perform a rotating action, the self-cleaning control method of the cleaning device further includes:

[0124] Controlling the fan to operate to suck away at least part of the garbage on the rolling brush.

[0125] During the pre-cleaning operation, in addition to controlling the rolling brush to perform a rotating action, the fan is also controlled to operate, and at least part of the garbage on the rolling brush can be sucked away by the operation of the fan, thereby reducing the obstruction of the garbage to the cutting device to perform the cutting operation of the entangled object. Of course, at least part of the entangled object on the rolling brush can also be sucked away, and then only the remaining entangled object needs to be cut during the subsequent cutting and cleaning operation.

[0126] For example, as shown in FIG. 10, which is a timing diagram of the pre-cleaning operation, in the pre-cleaning operation, the rolling brush is first controlled to rotate in the direction of rotation of the rolling brush when the rolling brush cleans the surface to be cleaned (forward rotation) for a period of time (e.g., 10s), and then controlled to rotate in the opposite direction of the direction of rotation of the rolling brush when the rolling brush cleans the surface to be cleaned (reverse rotation) for a period of time (e.g., 5s). In the pre-cleaning operation, the air blower is controlled to operate to suck away at least part of the garbage on the rolling brush. Of course, the above operation can be repeated multiple times so that the wrapping on the rolling brush is closer to the rolling brush.

[0127] In step S120, the cutting cleaning operation is performed, which includes controlling the cutting device to move to cut at least part of the wrapping on the rolling brush.

[0128] After the pre-cleaning operation, the wrapping on the rolling brush is closer to the rolling brush, and the garbage on the rolling brush is scraped off by the scraping strip. At this time, the cutting device is controlled to move to cut at least part of the wrapping on the rolling brush. On the one hand, since the wrapping is close to the rolling brush, it is more convenient for the cutting device to cut the wrapping, and the cutting device is more likely to cut off the wrapping, achieving effective cutting. On the other hand, after the garbage on the rolling brush is scraped off by the scraping strip, the garbage is less likely to hinder the cutting device from cutting the wrapping, further facilitating the cutting device to cut the wrapping, thus ensuring the cleaning effect of the rolling brush.

[0129] In some embodiments, when the cleaning device cleans the surface to be cleaned, the cleaning device is placed on the base station, and before the cleaning device performs the first cutting cleaning operation, the pre-cleaning operation is performed. That is, when the cleaning device is returned to the base station for self-cleaning after each cleaning of the surface to be cleaned, the pre-cleaning operation is first performed, and after the pre-cleaning operation is completed, the first cutting cleaning operation is performed. After the first cutting cleaning operation is completed, if the cutting cleaning operation still needs to be performed, the second and subsequent cutting cleaning operations are performed. Before the second and subsequent cutting cleaning operations, the pre-cleaning operation does not need to be performed again. In this way, the pre-cleaning operation does not need to be performed before each cutting cleaning operation, thereby saving time and improving cleaning efficiency. Alternatively, before the second and subsequent cutting cleaning operations are performed, the pre-cleaning operation is performed again to ensure that the garbage on the rolling brush is scraped off and that the remaining wrapping is close to the rolling brush, facilitating the cutting device to cut the remaining wrapping. Alternatively, before the second and subsequent cutting cleaning operations are performed, the rolling brush is rotated again in the second direction of rotation to ensure that the remaining wrapping is close to the rolling brush, facilitating the cutting device to cut the remaining wrapping.

[0130] In some embodiments, as shown in FIG. 11, before the cutting device is controlled to move to cut the wrapping on the rolling brush in step S120, step S130 is included.

[0131] S130, detecting whether the roller brush is in place;

[0132] In step S120, the cutting device is controlled to move to cut the winding on the roller brush, including step S121:

[0133] S121, when the preset condition is met, the cutting device is controlled to move to cut the winding on the roller brush, wherein the preset condition includes that the roller brush is in place.

[0134] In actual application, the roller brush may not be in place, such as the roller brush is taken off by the user, and the pre-cleaning operation and the cutting cleaning operation are performed on the premise that the roller brush is in place, otherwise it is useless work, therefore, detecting whether the roller brush is in place can prevent the cutting device from doing useless work.

[0135] Exemplarily, different conditions correspond to different preset conditions, for example, in the case that the cutting device is arranged in the cleaning device, the preset condition includes that the roller brush is in place. In the case that the cutting device is arranged in the base station, the preset condition includes that the roller brush is in place and the cleaning device is in place, that is, the cleaning device is homed on the base station.

[0136] By performing the roller brush in place detection, it is determined that the cutting cleaning operation is performed only when the preset condition is met, the cutting device is controlled to move to cut the winding on the roller brush, thereby avoiding invalid operation.

[0137] Exemplarily, the cleaning device includes a driving motor, the driving motor is used to drive the roller brush to rotate, and the working current of the driving motor is different in different cases of the roller brush being in place and not in place.

[0138] In some embodiments, in step S130, detecting whether the roller brush is in place includes:

[0139] Detecting whether the roller brush is homed on the cleaning device includes:

[0140] During the process of controlling the roller brush to rotate in the first rotation direction, when the working current of the driving motor is less than the preset current, it is determined that the roller brush is not homed on the cleaning device, and prompt information that the roller brush is not homed on the cleaning device is outputted;

[0141] During the process of controlling the roller brush to rotate in the first rotation direction, when the working current of the driving motor is greater than or equal to the preset current, it is determined that the roller brush is homed on the cleaning device.

[0142] The size of the preset current is flexibly set according to the current of the driving motor normally working when the roller brush is homed on the cleaning device, which is not specifically limited in the present application.

[0143] The driving motor is controlled to rotate the roller brush in the first rotation direction. During the process of controlling the driving motor to rotate the roller brush in the first rotation direction, the working current of the driving motor is monitored. If the working current of the driving motor is less than the preset current, it indicates that the load of the driving motor is too light. At this time, it is determined that the roller brush is not positioned on the cleaning device.

[0144] For example, when it is determined that the roller brush is not positioned on the cleaning device, prompt information that the roller brush is not positioned on the cleaning device is output. The prompt information includes, but is not limited to, voice prompt information, text and image prompt information, etc. After receiving the prompt information, the user can timely position the roller brush in order to perform subsequent cutting cleaning operation.

[0145] During the process of controlling the driving motor to rotate the roller brush in the first rotation direction, the working current of the driving motor is monitored. If the working current of the driving motor is greater than or equal to the preset current, it indicates that the load of the driving motor is normal. At this time, it is determined that the roller brush is positioned on the cleaning device, and the subsequent cutting cleaning operation can be further performed.

[0146] In some embodiments, when the cutting device is arranged on the base station, in step S130, detecting whether the roller brush is in position further includes:

[0147] detecting whether the cleaning device is positioned on the base station;

[0148] When the cleaning device is positioned on the base station, and the roller brush is positioned on the cleaning device, it is determined that the roller brush is in position.

[0149] In actual application, when the cutting device is arranged on the base station, the cleaning device may not be in position, for example, the cleaning device leaves the base station. In this case, if the cutting cleaning operation is performed, it is also an invalid operation. Therefore, when the cutting device is arranged on the base station, in addition to detecting whether the roller brush is positioned on the cleaning device, whether the cleaning device is positioned on the base station is also detected. Only when the cleaning device is positioned on the base station, and the roller brush is positioned on the cleaning device, it is determined that the roller brush is in position, and the preset condition is met at present. In this case, the cutting cleaning operation is performed, and the cutting device is controlled to move to cut the winding on the roller brush, so as to avoid invalid operation.

[0150] For example, the base station is provided with a position detector. The position detector is used to detect whether the cleaning device is positioned on the base station. The position detector can include a limit switch, a visual sensor, a collision sensor, etc. In some embodiments, in step S130, detecting whether the cleaning device is positioned on the base station includes:

[0151] When the position detector receives the current signal, it is determined that the cleaning device is positioned on the base station.

[0152] When the in-position detector receives no current signal, it is determined that the cleaning device is away from the base station.

[0153] In an example, the in-position detector comprises a controller, a first connection terminal and a second connection terminal. The first connection terminal is provided on the base station and connected to the controller. The second connection terminal is provided on the cleaning device. When the cleaning device is placed on the base station, the first connection terminal and the second connection terminal are in conduction, and the in-position detector can receive the current signal. When the cleaning device is away from the base station, the first connection terminal and the second connection terminal are disconnected, and the in-position detector receives no current signal.

[0154] Therefore, when the in-position detector receives the current signal, it is determined that the cleaning device is in position on the base station. When the in-position detector receives no current signal, it is determined that the cleaning device is away from the base station. The in-position detector is used to detect whether the cleaning device is in position on the base station, and the detection is reliable and does not rely on manual operation. The in-position detector also detects that the position of the cleaning device on the base station is correct placement. When the cleaning device is placed on the base station in a skewed or incorrect position, the in-position detector also receives no current signal. When the cleaning device is placed on the base station in a skewed or incorrect position, it is difficult for the cutting device to cut the entanglements on the roller brush, or when the cleaning device is placed incorrectly, the position of the roller brush relative to the base station is also incorrect. The incorrect position of the roller brush blocks the movement of the cutting device, or the cutting device cannot cut the entanglements on the roller brush because the cutting device is too far away from the roller brush.

[0155] In some embodiments, as shown in FIG. 12, in step S120, the cutting cleaning operation is performed, including steps S122 and S123:

[0156] S122, controlling the cutting device to move in a first direction from a first position to cut at least part of the entanglements on the roller brush; and

[0157] S123, controlling the relative movement between the cutting device and the roller brush in a second direction, and the cutting device contacts the roller brush during the relative movement;

[0158] Wherein, the first direction and the second direction are not parallel.

[0159] The first position is the starting position of the cutting device for cutting the entanglements on the roller brush, and the first position is close to the first end of the roller brush. The distance between the first position and the first end of the roller brush is not more than a set distance. In an example, the set distance is 3 cm, and the distance between the first position and the first end of the roller brush is within 3 cm, including 3 cm. The first end and the second end are two ends of the roller brush in the axial direction, and the first end and the second end are opposite ends.

[0160] The second position is a terminal position of the cutting device cutting the winding on the roller brush, and the second position is close to the second end of the roller brush, and the distance between the second position and the second end of the roller brush is not more than a set distance. For example, still taking 3 cm as the set distance, the distance between the second position and the second end of the roller brush is within 3 cm, including 3 cm.

[0161] For example, as shown in FIG. 13, the roller brush 500 includes a first end a and a second end b, and the position where the cutting device 300 is located close to the first end a of the roller brush 500 is the first position, and the position where the cutting device 300 is located close to the second end b of the roller brush 500 is the second position.

[0162] For example, the distance between the first position and the second position is greater than or equal to the length of the roller brush, so that the cutting device can complete a full cutting operation along the first direction from the first end to the second end of the roller brush after moving from the first position to the second position.

[0163] The first direction is substantially parallel to the axis direction of the roller brush, that is, the first direction is substantially parallel to the axial direction of the roller brush, that is, the cutting device moves along the direction substantially parallel to the axis of the roller brush and advances towards the second end of the roller brush, and the cutting device cuts the winding on the roller brush during the movement along the direction substantially parallel to the axis of the roller brush. For example, cutting the hair wound on the roller brush. By cutting the winding on the roller brush, the winding on the roller brush is facilitated to be cleaned, and the cleaning effect of the roller brush is better.

[0164] For example, the first direction is parallel to the axis direction of the roller brush, and the cutting device moves along the direction parallel to the axis of the roller brush to cut the winding on the roller brush. In this way, the cutting device moves along the first direction to cut the winding on the roller brush, and is more labor-saving.

[0165] For example, as shown in FIG. 14, the first direction is parallel to the axis direction of the roller brush 500, wherein the axis of the roller brush 500 is shown by the dashed line m in FIG. 14, the axis direction of the roller brush 500 is parallel to the X direction in FIG. 14, the first direction is opposite to the positive direction of the X direction in FIG. 14, and the cutting device 300 moves along the opposite direction of the positive direction of the X direction in FIG. 14 to cut the winding on the roller brush 500.

[0166] For example, the roller brush is stationary when the cutting device is controlled to move from the first position along the first direction. That is, the roller brush is stationary during the movement of the cutting device along the direction substantially parallel to the axis of the roller brush to cut the winding on the roller brush, so that the cutting device can stably cut.

[0167] In the process of cutting the entanglements on the rolling brush by the cutting device, the cutting device can also be entangled with hair and other entanglements. In order to clean the entanglements on the cutting device, the cutting device and the rolling brush are controlled to move relatively in a second direction in the embodiment, wherein the second direction is not parallel to the first direction. That is, the cutting device and the rolling brush move relatively in a direction that is not parallel to the axis direction of the rolling brush. The rolling brush includes a rolling brush cylinder and a velvet arranged around the rolling brush cylinder. In the process of relative movement, the cutting device contacts the rolling brush, and of course, the velvet (including the fluff on the velvet) arranged around the rolling brush cylinder also contacts the cutting device. On the one hand, at least part of the entanglements entangled on the cutting device can be removed through friction, thereby cleaning the cutting device. The cutting device that has been cleaned of the entanglements can effectively cut the entanglements on the rolling brush, thereby ensuring the cleaning effect of the rolling brush. On the other hand, when the rolling brush rotates and contacts the cutting device, the cutting device can scrape off the garbage on the rolling brush, thereby achieving the purpose of cleaning the rolling brush.

[0168] In an example, when the rolling brush rotates, the garbage on the rolling brush is gathered in the middle position of the rolling brush. When the cutting device contacts the middle position of the rolling brush, the garbage on the rolling brush can be better cleaned.

[0169] For example, the first direction is parallel to the axis direction of the rolling brush, and the second direction is the direction of rotation around the axis of the rolling brush, that is, the second direction is the direction parallel to the plane with the axis direction of the rolling brush as the normal line. Of course, the second direction can also be other directions, such as the direction of spiral rotation around the axis of the rolling brush. The rolling brush rotates around the second direction, and the trajectory of rotation in the second direction is a circle. The plane where the circle is located is perpendicular to the first direction. The second direction is the direction of rotation around the axis of the rolling brush, and the second direction can be decomposed into multiple directions tangent to the circle formed by the trajectory of rotation. Each direction tangent to the circle formed by the trajectory of rotation is perpendicular to the first direction, and then the second direction and the first direction can be regarded as being perpendicular.

[0170] In some embodiments, as shown in FIG. 15, in step S123, the cutting device and the rolling brush are controlled to move relatively in a second direction, including steps S1231 and S1232:

[0171] S1231, control the cutting device to stop moving;

[0172] S1232, when the cutting device stops moving, control the rolling brush to perform a rotating action to remove at least part of the entanglements entangled on the cutting device.

[0173] After the cutting device cuts the winding on the rolling brush, the cutting device is controlled to stop, and when the cutting device stops, the rolling brush is controlled to perform a rotating action, so that the cutting device and the rolling brush move relative to each other, and the rolling brush rotating can take away at least part of the winding on the cutting device, thereby cleaning the cutting device.

[0174] It should be noted that, in addition to the cutting device stopping and the rolling brush rotating, so that the cutting device and the rolling brush move relative to each other in the second direction, the cutting device and the rolling brush can also move relative to each other in the second direction by the rolling brush stopping and the cutting device moving, specifically, the rolling brush stopping and the cutting device rotating around the axis of the rolling brush, or the cutting device and the rolling brush moving relative to each other in the second direction by the rolling brush rotating and the cutting device moving. The way of controlling the cutting device and the rolling brush to move relative to each other in the second direction is not limited in the present application.

[0175] In some embodiments, as shown in FIG. 16, after the cutting device is controlled to move from the first position to the second position in the first direction, the self-cleaning control method of the cleaning device includes the following step S124:

[0176] S124, after the cutting device moves to the second position, the cutting device is controlled to move from the second position to the third position in the third direction, and stop at the third position between the second position and the first position;

[0177] Wherein, the first position is the starting position of the winding on the cutting rolling brush, the second position is the end position of the winding on the cutting rolling brush, and the distance between the first position and the second position is greater than or equal to the length of the rolling brush;

[0178] The third direction is opposite to the first direction.

[0179] After the cutting device moves to the second position, that is, the cutting device completes a winding cutting operation from the first end to the second end of the rolling brush, the cutting device is controlled to move from the second position to the third position in the third direction opposite to the first direction, that is, after completing a winding cutting operation, the cutting device is controlled to move towards the first position, and the cutting device is controlled to stop at the third position between the second position and the first position, without returning the cutting device to the starting first position, that is, the cutting device is controlled to stop at a certain position in the middle of the rolling brush along the axial direction, instead of stopping at the two ends of the rolling brush.

[0180] When the cutting device is at the third position, the cutting device and the rolling brush are controlled to move relative to each other in the second direction, that is, when the cutting device stops at a position between the two ends of the rolling brush, the cutting device and the rolling brush are controlled to move relative to each other, in this case, the rolling brush can better take away the winding on the cutting device, thereby achieving better winding cleaning of the cutting device.

[0181] In some embodiments, in step S123, the cutting device and the rolling brush are controlled to move relatively in the second direction, including:

[0182] When the cutting device is located at the third position, the rolling brush is controlled to perform a rotating action to take away at least part of the wrapping material wrapped on the cutting device.

[0183] When the cutting device is located at the third position, that is, the cutting device is located between the two ends of the rolling brush, the rolling brush is controlled to perform a rotating action in contact with the cutting device, and the cutting device is stopped, so that the cutting device and the rolling brush move relatively, and in the process of rotating the rolling brush, part of the wrapping material wrapped on the cutting device can be effectively taken away, thereby effectively cleaning the wrapping material on the cutting device.

[0184] As described above, in addition to the method of controlling the rolling brush to rotate and the cutting device to stop to make the cutting device and the rolling brush move relatively in the second direction, the cutting device and the rolling brush can also move relatively in the second direction by controlling the rolling brush to be stationary and the cutting device to move, or by controlling the rolling brush to rotate and the cutting device to move at the same time. It can be understood that in different control methods, the second direction corresponding to the relative movement of the cutting device and the rolling brush is different.

[0185] In some embodiments, the third position is not fixed and unique, and the third position includes a plurality of third positions located at different positions between the second position and the first position. After each time the cutting device cuts the wrapping material on the rolling brush, the cutting device stays at a different third position between the second position and the first position. That is, the cutting device stays at different third positions each time, and the rolling brush rotates around the axis of the rolling brush. This can avoid the cutting device being in contact with the same position of the rolling brush all the time, thereby causing excessive friction and serious wear of the rolling brush, which affects the subsequent cleaning effect of the rolling brush on the surface to be cleaned. On the other hand, the cutting device is in contact with different positions of the rolling brush all the time, the rolling brush is less worn, and part of the wrapping material wrapped on the cutting device can be better taken away by rotating the rolling brush, thereby better cleaning the wrapping material on the cutting device.

[0186] In some embodiments, after each time the cutting device cuts the wrapping material on the rolling brush, the cutting device stays at a different third position between the second position and the first position, including:

[0187] After the cutting device cuts the wrapping material on the rolling brush, the cutting device stays at a third position adjacent to the position where the cutting device stays during the last cutting;

[0188] In some embodiments, after each time the cutting device cuts the wrapping material on the rolling brush, the cutting device stays at a different third position between the second position and the first position, including:

[0189] For example, if the third position between the second position and the first position includes n: A(l), A(2)... A(n), the cutting device stops at the third position along the axial direction of the roller brush in sequence after cutting the winding on the roller brush each time. Assuming that the third position where the cutting device stops in the last cutting operation is A(i), where 1≤i≤n, the cutting device stops at the adjacent third position A(i+1) of A(i) after cutting the winding on the roller brush this time. Similarly, the cutting device stops at the adjacent third position A(i+2) of A(i+1) after cutting the winding on the roller brush next time.

[0190] Since the cutting device stops at the third position along the axial direction of the roller brush in sequence after cutting the winding on the roller brush each time, the third position where the cutting device stops is closer and closer to the first end (or the second end) of the roller brush. When the cutting device stops at the third position closest to the first end (or the second end) of the roller brush after cutting the winding on the roller brush, the cutting device stops at the third position farthest from the first end (or the second end) of the roller brush after cutting the winding on the roller brush next time. After that, the third position where the cutting device stops is closer and closer to the first end (or the second end) of the roller brush after cutting the winding on the roller brush each time.

[0191] Alternatively, when the cutting device stops at the third position closest to the first end (or the second end) of the roller brush after cutting the winding on the roller brush, the cutting device stops at the third position next closest to the first end (or the second end) of the roller brush after cutting the winding on the roller brush next time. After that, the third position where the cutting device stops is farther and farther away from the first end (or the second end) of the roller brush after cutting the winding on the roller brush each time.

[0192] For example, still taking the third position including A(l), A(2)... A(n) as an example, assuming that the cutting device stops at the third position A(n) after cutting the winding on the roller brush, the cutting device stops at the third position A(n+1) after cutting the winding on the roller brush next time, and the cutting device stops at the third position A(n+2) after cutting the winding on the roller brush again, and so on for the stopping of the cutting device after cutting the winding on the roller brush each time.

[0193] Alternatively, assuming that the cutting device stops at the third position A(n) after cutting the winding on the roller brush, the cutting device stops at the third position A(n-1) after cutting the winding on the roller brush next time, and the cutting device stops at the third position A(n-2) after cutting the winding on the roller brush again, and so on for the stopping of the cutting device after cutting the winding on the roller brush each time.

[0194] The different third positions where the cutting device stops are sequentially arranged along the axial direction of the roller brush, so that the position where the cutting device contacts the roller brush during the relative movement of the cutting device and the roller brush in the second direction is uniform, which not only reduces the loss of the roller brush, but also achieves better cleaning of the cutting device by the winding object.

[0195] In some embodiments, as shown in FIG. 17, in step S122, the cutting device is controlled to move from the first position in the first direction, including step S1221:

[0196] S1221, control the cutting device to move from the first position in the first direction for a first time length, so that the cutting device moves to the second position;

[0197] In step S124, the cutting device is controlled to move from the second position in the third direction and stop at the third position, including step S1241:

[0198] S1241, control the cutting device to move from the second position in the third direction for a second time length, so that the cutting device stops at the third position; wherein the second time length is less than the first time length.

[0199] For example, the speed of the cutting device is set in advance, and the distance between the first position and the second position is also determined. The first time length of the cutting device moving from the first position in the first direction can be set based on the distance between the first position and the second position and the speed of the cutting device. For example, the first time length is set to 6s. It can be understood that for different distances between the first position and the second position and different speeds of the cutting device, the first time length is also different.

[0200] When the cutting device starts to move from the first position in the first direction, timing is started. When the timing reaches the first time length, that is, the cutting device moves in the first direction for the first time length, the cutting device is controlled to stop moving, and at this time the cutting device stops at the second position. In this way, it is not necessary to detect the real-time position of the cutting device by additional sensors or other devices, thereby saving costs.

[0201] Similarly, the second time length of the cutting device moving from the second position in the third direction can be set based on the distance between the second position and the third position and the speed of the cutting device. Since the distance between the second position and the third position is less than the distance between the first position and the second position, the second time length is less than the first time length.

[0202] After the cutting device moves to the second position, i.e., the cutting device completes the once-wrapped object cutting operation from the first end to the second end of the rolling brush, the cutting device is controlled to start moving in a third direction opposite to the first direction from the second position, and timing is started. When the timing reaches a second time length, i.e., the cutting device moves in the third direction for the second time length, the cutting device is controlled to stop moving, at which time the cutting device is just stopped at the third position.

[0203] For example, the second time length of the cutting device moving in the third direction from the second position each time is not the same, so that the third position where the cutting device stops after moving in the third direction from the second position each time is different, i.e., the cutting device stops at different positions on the rolling brush after cutting the wrapped object on the rolling brush each time.

[0204] When the cutting device is located at the third position, according to the foregoing introduction, the cutting device and the rolling brush are controlled to move in the second direction relative to each other, thereby taking away the wrapped object wrapped on the cutting device, and cleaning the cutting device of the wrapped object.

[0205] In some embodiments, as shown in FIG. 18, before the cutting device is controlled to move in the third direction from the second position for the second time length and stop at the third position, step S1241 includes steps S1242 and S1243:

[0206] S1242, obtaining time length information of the cutting device moving in the third direction last time;

[0207] S1243, determining the second time length according to the time length information.

[0208] The second time length of the cutting device moving in the third direction from the second position after cutting the wrapped object on the rolling brush each time is related to the time length information of the cutting device moving in the third direction from the second position last time. The second time length of the cutting device moving in the third direction from the second position this time is determined according to the time length information of the cutting device moving in the third direction from the second position last time. In this way, the cutting device moves in the third direction from the second position for the second time length after cutting the wrapped object on the rolling brush this time, and stops at the third position adjacent to the position where the cutting device stopped in the last cutting operation.

[0209] In some embodiments, in step S1243, the second time length is determined according to the time length information, including:

[0210] increasing the time length recorded in the time length information by a first preset time length to obtain the second time length; or

[0211] decreasing the time length recorded in the time length information by a first preset time length to obtain the second time length.

[0212] It should be noted that the specific value of the first preset time length can be flexibly set according to actual conditions, and is not specifically limited in the present application.

[0213] The second time length of the movement of the cutting device from the second position in the third direction this time is obtained by increasing or decreasing the second time length of the movement of the cutting device from the second position in the third direction last time by the first preset time length, so that the second time length of the movement of the cutting device from the second position in the third direction after each cutting of the winding on the roller brush is sequentially increased or decreased, so that the third positions of the cutting device stopped between the second position and the first position are sequentially arranged in the axial direction of the roller brush, so that the position of the cutting device contacting the roller brush during the relative movement of the cutting device and the roller brush in the second direction is uniform, which not only reduces the loss of the roller brush, but also achieves better cleaning of the cutting device.

[0214] In some embodiments, after the cutting device is stopped at the third position by controlling the movement of the cutting device from the second position in the third direction for the second time length in step S1241, the method further includes:

[0215] According to the second time length, the time length information of the movement of the cutting device in the third direction this time is generated and recorded.

[0216] After each cutting of the winding on the roller brush, the cutting device moves from the second position in the third direction for the second time length and stops at the third position, and the time length information of the movement of the cutting device in the third direction this time is generated and recorded. The second time length of the movement of the cutting device in the third direction this time is contained in the recorded time length information. In order to determine the second time length of the movement of the cutting device from the second position in the third direction next time according to the recorded time length information after the next cutting of the winding on the roller brush, the specific operation is as described above, and thus will not be described here.

[0217] In some embodiments, in step S123, the method further includes:

[0218] The roller brush is controlled to rotate in the first rotation direction and the second rotation direction alternately for multiple times, and the time length of the rotation of the roller brush in the first rotation direction / second rotation direction is different in different times.

[0219] For the case that the roller brush rotates in the first rotation direction and the second rotation direction alternately for multiple times, the time length of the rotation of the roller brush in the first rotation direction / second rotation direction is different in each time. Of course, the time length of the rotation of the roller brush in the first rotation direction / second rotation direction in each time can also be the same.

[0220] In some embodiments, the control of the rolling brush to rotate in the first rotation direction and the second rotation direction alternately for multiple times comprises:

[0221] controlling the rolling brush to rotate in the second rotation direction for a third time length and then rotate in the first rotation direction;

[0222] controlling the rolling brush to rotate in the second rotation direction for a fourth time length and then rotate in the first rotation direction after the rolling brush completes the rotation in the first rotation direction and the second rotation direction alternately for one time.

[0223] It should be noted that the specific time length values of the third time length and the fourth time length can be flexibly set according to actual conditions, and are not specifically limited in the present application.

[0224] For example, after the cutting device cuts the wrapping on the rolling brush, the rolling brush is controlled to rotate in the second rotation direction for a duration of 2s, then rotate in the first rotation direction for a duration of 2s, then rotate in the second rotation direction for a duration of 4s again, and then rotate in the first rotation direction for a duration of 4s again. Due to inertia, the rolling brush does not immediately switch from rotating in the first rotation direction (second rotation direction) to rotating in the second rotation direction (first rotation direction) during rotation, and there is a duration of inertia transition from stopping rotating in the first rotation direction (second rotation direction) to rotating in the second rotation direction (first rotation direction). Therefore, the second time the rolling brush rotates in the second rotation direction is longer than the first time the rolling brush rotates in the second rotation direction, on the one hand to compensate for the duration of the rolling brush stopping rotating in the first rotation direction to rotating in the second rotation direction, and on the other hand to subtract the duration of the rolling brush rotating in the second rotation direction after the compensation, which is still longer than the first time the rolling brush rotates in the second rotation direction. In this way, the position of the wrapping on the rolling brush is different, avoiding the same position of the wrapping on the rolling brush after each different direction alternating rotation of the rolling brush, so that the wrapping on the rolling brush can be cleaned more effectively. During the single different direction alternating rotation of the rolling brush, the duration of the rolling brush rotating in the first rotation direction and the duration of the rolling brush rotating in the second rotation direction can be the same. Understandably, after the rolling brush rotates in the second rotation direction, part of the wrapping accumulates at the scraping strip. The wrapping is linear, and after a single rotation in the second rotation direction stops, a single linear wrapping has a portion of 1 / 4 of the length that is rolled to the scraping strip, a portion of 1 / 3 of the length that is rolled to the scraping strip, a portion of 2 / 3 of the length that is rolled to the scraping strip, a portion of 4 / 5 of the length that is rolled to the scraping strip, and so on. The part of the wrapping that is rolled to the scraping strip is separated from the surface of the rolling brush. The longer the length of the part of the wrapping that is separated from the surface of the rolling brush, the smaller the adsorption force of the wrapping on the rolling brush, and the easier it is for the fan to suck the wrapping away. After a single different direction alternating rotation, the wrapping that is rolled to the scraping strip has a portion of 1 / 4 of the length of a single linear wrapping and a portion of 1 / 3 of the length of a single linear wrapping that is not sucked away by the fan. If the rolling brush rotates in the second rotation direction again for the same duration, the remaining wrapping still has a portion of 1 / 4 of the length of a single linear wrapping and a portion of 1 / 3 of the length of a single linear wrapping that is rolled to the scraping strip. Then, after the rolling brush rotates in the first rotation direction, these wrappings cannot be sucked away by the fan because the adsorption force of the wrapping is the same as after the last rolling brush rotates in the second rotation direction, that is, the position of the wrapping on the rolling brush is the same.If the rolling brush rotates for a longer time in the second rotation direction than the last time, the part of the single wrapping object on the rolling brush that is longer than 1 / 4 of the length is rolled to the scraping strip, and the part of the single wrapping object on the rolling brush that is longer than 1 / 3 of the length is rolled to the scraping strip, so that the adsorption force of the wrapping object is reduced. When the rolling brush rotates in the first rotation direction, the wrapping object rolled to the scraping strip is rotated to the suction port, and the fan can suck at least part of the wrapping object. In this way, the length of time in the first rotation direction / second rotation direction is different each time, which can enable the fan to suck more wrapping objects and enhance the effect of cleaning the rolling brush.

[0225] In the embodiment in which the cutting device directly returns to the second position from the second position in the third direction after the cutting device moves from the first position to the second position in the first direction, after the cutting device returns to the third position, the step of controlling the rolling brush to rotate in the first rotation direction and the second rotation direction alternately for multiple times can be performed. The first rotation direction is the rotation direction of the rolling brush when cleaning the surface to be cleaned.

[0226] In some embodiments, before controlling the rolling brush to rotate in the first rotation direction after rotating in the second rotation direction for a fourth time, the method comprises:

[0227] Based on the third time, the fourth time is determined.

[0228] For example, based on the third time of the last rotation of the rolling brush in the second rotation direction, the time for compensating the rolling brush from stopping rotating in the first rotation direction to reversing the direction is considered, and the fourth time is determined by subtracting the time for compensating the rolling brush from stopping rotating in the first rotation direction to reversing the direction from the third time, so that the time for rotating the rolling brush in the second rotation direction is still longer than the third time of the last rotation in the second rotation direction, i.e. the number of rotations of the rolling brush in the second rotation direction is greater than the number of rotations of the rolling brush in the second rotation direction, so as to realize different positions of the wrapping object on the rolling brush and more effectively clean the wrapping object on the rolling brush.

[0229] In some embodiments, the fourth time is determined based on the third time, which comprises:

[0230] Determining the time difference;

[0231] Adding the third time to the time difference to obtain the fourth time.

[0232] For example, the time length difference is greater than the time length from when the roller brush stops rotating in the first rotation direction to when the roller brush starts rotating in the second rotation direction. For example, assuming that the time length from when the roller brush stops rotating in the first rotation direction to when the roller brush starts rotating in the second rotation direction is t1, the time length difference is greater than t1. The third time length of the last time the roller brush rotates in the second rotation direction is added to the time length difference to obtain a fourth time length of the next time the roller brush rotates in the second rotation direction. In this way, the time length of the roller brush rotating in the second rotation direction is still longer than the third time length of the last time the roller brush rotates in the second rotation direction after the fourth time length is subtracted by the time length from when the roller brush stops rotating in the first rotation direction to when the roller brush starts rotating in the second rotation direction, so that the position of the entanglement on the roller brush is different.

[0233] In some embodiments, the determining the time length difference comprises:

[0234] The time length difference is determined according to the rotation speed of the roller brush.

[0235] For example, the time length difference is determined according to the rotation speed of the roller brush and the distance corresponding to the position of the entanglement on the roller brush rotating around the axis of the roller brush.

[0236] For example, assuming that the distance corresponding to the position of the entanglement on the roller brush rotating around the axis of the roller brush is half the circumference of the roller brush, the time length of the roller brush rotating half a circle is determined according to the rotation speed of the roller brush, and the time length from when the roller brush stops rotating in the first rotation direction to when the roller brush starts rotating in the second rotation direction is determined by adding the time length from when the roller brush stops rotating in the first rotation direction to when the roller brush starts rotating in the second rotation direction to the time length of the roller brush rotating half a circle. In this way, after the roller brush rotates for the fourth time length determined by the time length difference in the second rotation direction, the position of the entanglement on the roller brush is half the circumference of the roller brush away from the position of the entanglement on the roller brush last time. The position of the entanglement on the roller brush is different, so that the entanglement on the roller brush is more effectively cleaned.

[0237] In some embodiments, in step S120, the cutting cleaning operation is performed, and the self-cleaning control method of the cleaning device further comprises:

[0238] The fan is controlled to operate to suck away the entanglement.

[0239] The fan is controlled to operate during the process of the cutting device cutting the entanglement on the roller brush and / or during the process of the cutting device and the roller brush moving relative to each other after the entanglement on the roller brush is cut. When the fan operates, the entanglement on the cutting device and the roller brush can be sucked away, so that a better cleaning effect of the entanglement is achieved.

[0240] In some embodiments, in step S120, the cutting cleaning operation is performed, and the self-cleaning control method of the cleaning device further comprises:

[0241] After the cutting device moves to the second position, the speed of the fan is increased.

[0242] For example, before the cutting device moves from the first position to the second position in the first direction, during the process of the cutting device cutting the winding on the rolling brush, the fan is controlled to run at a speed of V0 to suck away at least part of the cut winding. After the cutting device cuts the winding on the rolling brush, the speed of the fan is increased, and the fan is controlled to run at a speed of V1, where V1 is greater than V0. By increasing the negative pressure of the fan, the winding cut by the cutting device is more easily sucked away, thereby further ensuring the cleaning effect.

[0243] In some embodiments, after the step of controlling the rolling brush to perform the rotating action ends, the self-cleaning control method of the cleaning device further includes:

[0244] Controlling the cutting device to move from the third position to the first position.

[0245] After the cutting device cuts the winding on the rolling brush, it stays at the third position, that is, at a position between the second position and the first position. After the rolling brush performs the rotating action to remove the winding on the cutting device, the cutting device is controlled to move from the third position to the first position, that is, the cutting device is retracted to the first position. On the one hand, retracting the cutting device can ensure user safety, and on the other hand, returning the cutting device to the starting position of the winding on the rolling brush facilitates the next cutting operation of the cutting device on the winding on the rolling brush, thereby improving efficiency.

[0246] For example, as shown in FIG. 19, which is a timing diagram of a cutting and cleaning operation process, during the cutting of the entanglement, the cutting device is controlled to move forward from a starting position (first position) of the entanglement on the cutting roller brush, move the entanglement on the cutting roller brush, and stop the roller brush during the cutting, while the fan is operated to suck away part of the entanglement. After the cutting device is controlled to move forward for a period of time (for example, 6s) to a terminal position (second position) of the entanglement on the cutting roller brush, the cutting device is controlled to move backward, and the speed of the fan is increased. The fan is more likely to suck away part of the entanglement at a higher speed. When the cutting device is controlled to move backward for a period of time (for example, 3s) to stop at a third position between the second position and the first position, the fan is controlled to continue to operate, and the roller brush is controlled to rotate in the opposite direction (reverse direction) of the direction in which the roller brush rotates when cleaning the surface to be cleaned for a corresponding period of time (for example, 2s), and then rotate in the direction in which the roller brush rotates when cleaning the surface to be cleaned (forward direction) for a corresponding period of time (for example, 2s). Then, the roller brush is controlled to rotate in the opposite direction (reverse direction) of the direction in which the roller brush rotates when cleaning the surface to be cleaned for a longer period of time (for example, 4s), and rotate in the direction in which the roller brush rotates when cleaning the surface to be cleaned (forward direction) for a corresponding period of time (for example, 4s), to take away the entanglement on the cutting device. After the roller brush rotation ends and the entanglement on the cutting device is taken away, the cutting device is controlled to continue to move backward from the third position. The cutting device is controlled to move backward for a period of time (for example, 3s) to stop at the starting position (first position) of the entanglement on the cutting roller brush. The reverse direction is the same as the second rotation direction in the above embodiment, and the forward direction is the same as the first rotation direction in the above embodiment.

[0247] In some embodiments, in step S120, the cutting and cleaning operation is performed, including:

[0248] After the cutting is completed, the roller brush is controlled to perform a rotating action so that the cut entanglement is rolled to a place by the scraping strip on the roller brush or scraped off from the roller brush; and the fan is controlled to operate to suck away the entanglement.

[0249] After the cutting device cuts the entanglement on the roller brush, the roller brush is controlled to perform a rotating action, so that the entanglement on the roller brush can be rolled to a place or scraped off from the roller brush by the scraping strip of the cleaning device, thereby cleaning the entanglement on the roller brush.

[0250] In addition to controlling the rotation of the roller brush, the fan is also controlled to operate to suck away the cut entanglement, thereby achieving a better entanglement cleaning effect. It should be noted that the rotation of the roller brush and the operation of the fan can be controlled at the same time. In this way, at least part of the entanglement can be sucked away by the operation of the fan before the entanglement is rolled to a place by the scraping strip during the start of the rotation of the roller brush. The rotation of the roller brush can also be controlled first, and then the fan is controlled to operate to suck away the entanglement rolled to a place by the scraping strip on the roller brush.

[0251] The winding material accumulated at the scraping strip is separated from the surface of the rolling brush, and the winding material separated from the surface of the rolling brush has small adsorption force on the rolling brush, so that the fan can easily suck it away, thereby increasing the cleaning effect of the rolling brush.

[0252] In addition, since the cutting device is also wound with winding material such as hair during the process of cutting the winding material on the rolling brush, the rolling brush can carry away at least part of the winding material wound on the cutting device by controlling the rotation of the rolling brush, thereby cleaning the cutting device.

[0253] In some embodiments, in step S120, while the cutting device is moving to cut at least part of the winding material on the rolling brush, the self-cleaning control method of the cleaning device further comprises:

[0254] Controlling the fan to operate to cut and suck the winding material at the same time.

[0255] During the movement of the cutting device to cut the winding material on the rolling brush, the fan is controlled to operate. The cutting device cuts the winding material on the rolling brush, and at the same time, the fan operates to suck the cut winding material, thereby achieving better winding material cleaning effect.

[0256] For example, the speed of the fan operation after cutting is greater than the speed of the fan operation during cutting. That is, after cutting, by increasing the negative pressure of the fan, the winding material cut by the cutting device is more easily sucked away, thereby further ensuring the cleaning effect.

[0257] In some embodiments, as shown in FIG. 20, the self-cleaning control method of the cleaning device comprises steps S125 and S126:

[0258] S125, controlling the fan to operate at a first speed during the movement of the cutting device to cut the winding material;

[0259] S126, controlling the fan to operate at a second speed after cutting is completed;

[0260] Wherein, the second speed is greater than the first speed.

[0261] For example, during the process of cutting the winding material on the rolling brush by the cutting device, the fan is controlled to operate at a speed of V0 to suck at least part of the cut winding material. After the cutting device finishes cutting the winding material on the rolling brush, the speed of the fan operation is increased, and the fan is controlled to operate at a speed of V1, wherein V1 is greater than V0. By increasing the negative pressure of the fan, the winding material cut by the cutting device is more easily sucked away, thereby further ensuring the cleaning effect.

[0262] In some embodiments, in step S120, after cutting is completed, the rolling brush is controlled to perform a rotating action, comprising:

[0263] controlling the roller brush to rotate along the first rotation direction and the second rotation direction alternately for multiple times, wherein the roller brush rotates along the first rotation direction / second rotation direction for different lengths of time in different times.

[0264] The step of controlling the roller brush to rotate along the first rotation direction and the second rotation direction alternately for multiple times can be specifically refer to the description in the foregoing embodiments, and will not be described here again.

[0265] In some embodiments, the controlling the roller brush to rotate along the first rotation direction and the second rotation direction alternately for multiple times comprises:

[0266] controlling the roller brush to rotate along the first rotation direction after rotating along the second rotation direction for a third length of time;

[0267] controlling the roller brush to rotate along the first rotation direction after rotating along the second rotation direction for a fourth length of time after the roller brush completes one rotation along the first rotation direction and the second rotation direction alternately;

[0268] wherein the fourth length of time is greater than the third length of time.

[0269] Similarly, specific reference can be made to the description in the foregoing embodiments, and will not be described here again.

[0270] In some embodiments, the controlling the roller brush to rotate along the first rotation direction after rotating along the second rotation direction for the fourth length of time comprises:

[0271] determining the fourth length of time based on the third length of time.

[0272] Similarly, specific reference can be made to the description in the foregoing embodiments, and will not be described here again.

[0273] In some embodiments, the determining the fourth length of time based on the third length of time comprises:

[0274] determining a length difference;

[0275] adding the third length of time and the length difference to obtain the fourth length of time.

[0276] Similarly, specific reference can be made to the description in the foregoing embodiments, and will not be described here again.

[0277] In some embodiments, the determining the length difference comprises:

[0278] determining the length difference according to a rotation speed of the roller brush.

[0279] Similarly, specific reference can be made to the description in the foregoing embodiments, and will not be described here again.

[0280] In some embodiments, in step S125, the controlling the roller brush to perform the rotating action after the cutting is completed comprises:

[0281] The control of the rolling brush is to rotate multiple times along the first rotation direction and the second rotation direction alternately, wherein the number of rotation turns of the rolling brush in different times of rotating along the first rotation direction / second rotation direction is different.

[0282] For the case of the rolling brush rotating multiple times along the first rotation direction and the second rotation direction alternately, the number of rotation turns of the rolling brush in each time of rotating along the first rotation direction / second rotation direction is different. The number of rotation turns of the rolling brush in each time of rotating along the first rotation direction / second rotation direction is different, so that the position of the entanglement on the rolling brush after each rotation of the rolling brush is different, thereby better cleaning and better cleaning effect.

[0283] In some embodiments, the control of the rolling brush is to rotate multiple times along the first rotation direction and the second rotation direction alternately, comprising:

[0284] The control of the rolling brush is to rotate along the second rotation direction for a first preset number of turns and then rotate along the first rotation direction;

[0285] After the rolling brush completes one rotation along the first rotation direction and the second rotation direction alternately, the control of the rolling brush is to rotate along the second rotation direction for a second preset number of turns and then rotate along the first rotation direction;

[0286] Wherein, the second preset number of turns is greater than the first preset number of turns.

[0287] It should be noted that the specific number of turns of the first preset number of turns and the second preset number of turns can be flexibly set according to actual conditions, which is not specifically limited in the present application. In each time of rotating along the first rotation direction and the second rotation direction alternately, the number of turns along the first rotation direction can be the same as the number of turns along the second rotation direction.

[0288] For example, after the cutting device cuts the entanglement on the rolling brush, the number of turns of the rolling brush rotating along the second rotation direction for the first time is 0.75 turns, and the number of turns of the rolling brush rotating along the second rotation direction for the second time is 1.5 turns. In this way, the position of the entanglement on the rolling brush after each rotation of the rolling brush is different, thereby better cleaning and better cleaning effect.

[0289] In some embodiments, as shown in FIG. 21, the self-cleaning control method of the cleaning device further comprises the following step S140:

[0290] S140, performing a washing cleaning operation; the washing cleaning operation comprises: providing cleaning water to the rolling brush to wet the rolling brush and clean the rolling brush.

[0291] The cleaning operation is performed after the cutting cleaning operation, and after the cutting device cuts the winding on the roller brush, the roller brush is still dirty. At this time, the roller brush is wetted by providing cleaning water to the roller brush, the roller brush is cleaned, and the dirt on the roller brush is also washed away, thereby further enhancing the cleaning effect of the roller brush.

[0292] In some embodiments, as shown in FIG. 22, in step S140, the cleaning operation is performed, including steps S141 and S142:

[0293] S141, at least one cleaning treatment is performed on the roller brush;

[0294] S142, after the cleaning treatment is completed, drying treatment is performed on the roller brush, and the drying treatment includes at least one of heating treatment and water spinning treatment.

[0295] For example, the cleaning treatment of the roller brush includes multiple cleaning stages, such as cleaning stage one and cleaning stage two. In each cleaning stage, cleaning liquid is added by a cleaning liquid pump, and the rotation of the roller brush is controlled, and the roller brush is cleaned during rotation.

[0296] After the cleaning treatment of the roller brush, the roller brush is wet. At this time, the drying treatment is performed on the roller brush, such as heating treatment of the roller brush. During heating, the rotation of the roller brush is controlled, thereby further enhancing the drying efficiency of the roller brush. For example, the water spinning treatment is performed on the roller brush. During water spinning, the rotation of the roller brush is controlled, and the operation of the air blower is controlled, thereby removing the water contained in the roller brush.

[0297] In some embodiments, in step S142, after the cleaning treatment is completed, the drying treatment is performed on the roller brush, including:

[0298] After the cleaning treatment is completed, the heating treatment is performed on the roller brush;

[0299] After the heating treatment is completed, the flushing treatment is performed on the roller brush;

[0300] After the flushing treatment is completed, the water spinning treatment is performed on the roller brush.

[0301] After the cleaning treatment of the roller brush is completed, the heating treatment is performed on the roller brush. During heating, the rotation of the roller brush is controlled. After the heating treatment is completed, the flushing treatment is performed on the roller brush. During flushing, the rotation of the roller brush is also controlled, thereby further improving the cleaning effect of the roller brush. After the flushing treatment is completed, the water spinning treatment is finally performed on the roller brush. During water spinning, the rotation of the roller brush is controlled, and the operation of the air blower is controlled, thereby removing the water contained in the roller brush and avoiding bacterial growth. The roller brush is clean, and the subsequent user can directly use the cleaning equipment with a clean roller brush to clean the surface to be cleaned.

[0302] For example, as shown in FIG. 23, which is a timing diagram of a cleaning operation process, the entire cleaning operation process includes a first cleaning stage, a second cleaning stage, a heating stage, a rinsing stage, and a water-removing stage. In the first cleaning stage, the roller brush is controlled to rotate in a first rotation direction (forward direction) for a period of time (for example, 15s), during which cleaning liquid is added (for example, the cleaning device includes a cleaning liquid pump, and the cleaning liquid pump is started to add the cleaning liquid) to clean the roller brush. Then, the roller brush is controlled to rotate in the first rotation direction (forward direction) for a period of time (for example, 10s), and then rotate in a second rotation direction (reverse direction) for a period of time (for example, 5s), and the fan is controlled to operate. The roller brush is fully cleaned, and the PI polyimide film is heated during the entire process to further enhance the cleaning effect. Then, the second cleaning stage is entered, which is the same as the first cleaning stage, and thus is not described again. Then, the heating stage is entered, and the PI film is used to heat the roller brush. During the heating process, the roller brush is controlled to rotate in the first rotation direction and the second rotation direction alternately for multiple times, for example, first rotate in the first rotation direction (forward direction) for 30s, then rotate in the second rotation direction (reverse direction) for 5s, and then repeat the alternating rotation in the first rotation direction and the second rotation direction three times. Finally, the roller brush is controlled to rotate in the first rotation direction (forward direction) for 15s, and the heating process is completed. Then, the rinsing stage is entered, and the roller brush is controlled to rotate, for example, the roller brush is controlled to rotate in the first rotation direction (forward direction) for a period of time (for example, 10s), and the fan is controlled to operate. The roller brush is heated during the entire rinsing stage to further enhance the cleaning effect. Then, the water-removing stage is entered, and the roller brush is controlled to rotate in the first rotation direction and the second rotation direction alternately for multiple times, for example, first rotate in the second rotation direction (reverse direction) for 5s, then rotate in the first rotation direction (forward direction) for 30s, and then rotate in the second rotation direction (reverse direction) for 5s. The roller brush is heated during the entire water-removing stage, and the fan is controlled to operate. The combination of heating and blowing removes the water contained in the roller brush, and dries the roller brush.

[0303] The self-cleaning control method of the cleaning device provided in the embodiments of the present application can improve the cleaning effect of the self-cleaning of the cleaning device by performing the pre-cleaning operation before performing the cutting cleaning operation. The alternating rotation of the roller brush in different directions can make the winding on the roller brush close to the roller brush, and the garbage on the roller brush can be scraped off by the scraping strip, so that the cutting device can cut the winding on the roller brush easily.

[0304] Please refer to FIG. 24, which is a flowchart of a control method of a cutting device according to an embodiment of the present application. The control method of the cutting device is applied to the self-cleaning control method of the cleaning device described in the above embodiments. As shown in FIG. 24, the control method of the cutting device includes step S210 and step S220.

[0305] S210, during the cutting process performed by the cutting device, when the cleaning apparatus leaves the base station, controlling the cutting device to stop moving.

[0306] The cutting process includes reciprocating movement of the cutting device between a first position and a second position. The first position and the second position are as described in the foregoing embodiments. It can be understood that the first position is the position of the cutting device before or at the beginning of the cutting process. The cutting device performs the cutting process according to the foregoing cutting and cleaning operation, which will not be described here.

[0307] It should be noted that when the cutting device performs the cutting process, the cleaning apparatus is usually returned to the base station, so that whether the cleaning apparatus is on the base station can be detected by the in-place detector. Details can be referred to the foregoing embodiments, which will not be described here.

[0308] For example, a stop signal can be sent to the motor controller of the cutting device, so that the cutting device stops moving according to the stop signal. In some examples, the cutting device can include a cutting knife, and the cleaning apparatus includes a driving device including a motor, a screw rod, and a motor controller. The screw rod is connected to the motor, and the cutting knife is arranged on the screw rod. The motor drives the screw rod to rotate, and the cutting knife moves on the screw rod to realize the movement of the cutting knife in the first direction and the second direction. The motor controller is used to control the operation and stop of the motor. When the motor controller receives the stop signal, the motor is controlled to stop, so that the cutting knife stops moving, that is, the cutting device is controlled to stop moving.

[0309] S220, after the cutting device stops moving, when the cleaning apparatus is returned to the base station, controlling the cutting device to move back to the first position.

[0310] For example, after the cutting device stops moving, if the in-place detector receives a current signal, it is determined that the cleaning apparatus is returned to the base station. When it is determined that the cleaning apparatus is returned to the base station, the cutting device is controlled to move back to the first position. In some embodiments, the cutting device can be directly controlled to move back to the first position, or the cutting device can be first controlled to move a distance towards the second position and then move back to the first position. It should be noted that both of the above schemes are within the protection scope of the present application. By first controlling the cutting device to move a distance towards the second position and then moving back to the first position, the winding or other foreign matter on the cutting device can be cleaned by the roller brush.

[0311] The above embodiment can avoid the cutting device from being exposed and easily cutting the user when the cleaning device is taken away during the cutting process of the cutting device, thereby effectively improving the safety of using the cleaning device.

[0312] Referring to FIG. 25, FIG. 25 is a flowchart of another control method of a cutting device provided in the embodiments of the present application, which is applied to the self-cleaning control method of the cleaning device described in the above embodiments. As shown in FIG. 25, the control method of the cutting device includes steps S310 to S330.

[0313] S310, during the cutting process of the cutting device, when the cleaning device leaves the base station, the cutting device is controlled to stop moving.

[0314] S320, after the cutting device stops moving, when the cleaning device is placed back to the base station, the cutting device is controlled to move back to the first position.

[0315] It can be understood that the step S310 and the step S320 of the present embodiment are the same as the step S210 and the step S220 of the above embodiments, which will not be described herein.

[0316] S330, the cutting device is controlled to re-execute the cutting process.

[0317] After the cutting device is controlled to move back to the first position, the cutting device can be controlled to re-execute the cutting process. For example, the cutting device can be controlled to reciprocate between the first position and the second position, so that the cutting device cuts the entanglements on the roller brush in the cleaning device.

[0318] It should be noted that, by controlling the cutting device to re-execute the cutting process after the cutting device is controlled to move back to the first position when the cleaning device is placed back to the base station, on the one hand, the cutting process is re-executed after the cleaning device is accidentally interrupted during the last cutting process, which is beneficial to improve the cleaning effect of the entanglements on the roller brush; on the other hand, the user may clean the surface to be cleaned with the cleaning device after taking the cleaning device from the base station (i.e., the cleaning device leaves the base station), and the roller brush is re-entangled with the entanglements, and the cutting device is controlled to re-execute the cutting process to re-cut the entanglements on the roller brush, so as to ensure the cleaning effect of the roller brush; on the other hand, after the cleaning device is placed back to the base station and the cutting device is controlled to move back to the first position, the cutting device is controlled to re-execute the cutting process, which can ensure the safety of the user and effectively improve the safety of using the cleaning device.

[0319] Please refer to FIG. 26, which is a flowchart of another method for controlling a cutting device according to an embodiment of the present application. The method for controlling the cutting device can be applied to the self-cleaning control method of the cleaning device described in the above embodiments. As shown in FIG. 26, the method for controlling the cutting device includes steps S410-S440.

[0320] S410. Start a self-cleaning process based on a self-cleaning instruction, the self-cleaning process including a cutting process.

[0321] For example, the cutting process is triggered based on the self-cleaning instruction. It should be noted that when a user needs to perform self-cleaning on the cleaning device, a self-cleaning button or a self-cleaning switch in the cleaning device can be triggered. When the cleaning device receives the self-cleaning instruction, the self-cleaning process is started, which can include a pre-cleaning operation process, a cutting cleaning operation process (cutting process), a washing cleaning operation process, and the like.

[0322] S420. During the cutting process performed by the cutting device, when the cleaning device leaves the base station, control the cutting device to stop moving.

[0323] S430. After the cutting device stops moving, when the cleaning device is placed back on the base station, control the cutting device to move back to the first position.

[0324] S440. Control the cutting device to re-perform the cutting process.

[0325] It can be understood that steps S420-S440 of the present embodiment are the same as steps S310-S330 of the above embodiments, and will not be repeated here.

[0326] It can be understood that during the self-cleaning process, the cleaning device leaves the base station, which can be that the user picks up the cleaning device from the base station and cleans the surface to be cleaned with the cleaning device, and the roll brush is rewound with the winding object. Controlling the cutting device to re-perform the cutting process can re-cut the winding object of the roll brush to ensure the cleaning effect of the roll brush.

[0327] In some embodiments, the cutting process is triggered based on a cutting instruction, and after the cutting device moves back to the first position, the cutting process is not re-performed.

[0328] It should be noted that in the embodiments of the present application, the cutting process can be one of the self-cleaning processes, started by the self-cleaning instruction, or a separate process, triggered by the cutting instruction. Among them, the cutting instruction and the self-cleaning instruction can be generated through different switches or keys on the cleaning equipment, of course, they can also be generated through the same switch or key on the cleaning equipment in different triggering ways, which is not limited in the present application. When the cutting process is triggered based on the cutting instruction, after the cutting device is controlled to move back to the first position, the cutting process is no longer re-executed.

[0329] It should be noted that in the embodiments of the present application, on the one hand, since the cutting process is triggered by the cutting instruction, the user wants to use the cutting device to cut the rolling brush, so as to trigger the cutting instruction, which indicates that the rolling brush has winding objects, and the user wants to cut and clean the winding objects on the rolling brush. When the user picks up the cleaning equipment from the base station (i.e., the cleaning equipment leaves the base station), it means that the winding object that the user wants to cut has been cut, and after the cutting device moves back to the first position, the cutting process is no longer re-executed, which can save the electric energy of re-executing the cutting process. On the other hand, there is no other process after the cutting process, so when the cleaning equipment is picked up and put back to the base station during the execution of the cutting process, the cleaning equipment does not need to re-execute the cutting process, and can wait for the user to trigger the cutting instruction again.

[0330] In some embodiments, the reciprocating movement of the cutting device between the first position and the second position can include: the cutting device moves from the first position to the second position in the first direction to cut at least part of the winding objects on the rolling brush; the cutting device moves from the second position to the first position in the third direction, wherein the first direction and the third direction are substantially parallel to the axis direction of the rolling brush.

[0331] Among them, the first direction is opposite to the third direction.

[0332] It should be noted that by controlling the reciprocating movement of the cutting device between the first position and the second position, the cutting device can move in the direction parallel to the axis of the rolling brush under the action of external force, so that the cutting device can move in the direction parallel to the axis of the rolling brush to different positions, thereby enabling the cutting device to cut the winding objects at different positions in the axis direction of the rolling brush, and improving the cleaning efficiency of the winding objects on the rolling brush.

[0333] In some embodiments, the movement of the cutting device back to the first position can include: the cutting device moves from the second position to the first position in the third direction. Illustratively, during the movement of the cutting device from the second position to the first position in the third direction, the cutting device can not cut the winding objects. In another example, during the movement of the cutting device from the second position to the first position in the third direction, the cutting device can cut the winding objects.

[0334] For example, if the cutting device stops at the second position, the cutting device can be controlled to move from the second position to the first position in the third direction. It should be noted that by controlling the cutting device to move from the second position to the first position in the third direction, the cutting device can be directly moved from the first position to the second position in the first direction when performing the cutting process next time, avoiding process blocking in the cutting process.

[0335] In some embodiments, when the cleaning device leaves the base station and the cutting device is in the process of moving from the first position to the second position in the first direction, after controlling the cutting device to move in the third direction to the first position, the control method comprises: controlling the cutting device to re-perform the cutting process.

[0336] It should be noted that when the cleaning device leaves the base station and the cutting device is in the process of moving from the first position to the second position in the first direction, it means that the cutting device has not reached the second position, and at this time the roll brush still has part of the entanglement that has not been cleaned by the cutting device. Therefore, after controlling the cutting device to move in the third direction to the first position, the cutting device needs to be controlled to re-perform the cutting process to continue cutting the residual entanglement on the roll brush.

[0337] The above embodiments can achieve re-cutting of the residual entanglement on the roll brush, thereby improving the cleaning effect of the entanglement on the roll brush, by controlling the cutting device to re-perform the cutting process when the cleaning device leaves the base station and the cutting device is in the process of moving from the first position to the second position in the first direction, and then controlling the cutting device to move in the third direction to the first position.

[0338] In other embodiments, when the cleaning device leaves the base station and the cutting device is in the process of moving from the second position to the first position in the third direction, after controlling the cutting device to move in the third direction to the first position, the cutting process is not re-performed.

[0339] It should be noted that when the cleaning device leaves the base station and the cutting device is in the process of moving from the second position to the first position in the third direction, it means that the cutting device has completed cutting the entanglement on the roll brush. Therefore, after controlling the cutting device to move in the third direction to the first position, the cutting device does not need to be controlled to re-perform the cutting process.

[0340] The above embodiments can avoid performing redundant cutting processes when the cutting of the entanglement on the roll brush has been completed, thereby saving the power of the cleaning device, by not re-performing the cutting process after controlling the cutting device to move in the third direction to the first position when the cleaning device leaves the base station and the cutting device is in the process of moving from the second position to the first position in the third direction.

[0341] In some embodiments, when the cleaning device leaves the base station and the cutting device is in the process of moving from the second position to the first position along the third direction, after controlling the cutting device to move back to the first position, the method for controlling the cutting device provided by the embodiments of the present application further comprises: when the time from when the cleaning device leaves the base station to when the cleaning device is placed back on the base station is less than the second preset time length, the cutting device no longer re-executes the cutting process; and when the time from when the cleaning device leaves the base station to when the cleaning device is placed back on the base station is greater than or equal to the second preset time length, the cutting device is controlled to re-execute the cutting process.

[0342] The second preset time length is used to evaluate the time value of whether the cleaning device is used to clean the surface to be cleaned again after leaving the base station, and the second preset time length can be set according to actual conditions, and the specific value of the second preset time length is not limited herein. When the time from when the cleaning device leaves the base station is greater than or equal to the second preset time length, it is highly probable that the user picks up the cleaning device from the base station and cleans the surface to be cleaned, and at this time the roll brush may be wound with winding objects again. When the time from when the cleaning device leaves the base station is less than the second preset time length, it is highly probable that the user picks up the cleaning device from the base station, does not clean the surface to be cleaned, and then places the cleaning device back on the base station.

[0343] It should be noted that when the time from when the cleaning device leaves the base station to when the cleaning device is placed back on the base station is less than the second preset time length, it indicates that the user does not use the cleaning device to clean the ground, and the roll brush is clean when the cleaning device is placed back on the base station, so it is not necessary to control the cutting device to re-execute the cutting process. When the time from when the cleaning device leaves the base station to when the cleaning device is placed back on the base station is greater than or equal to the second preset time length, it indicates that the user uses the cleaning device to clean the surface to be cleaned, and the roll brush may have winding objects when the cleaning device is placed back on the base station, so it is necessary to control the cutting device to re-execute the cutting process.

[0344] The above embodiments can avoid repeatedly cutting the winding objects on the roll brush when the roll brush is clean, thereby saving the power of the cleaning device, by controlling the cutting device not to re-execute the cutting process when the time from when the cleaning device leaves the base station to when the cleaning device is placed back on the base station is less than the second preset time length. The cutting device can automatically cut the winding objects on the roll brush after the user uses the cleaning device to clean the surface to be cleaned, which is more intelligent and can effectively improve the user experience of using the cleaning device, by controlling the cutting device to re-execute the cutting process when the time from when the cleaning device leaves the base station to when the cleaning device is placed back on the base station is greater than or equal to the second preset time length.

[0345] In some embodiments, the first position is in the inner cavity, and when the cutting device is in the first position, the entire cutting device is located in the inner cavity and is not exposed, so as to avoid cutting the user. When the cutting device moves back to the first position, the cutting device enters the inner cavity from the opening, and when the cutting device moves from the first position along the first direction, the cutting device comes out of the opening to expose at least part of the cutting device to cut the winding objects on the roll brush.

[0346] Exemplarily, the cutting device comprises a cutting knife, the cutting knife is arranged in the sliding groove, and at least the cutting knife is located in the cleaning cavity for cutting at least part of the winding on the roller brush. The first position is located at one end of the sliding groove, and the second position is located at the other end of the sliding groove; when the cutting device is located at the first position, the cutting knife is not exposed in the cleaning cavity.

[0347] The above embodiment can ensure that at least part of the cutting device can move into the cleaning cavity, realize storage of at least part of the cutting device, improve the use safety of the cutting device when the cutting device does not need to cut the winding, and also ensure that at least part of the cutting device can extend into the cleaning cavity, so that the cutting device can strip and cut the winding on the roller brush.

[0348] Please refer to FIG. 27, which is a flowchart of another control method of a cutting device provided by the embodiment of the application, and the control method of the cutting device is applied to the self-cleaning control method of the cleaning equipment in the above-mentioned embodiments. As shown in FIG. 27, the control method of the cutting device comprises steps S510 and S520.

[0349] S510, during execution of a cutting process by the cutting device, when the cleaning equipment leaves the base station, the cutting device is controlled to move back to the first position along a third direction.

[0350] During execution of a cutting process by the cutting device, when it is detected that the cleaning equipment leaves the base station, the cutting device is controlled to move back to the first position along a third direction. For example, whether the cleaning equipment leaves the base station can be detected by an in-place detector arranged on the base station or the cleaning equipment, when the in-place detector cannot receive a current signal, it is determined that the cleaning equipment leaves the base station, at this time, the cutting device can be controlled to move back to the first position along the third direction.

[0351] The cutting process comprises cutting at least part of the winding on the roller brush by the cutting device moving along a first direction, and moving the cutting device along a third direction to return to the first position, the first direction and the third direction are substantially parallel to the axial direction of the roller brush, and the first position is the position of the cutting device before the cutting process starts.

[0352] The above embodiment can directly control the cutting device to return to the first position when the cleaning equipment leaves the base station by controlling the cutting device to move back to the first position along the third direction during execution of the cutting process by the cutting device, which can effectively improve the efficiency of the next execution of the cutting process, and also avoid process blockage; on the other hand, controlling the cutting device to return to the first position can avoid the cutting device being exposed for too long and being easily touched by a user, which can cause the user to be cut, so as to ensure the use safety of the cutting device.

[0353] S520, after the cutting device returns to the first position, when the cleaning device is placed back to the base station, controlling the cutting device to re-perform the cutting process.

[0354] For example, after the cutting device stops moving, if the in-position detector receives a current signal, it is determined that the cleaning device is placed back to the base station. When it is determined that the cleaning device is placed back to the base station, the cutting device is controlled to move to re-perform the cutting process.

[0355] It should be noted that after the cleaning device leaves the base station, the user may use the cleaning device to clean the ground, and the roll brush may have entanglements when the cleaning device is placed back to the base station. Therefore, the cutting device needs to be controlled to re-perform the cutting process.

[0356] The above embodiment can automatically cut the entanglements on the roll brush after the user uses the cleaning device to clean the ground by controlling the cutting device to re-perform the cutting process when it is detected that the cleaning device is placed back to the base station. This is more intelligent and can effectively improve the user experience of using the cleaning device.

[0357] Please refer to FIG. 28, which is a flowchart of another method for controlling a cutting device provided in the embodiments of the present application. The method for controlling the cutting device is applied to the self-cleaning control method of the cleaning device described in the above embodiments. As shown in FIG. 28, the method for controlling the cutting device includes steps S610 and S620.

[0358] S610, during the execution of the cutting process by the cutting device, when the cleaning device leaves the base station, the cutting device is controlled to stop moving.

[0359] The cutting process includes the cutting device moving in a first direction to cut at least part of the entanglements on the roll brush and the cutting device moving in a third direction to return to a first position. The first direction and the third direction are substantially parallel to the axis direction of the roll brush, and the first position is the position of the cutting device before the start of the cutting process.

[0360] In an embodiment, when the cleaning device leaves the base station, the cutting device is controlled to stop moving, and the running state of the cutting device before stopping working is recorded. The running state can be the forward state of the cutting device moving in the first direction, or the backward state of the cutting device moving in the third direction.

[0361] In the above embodiments, when the cleaning device leaves the base station during the cutting process performed by the cutting device, the cutting device is controlled to stop moving, and the running state of the cutting device before stopping working is recorded, but the cutting process is not directly ended. On the one hand, the problem of long starting time when the cutting is started again can be avoided, and the cutting efficiency can be effectively improved. On the other hand, when the cutting process is performed, the cleaning device leaves the base station, and the cutting device is exposed outside the cutting knife. Therefore, the cutting device stops moving to prevent the user from being cut when moving.

[0362] It can be understood that the cutting device is located at the first position when the cutting process is not performed, and the cutting device is entirely located in the inner cavity of the shell and is not exposed. When the cutting device performs the cutting process, the cutting knife is exposed outside from the inner cavity of the shell to cut the winding on the roller brush. When the cleaning device is placed on the base station, the roller brush is in contact with the cutting knife, and the cutting knife is blocked by the cleaning device. At this time, the cutting knife is not exposed. When the cleaning device leaves the base station, the cutting knife is exposed when the cutting process is performed, and the user is easily cut when moving. Therefore, when the cutting process is performed, the cleaning device leaves the base station, and the cutting device stops moving to prevent the user from being cut when moving.

[0363] S620, after the cutting device stops moving, when the cleaning device is placed back on the base station, the cutting device is controlled to continue performing the cutting process.

[0364] In some embodiments, after the cutting device stops moving, if it is detected that the cleaning device is placed back on the base station, the cutting device is controlled to continue performing the cutting process.

[0365] In the above embodiments, when the cleaning device is placed back on the base station, the cutting device is controlled to continue performing the cutting process, which can directly connect the cleaning process before the cutting device stops working. This not only improves the cutting efficiency, but also avoids process blockage and improves the fluency and experience of the user using the cleaning device.

[0366] In some embodiments, controlling the cutting device to continue performing the cutting process can include that the time from when the cleaning device leaves the base station to when the cleaning device is placed back on the base station is less than a second preset time length, and the cutting device is controlled to continue performing the cutting process.

[0367] The second preset time length can be set according to actual conditions, and the specific value is not limited herein. It should be noted that when the time from when the cleaning device leaves the base station to when the cleaning device is placed back on the base station is less than the second preset time length, it indicates that the user does not use the cleaning device to clean the ground, and the roller brush maintains the state when leaving the base station when the cleaning device is placed back on the base station. Therefore, the cutting process that is not completed needs to be continued, and the cutting device does not need to be controlled to perform the cutting process again.

[0368] Exemplarily, when the cutting device is controlled to continue the cutting process, if the cutting device moves in the first direction before stopping, the cutting device is controlled to continue moving in the first direction to cut the at least part of the wrapping on the roller brush; if the cutting device moves in the third direction before stopping, the cutting device is controlled to continue moving in the third direction to return to the first position.

[0369] In the above embodiment, by controlling the cutting device to continue the cutting process when the time from the cleaning device leaving the base station to returning to the base station is less than the second preset time length, the cutting process before the cutting device stops working can be directly connected, which can not only improve the cutting efficiency, but also avoid process blockage and improve the fluency and experience of the user using the cleaning device.

[0370] In some other embodiments, the controlling the cutting device to continue the cutting process can further include: when the time from the cleaning device leaving the base station to returning to the base station is greater than or equal to the second preset time length, controlling the cutting device to return to the first position and then continue the cutting process.

[0371] It should be noted that when the time from the cleaning device leaving the base station to returning to the base station is greater than or equal to the second preset time length, it means that the user uses the cleaning device to clean the ground, and the roller brush can have wrapping when the cleaning device returns to the base station. Therefore, the cutting device needs to be controlled to re-execute the cutting process.

[0372] Exemplarily, the cutting device can be controlled to move from the position when stopping to the first position, and then the cutting process is re-executed.

[0373] In the above embodiment, by controlling the cutting device to return to the first position and then continue the cutting process when the time from the cleaning device leaving the base station to returning to the base station is greater than or equal to the second preset time length, the wrapping on the roller brush can be automatically cut after the user uses the cleaning device to clean the ground, which is more intelligent and can effectively improve the experience of the user using the cleaning device.

[0374] Please refer to FIG. 29, which is a flowchart of another method for controlling a cutting device according to an embodiment of the present application. The method for controlling the cutting device can be applied to the self-cleaning control method of the cleaning device in the above embodiments. As shown in FIG. 29, the method for controlling the cutting device includes steps S710 and S740.

[0375] S710, controlling the cutting device to execute a cutting process, wherein the cutting process includes a cutting process of moving in a first direction and a homing process of moving in a third direction, and the first direction and the third direction are opposite.

[0376] For example, the cutting process is triggered based on the cutting instruction, and the cutting device is controlled to perform the cutting process upon receiving the cutting instruction. Of course, the self-cleaning process can also be triggered based on the self-cleaning instruction, and the self-cleaning process is started upon receiving the self-cleaning instruction, and the self-cleaning process includes the cutting process.

[0377] In some embodiments, the cleaning device or the base station includes a driving assembly connected with the cutting device to drive the cutting device to move in the first direction or the third direction, both of which are parallel to the axial direction of the roller brush.

[0378] For example, when the cutting device is arranged on the cleaning device, the driving assembly is arranged on the cleaning device; when the cutting device is arranged on the base station, the driving assembly is arranged on the base station.

[0379] The driving assembly is configured to provide an external force to drive the cutting device to reciprocate in a direction parallel to the axis of the roller brush. For example, the driving assembly can include a driving motor, so as to automatically drive the cutting device to reciprocate in the direction parallel to the axis of the roller brush without manual operation of the user, thereby improving the user experience.

[0380] S720, when the cutting device is in a stop state in the cutting process, it is determined whether the stop state of the cutting device is normal; if yes, step S730 is performed; if no, step S740 is performed;

[0381] S730, controlling the cutting device to move in the third direction;

[0382] S740, controlling the cleaning device or the base station to output an abnormal prompt.

[0383] It should be noted that the cutting process includes a cutting process of moving in the first direction and a homing process of moving in the third direction, wherein the cutting process includes the cutting device moving from the first position to the second position, and the homing process includes the cutting device moving from the second position to the first position, and the line between the first position and the second position is substantially parallel to the axial direction of the roller brush. When the cutting device moves to the second position (for example, the cutting process ends and the homing process is about to start) or returns to the first position (for example, the homing process ends, that is, the entire cutting process ends), a stop state occurs, and the stop state of the cutting device is normal at this time. When the cutting device is in other positions, the stop state of the cutting device is abnormal, for example, the cutting process or the homing process is stopped halfway.

[0384] For example, whether the stop state of the cutting device is normal can be determined according to the position of the cutting device, the duration of movement, or the current of the driving assembly.

[0385] For example, when it is confirmed that the stop state of the cutting device is normal, such as the stop at the second position, the cutting device can be controlled to move to the first position in the third direction.

[0386] For example, when it is confirmed that the stop state of the cutting device is abnormal, an abnormality prompt can be output. The device outputting the abnormality prompt includes but is not limited to the cleaning device, the base station, the terminal, etc. For example, if the cutting device is arranged on the cleaning device, the cleaning device can be controlled to output the abnormality prompt, and of course, the base station or the terminal can also be controlled to output the abnormality prompt. For another example, if the cutting device is arranged on the base station, the base station can be controlled to output the abnormality prompt, and of course, the cleaning device or the terminal can also be controlled to output the abnormality prompt.

[0387] The terminal is in communication connection with the cleaning device and / or the base station, and the terminal can acquire relevant data of the cleaning device and / or the base station, such as the running state, the running parameter, the abnormality situation, the abnormality prompt, etc. In addition, the user can control the cleaning device and / or the base station through the terminal to facilitate remote control of the cleaning device and / or the base station, such as controlling the cleaning device to start a cleaning task or pause the task, and for another example, controlling the base station to start a self-cleaning task or pause the self-cleaning task. It should be noted that the terminal referred to herein includes but is not limited to a mobile phone, a tablet, a palm computer, a notebook computer, a desktop computer, a PDA, a vehicle-mounted intelligent terminal, a smart wearable device (such as a smart watch, a smart earphone), a smart home device (such as a smart sound box, a smart television), etc.

[0388] For example, the way of outputting the abnormality prompt can include but is not limited to the flashing of an indicator light, the alarm of a buzzer, the voice broadcast, the pop-up message on a display screen, etc. The cleaning device, the base station, and the terminal can be provided with one or more of the indicator light, the buzzer, the loudspeaker, and the display screen. At least one of the indicator light, the buzzer, the loudspeaker, and the display screen can be arranged on the same device as the cutting device, such as being arranged on the cleaning device. Alternatively, they can be arranged on different devices, such as the cutting device being arranged on the base station and the buzzer or the loudspeaker being arranged on the cleaning device. When it is confirmed that the stop state of the cutting device is abnormal, the buzzer can be controlled to alarm or the loudspeaker can be controlled to emit a voice. For another example, the cutting device is arranged on the cleaning device, and when it is confirmed that the stop state of the cutting device is abnormal, a prompt message “abnormal cutting knife, please check” can be popped up on the display screen of the cleaning device or the terminal.

[0389] For example, the way of outputting the abnormality prompt can be one, or a combination of two or more. For example, only the voice broadcast is used to make the abnormality prompt. For another example, the voice broadcast and the pop-up message on the display screen are used to make the abnormality prompt.

[0390] The output device of the abnormal prompt can be one, or a combination of two or more. For example, only the cleaning device outputs a voice broadcast to make an abnormal prompt; for another example, the cleaning device outputs a voice broadcast and the terminal's display screen pops up a message to make an abnormal prompt.

[0391] In the above embodiment, when the cutting device appears a stop state during the execution of the cleaning process, it is determined whether the stop state of the cutting device is normal. If it is determined that the stop state of the cutting device is normal, the cutting device is controlled to move in the third direction. If it is determined that the stop state of the cutting device is abnormal, an abnormal prompt is output. The cutting device can be detected to be abnormal in time and accurately, and the user is reminded to take protective measures, so that the probability of damage to the cutting device is minimized and the cleaning efficiency of the rolling brush is improved.

[0392] In some embodiments, as shown in FIG. 30, in step S720, when the cutting device appears a stop state during the execution of the cleaning process, it is determined whether the stop state of the cutting device is normal, including steps S721 to S724:

[0393] S721, when the cutting device appears a stop state during movement in the first direction, it is determined whether the fifth time length is the third preset time length. If not, step S722 is performed. If yes, step S723 is performed.

[0394] The fifth time length is the time length from the start of the cutting process to the appearance of the stop state of the cutting device during movement in the first direction. The third preset time length is the time length from the start of the cutting process to the normal completion of the cutting process by the cutting device.

[0395] It should be noted that, under normal circumstances, the time length from the start of the cutting process (i.e., the start of the cutting process) to the appearance of the stop state of the cutting device during movement in the first direction should be the same as the time length from the start of the cutting process to the normal completion of the cutting process by the cutting device, i.e., the fifth time length should be equal to the third preset time length. When the fifth time length is not the third preset time length, it indicates that the cutting device has an abnormality during the execution of the cutting process, resulting in the cutting device being unable to normally complete the cutting process.

[0396] For example, when the cutting device is controlled to execute the cutting process, a timer can be used to record the time length from the start of the cutting process to the appearance of the stop state of the cutting device during movement in the first direction as the fifth time length.

[0397] S722, it is determined that the stop state of the cutting device is abnormal.

[0398] For example, when the fifth time length is greater than or less than the third preset time length, it can be determined that the stop state of the cutting device is abnormal.

[0399] S723, reconfirm whether the current of the driving assembly meets the first current condition;

[0400] S724, when the current of the driving assembly meets the first current condition, confirm that the stop state of the cutting device is normal.

[0401] For example, when the fifth duration is equal to the third preset duration, it is necessary to reconfirm whether the current of the driving assembly meets the first current condition. It should be noted that when the fifth duration is equal to the third preset duration, it means that the cutting device has normally completed the cutting process, and at this time the cutting device should reach the second position. When the cutting device reaches the second position, the driving assembly will stall, for example, the cutting device will be blocked by the structure on the cleaning equipment or the base station and cannot continue to move forward, so in order to further improve the accuracy of detecting whether the stop state of the cutting device is normal, it is also necessary to confirm whether the current of the driving assembly meets the first current condition.

[0402] The first current condition is that the current is not less than the first current threshold, and the duration that the current is not less than the first current threshold is not less than the first threshold. It should be noted that the first current threshold can be the stall current of the driving assembly. The first current threshold and the first threshold can be set according to actual conditions, and specific values are not limited here.

[0403] For example, the first current threshold can be 800mA, and the first threshold can be 300ms. When the current of the driving assembly is greater than or equal to 800mA, and the duration that the current of the driving assembly is greater than or equal to 800mA is greater than or equal to 300ms, it can be confirmed that the stop state of the cutting device is normal.

[0404] The above embodiment can realize the combination of the duration of the movement of the cutting device and the current of the driving assembly to judge whether the stop state of the cutting device is normal, which can effectively reduce the probability of misjudgment, thereby improving the accuracy of detecting whether the stop state of the cutting device is normal.

[0405] In some embodiments, in step S740, when it is confirmed that the stop state of the cutting device is abnormal, the cleaning equipment or the base station outputs an abnormal prompt, which can include: when the cutting device appears a stop state during movement in the first direction, and the fifth duration is not the third preset duration, output a first abnormal prompt, and the first abnormal prompt is used to prompt that the cutting device has an abnormality during the cutting process.

[0406] For example, the output mode of the first abnormal prompt can include but is not limited to indicator light flashing, buzzer alarm, voice broadcast, display screen pop-up message, etc.

[0407] For example, the base station or the cleaning device is provided with an indicator light, when it is confirmed that the stop state of the cutting device is abnormal, the indicator light can be controlled to flash to prompt that the cutting device has an abnormality during the cutting process. The flashing frequency, flashing times and flashing time of the indicator light can be set according to actual conditions, which are not limited here.

[0408] For another example, the base station or the cleaning device or the terminal is provided with a voice broadcast device, such as a loudspeaker, when it is confirmed that the stop state of the cutting device is abnormal, the voice broadcast device can be controlled to broadcast a voice, wherein the voice content played can be "the cutting device has an abnormality".

[0409] The above embodiment can prompt the user to handle the abnormality in a targeted manner, thereby effectively improving the user experience, by outputting the first abnormality prompt when the cutting device appears a stop state during movement in the first direction and the fifth time length is not the third preset time length.

[0410] It should be noted that the fifth time length equal to the third preset time length can be understood as that they are completely equal, or the fifth time length is within the preset range of the third preset time length, for example, the third preset time length is 6S, and the preset range of the third preset time length is 6±0.3S, that is, the fifth time length is within the range of greater than or equal to 5.7S and less than or equal to 6.3S, which is considered as equal to the third preset time length. The third preset time length and its preset range can be set according to actual conditions, and the specific value is not limited here.

[0411] In some embodiments, as shown in FIG. 31, in step S720, when the cutting device appears a stop state during the cutting process, it is confirmed whether the stop state of the cutting device is normal, including steps S725 and S726:

[0412] S725, when the cutting device appears a stop state during movement in the first direction, it is confirmed whether the cutting device is at the first position, wherein the cutting device is located outside the first end of the roller brush and towards the first end of the roller brush when at the first position.

[0413] It should be noted that after the cutting device starts to execute the cutting process, the cutting device should move in the first direction parallel to the axis of the roller brush to the second position under normal circumstances, if the cutting device is still at the first position, it indicates that the movement of the cutting device is blocked, for example, the placement of the roller brush is abnormal, causing the cutting device to be unable to move normally and cut the winding on the roller brush.

[0414] In some embodiments, the cleaning device or the base station further comprises a position detection mechanism, the position detection mechanism being configured to detect whether the cutting device is in the first position. In step S725, confirming whether the cutting device is in the initial position can comprise:

[0415] confirming that the cutting device is in the first position when the position detection mechanism receives the in-position signal;

[0416] confirming that the cutting device is not in the first position when the position detection mechanism does not receive the in-position signal.

[0417] Exemplarily, the in-position signal can be a high-level signal or a low-level signal, which can be set according to actual conditions.

[0418] Exemplarily, the position detection mechanism can include, but is not limited to, a limit switch, a visual sensor, a collision sensor, and the like.

[0419] In some embodiments, the position detection mechanism can include a limit switch, and the position detection mechanism receiving the in-position signal comprises: the limit switch being in a closed state; and the position detection mechanism not receiving the in-position signal comprises: the limit switch being in an open state.

[0420] Exemplarily, when the cutting device is in the first position, the limit switch is in the closed state; and when the cutting device is not in the first position, the limit switch is in the open state.

[0421] In the above embodiments, whether the cutting device is in the first position is determined according to whether the position detection mechanism receives the in-position signal, the determination logic is simple, and the reliability of confirming whether the cutting device is in the first position can be improved.

[0422] S726, when the cutting device is in the first position, confirming that the stop state of the cutting device is abnormal.

[0423] Exemplarily, after the cutting device starts to execute the cutting process, if the cutting device is still in the first position, it can be confirmed that the stop state of the cutting device is abnormal.

[0424] In the above embodiments, whether the cutting device is in the first position is determined by the occurrence of the stop state when the cutting device moves in the first direction, which can detect whether the placement of the rolling brush is abnormal, thereby avoiding the problem that the cutting device cannot cut the winding on the rolling brush due to the misplacement of the rolling brush.

[0425] In some embodiments, in step S740, when it is confirmed that the stop state of the cutting device is abnormal, the cleaning device or the base station outputs an abnormality prompt, comprising:

[0426] When the cutting device is still in the first position when moving in the first direction, the cleaning equipment or the base station outputs a second abnormal prompt, and the second abnormal prompt is used to prompt that the placement of the roller brush is abnormal.

[0427] The output mode of the second abnormal prompt can be different from the output mode of the first abnormal prompt. For example, when an indicator light is used to prompt the abnormality, the output mode of the second abnormal prompt can be distinguished from the output mode of the first abnormal prompt by the color, the flashing frequency, the flashing times, or the flashing time of the indicator light. When a buzzer is used to prompt the abnormality, the output mode of the second abnormal prompt can be distinguished from the output mode of the first abnormal prompt by the sound type or the volume of the buzzer.

[0428] In the above embodiment, by determining that the cutting device is still in the first position when moving in the first direction, the second abnormal prompt used to prompt that the placement of the roller brush is abnormal is output, the user can be reminded in time that the placement of the roller brush is abnormal, the user can deal with the abnormality in a targeted manner, and thus the user experience can be effectively improved.

[0429] In some embodiments, as shown in FIG. 32, in step S720, when the cutting device is in a stop state in the cutting process, it is determined whether the stop state of the cutting device is normal, including steps S727 to S729:

[0430] S727, when the cutting device is in a stop state when moving in the third direction, it is determined whether the cutting device is in the first position, wherein the cutting device is located outside the first end of the roller brush and faces the first end of the roller brush when in the first position; if not, step S728 is performed; if yes, step S729 is performed.

[0431] When the cutting device is in a stop state in the homing process of moving in the third direction after completing the cutting process, it can be determined whether the cutting device is in the first position. The specific process of determining whether the cutting device is in the first position can be referred to the detailed description of the above embodiments, which will not be repeated here.

[0432] S728, it is determined that the stop state of the cutting device is abnormal.

[0433] S729, it is determined that the stop state of the cutting device is normal.

[0434] It should be noted that when the cutting device is in a stop state when moving in the third direction, if the cutting device is stopped in the first position, i.e., it is normally returned to the first position, it indicates that the stop of the cutting device is normal; if the cutting device is not stopped in the first position, for example, the cutting device has stopped before reaching the first position, it indicates that the stop of the cutting device is abnormal, i.e., the cutting device is abnormal in the homing process.

[0435] According to the above embodiment, by confirming whether the cutting device is at the first position when the cutting device is in the stop state along the third direction, it can be determined whether the stop state of the cutting device is abnormal according to whether the cutting device is at the first position, and further, whether the cutting device is abnormal during the homing process can be detected in time.

[0436] In some embodiments, as shown in FIG. 33, in step S720, when the cutting device is in a stop state during the cutting process, it is determined whether the stop state of the cutting device is normal, including steps S7210 to S7214:

[0437] S7210, when the cutting device is in a stop state along the third direction, it is determined whether the sixth time length is the fourth preset time length.

[0438] The sixth time length is the time length from the start of the cutting process to the stop state of the cutting device along the third direction, and the fourth preset time length is the time length from the start of the cutting process to the normal completion of the homing process of the cutting device.

[0439] It should be noted that, under normal circumstances, the time length from the start of the cutting process to the stop state of the cutting device along the third direction should be the same as the time length from the start of the cutting process to the normal completion of the homing process of the cutting device, i.e. the sixth time length should be equal to the fourth preset time length. When the sixth time length is not the fourth preset time length during the homing process of the cutting device, it indicates that the cutting device has an abnormality during the homing process, resulting in the cutting device being unable to normally complete the homing process.

[0440] For example, when controlling the cutting device to perform the cutting process, a timer can be used to record the time length from the start of the cutting process to the stop state of the cutting device along the third direction as the sixth time length.

[0441] S7211, when the sixth time length is not the fourth preset time length, it is determined that the stop state of the cutting device is abnormal.

[0442] For example, when the sixth time length is greater than or less than the fourth preset time length, it can be determined that the stop state of the cutting device is abnormal.

[0443] S7212, when the sixth time length is the fourth preset time length, it is further determined whether the cutting device is at the first position.

[0444] For example, when the sixth time length is equal to the fourth preset time length, it is necessary to further determine whether the cutting device is at the first position. It should be noted that when the sixth time length is equal to the fourth preset time length, it indicates that the cutting device has normally completed the homing process, and at this time the cutting device should be at the first position. In order to further improve the accuracy of detecting whether the stop state of the cutting device is normal, it is necessary to further determine whether the cutting device is at the first position.

[0445] The specific process of detecting whether the cutting device is in the first position can be found in the detailed description of the above embodiments, which will not be repeated here.

[0446] S7213, when the cutting device is not in the first position, confirming that the stop state of the cutting device is abnormal.

[0447] For example, when the sixth duration is the fourth preset duration and the cutting device is not in the first position, it can be confirmed that the stop state of the cutting device is abnormal.

[0448] S7214, when the cutting device is in the first position, confirming that the stop state of the cutting device is normal.

[0449] For example, when the sixth duration is the fourth preset duration and the cutting device is in the first position, it can be confirmed that the stop state of the cutting device is normal.

[0450] The above embodiments can realize the combination of the duration of the movement of the cutting device and the position of the cutting device when it stops to jointly determine whether the stop state of the cutting device is normal, which can effectively reduce the probability of misjudgment, thereby improving the accuracy of detecting whether the stop state of the cutting device is normal.

[0451] It should be noted that the sixth duration being equal to the fourth preset duration can be understood as being exactly equal, or the sixth duration being within the preset range of the fourth preset duration, for example, the fourth preset duration being 12S and the preset range of the fourth preset duration being 12±0.3S, that is, the sixth duration being within the range of greater than or equal to 11.7S and less than or equal to 12.3S, which is considered to be equal to the fourth preset duration. The fourth preset duration and its preset range can be set according to actual conditions, and the specific value is not limited here.

[0452] In some embodiments, in step S740, when it is confirmed that the stop state of the cutting device is abnormal, the cleaning equipment or the base station is controlled to output an abnormal prompt, including:

[0453] When the cutting device stops moving in the third direction and the cutting device is not in the first position, the cleaning equipment or the base station is controlled to output a third abnormal prompt, and the third abnormal prompt is used to prompt that the cutting device has an abnormality when performing the homing process.

[0454] In some embodiments, the third abnormal prompt is output in a manner different from the first abnormal prompt and the second abnormal prompt. For example, when an indicator light is used to output the abnormal prompt, the third abnormal prompt can be output in a manner different from the first abnormal prompt and the second abnormal prompt by using different colors, different flashing frequencies, different flashing times, or different flashing durations. When a buzzer is used to output the abnormal prompt, the third abnormal prompt can be output in a manner different from the first abnormal prompt and the second abnormal prompt by using different sound types or different sound volumes.

[0455] In the above embodiments, by determining that the cutting device is in a stopped state when moving in the third direction and that the cutting device is not in the first position, the third abnormal prompt for prompting that the cutting device is abnormal when performing the homing process is output, so that the user can be reminded that the cutting device is abnormal when performing the homing process, the user can be facilitated to deal with the abnormality in a targeted manner, and the user experience can be effectively improved.

[0456] In some embodiments, the method for controlling the cutting device in the embodiments of the present disclosure further includes: before the cutting process starts, determining whether the cutting device is in the first position, wherein the cutting device is located outside the first end of the roller brush and faces the first end of the roller brush when the cutting device is in the first position; and when it is determined that the cutting device is not in the first position, controlling the cutting device to move in the third direction to the first position, and / or controlling the cleaning device or the base station to output a fourth abnormal prompt, the fourth abnormal prompt being for prompting that the cutting device is not in the first position.

[0457] In the embodiments of the present disclosure, in order to ensure that the cutting device can effectively cut the entanglements on each position of the roller brush, it is necessary to ensure that the cutting device is in the first position before the cutting device starts to perform the cutting process. It can be understood that, when the cutting process starts, if the cutting device does not move in the first direction from the first position, part of the entanglements on the roller brush will be missed, and thus the cleaning effect will be reduced.

[0458] The specific process of determining whether the cutting device is in the first position can be referred to the detailed description of the above embodiments, which will not be described here.

[0459] In an embodiment, when it is determined that the cutting device is not in the first position, the cutting device can be controlled to move in the third direction to the first position. By controlling the cutting device to move in the third direction to the first position, the cutting device can be ensured to move in the first direction from the first position when the cutting process starts, so that the cutting device can effectively cut the entanglements on each position of the roller brush, and thus the cleaning effect can be improved.

[0460] In another embodiment, when it is determined that the cutting device is not in the first position, a fourth abnormal prompt is output, the fourth abnormal prompt being for prompting that the cutting device is not in the first position.

[0461] In some embodiments, the fourth abnormal prompt is output in a manner different from the first abnormal prompt, the second abnormal prompt, and the third abnormal prompt. For example, when the abnormal prompt is performed by using an indicator light, the fourth abnormal prompt can be output in a manner different from the first abnormal prompt, the second abnormal prompt, and the third abnormal prompt, such as by using different colors, different flashing frequencies, different flashing times, or different flashing durations.

[0462] In the above embodiments, by confirming whether the cutting device is in the first position before the cutting process starts, the fourth abnormal prompt for prompting that the cutting device is not in the first position can be output when it is confirmed that the cutting device is not in the first position, so that the user can be reminded that the position of the cutting device is abnormal, the user can be facilitated to deal with the abnormality in a targeted manner, and the user experience can be effectively improved.

[0463] In some embodiments, the control method of the cutting device provided in the embodiments of the present disclosure further includes: confirming whether the current of the driving assembly meets a second current condition during the movement of the cutting device in the first direction or the movement of the cutting device in the third direction; and outputting a fifth abnormal prompt when the driving assembly meets the second current condition, the fifth abnormal prompt being used to prompt that the cutting device is disconnected.

[0464] When the cutting device performs the cutting process or the homing process, the current of the driving assembly can be collected, and it is determined whether the current of the driving assembly meets the second current condition. The second current condition is that the current is not greater than a second current threshold, and the duration for which the current is not greater than the second current threshold is not less than a second threshold. The second current threshold and the second threshold can be set according to actual conditions, and specific values are not limited herein.

[0465] It should be noted that when the cutting device is driven by the driving assembly to perform the cutting process or the homing process, the cutting device is equivalent to a load of the driving assembly, and a certain current is required to drive the cutting device to move; when the cutting device is disconnected from the driving assembly, the driving assembly is empty, and the current of the driving assembly is greatly reduced, so the disconnection of the cutting device from the driving assembly can be detected according to the current of the driving assembly. In the embodiments of the present disclosure, whether the cutting device is disconnected can be detected by determining whether the current of the driving assembly meets the second current condition.

[0466] For example, the second current threshold can be 60 mA, and the second threshold can be 1.5 s. When the current of the driving assembly is less than or equal to 60 mA, and the duration for which the current of the driving assembly is less than or equal to 60 mA is greater than or equal to 1.5 s, it can be confirmed that the current of the driving assembly meets the second current condition, that is, the cutting device is disconnected, and the fifth abnormal prompt can be output at this time.

[0467] In some embodiments, the output mode of the fifth abnormal prompt is different from the output modes of the first abnormal prompt, the second abnormal prompt, the third abnormal prompt, and the fourth abnormal prompt. For example, when the abnormal prompts are indicated by indicator lights, the output modes of the first abnormal prompt, the second abnormal prompt, the third abnormal prompt, and the fourth abnormal prompt can be distinguished by the colors, flashing frequencies, flashing times, or flashing times of the indicator lights.

[0468] In the above embodiments, by confirming whether the current of the driving assembly meets the second current condition during the movement of the cutting device in the first direction or the movement of the cutting device in the third direction, and outputting the fifth abnormal prompt for prompting disconnection of the cutting device when the driving assembly meets the second current condition, the user can be reminded to disconnect the cutting device, the user can be facilitated to deal with the abnormality in a targeted manner, and thus the user experience can be effectively improved.

[0469] In some embodiments, the control method of the cutting device provided by the embodiments of the present disclosure further includes: confirming whether a seventh time length is a third preset time length or a fourth preset time length when the cutting device is in a stop state in a cutting process; when the seventh time length is neither the third preset time length nor the fourth preset time length, confirming again whether the current of the driving assembly meets a third current condition; and when the driving assembly meets the third current condition, controlling the driving assembly to stop running and / or outputting a sixth abnormal prompt for prompting an abnormality of the driving assembly.

[0470] The seventh time length is a time length from the start of the cutting process to the stop state of the cutting device, the third preset time length is a time length from the start of the cutting process to the normal completion of the cutting process of the cutting device, and the fourth preset time length is a time length from the start of the cutting process to the normal completion of the homing process of the cutting device. The third current condition is that the current is not less than a third current threshold value, and the duration for which the current is not less than the third current threshold value is not less than a third threshold value. The third current threshold value and the third threshold value can be set according to actual conditions, and specific values are not limited herein.

[0471] It should be noted that before the cutting device moves to the second position in the first direction or before the cutting device moves to the first position in the third direction, if the current of the driving assembly suddenly increases, it indicates that the driving assembly is abnormal, for example, the driving assembly is locked.

[0472] For example, when the seventh time length is neither the third preset time length nor the fourth preset time length, it indicates that the cutting device is neither at the second position nor at the first position.

[0473] In an embodiment, when the driving assembly meets the third current condition, the driving assembly is controlled to stop running. By controlling the driving assembly to stop running when the driving assembly meets the third current condition, damage to the driving assembly due to locking can be avoided.

[0474] In another embodiment, when the driving assembly meets the third current condition, a sixth abnormality prompt for prompting an abnormality of the driving assembly is output.

[0475] In another embodiment, when the driving assembly meets the third current condition, the driving assembly is controlled to stop running, and a sixth abnormality prompt for prompting an abnormality of the driving assembly is output.

[0476] In an embodiment, the output mode of the sixth abnormality prompt is different from the output modes of the first abnormality prompt, the second abnormality prompt, the third abnormality prompt, the fourth abnormality prompt, and the fifth abnormality prompt. For example, when an indicator light is used for abnormality prompting, the output modes of the first abnormality prompt, the second abnormality prompt, the third abnormality prompt, the fourth abnormality prompt, the fifth abnormality prompt, and the sixth abnormality prompt can be distinguished by the color, the flashing frequency, the flashing times, or the flashing time of the indicator light.

[0477] The above embodiments can not only avoid damage of the driving assembly due to stalling, but also remind the user of the abnormality of the driving assembly, so that the user can deal with the abnormality in a targeted manner, thereby effectively improving the user experience.

[0478] It should be noted that the output modes of the first abnormality prompt, the second abnormality prompt, the third abnormality prompt, the fourth abnormality prompt, the fifth abnormality prompt, and the sixth abnormality prompt can be completely the same, completely different, or some of them the same and the rest of them different. For example, when the output modes of the six abnormality prompts are completely the same, they can be uniformly set as the voice prompt “cutting knife abnormality”. For another example, when the output modes of the six abnormality prompts are completely different, they can be set as an indicator light, an alarm, voice broadcast, a pop-up message on a display screen, and the like, respectively. The output devices of the first abnormality prompt, the second abnormality prompt, the third abnormality prompt, the fourth abnormality prompt, the fifth abnormality prompt, and the sixth abnormality prompt can be completely the same, completely different, or some of them the same and the rest of them different. For example, when the output devices of the six abnormality prompts are completely the same, they can be uniformly set as being output by the cleaning device. For another example, when the output devices of the six abnormality prompts are completely different, they can be set as being output by the cleaning device, the base station, different types of terminals, and the like, respectively. The above abnormality prompts can be set according to actual conditions, and the specific modes are not limited herein.

[0479] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to make the processor implement the steps of the above method.

[0480] The computer readable storage medium can be an internal storage unit of the cleaning device or the base station, for example, a hard disk or a memory of the cleaning device or the base station. The computer readable storage medium can also be an external storage device of the cleaning device or the base station, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc.

[0481] It should be understood that the terms used in the present application are merely for the purpose of describing particular embodiments and are not intended to limit the present application. As used in the present application and the appended claims, unless otherwise clearly indicated, the singular forms "a," "an," and "the" are intended to include the plural forms as well.

[0482] It should also be understood that the term "and / or" used in the present application and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0483] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" etc. means that the specific method steps, features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific method steps, features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0484] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A self-cleaning control method of a cleaning device including a rolling brush that contacts a surface to be cleaned while the cleaning device cleans the surface to be cleaned, characterized by, The self-cleaning control method of the cleaning device comprises: performing a pre-cleaning operation, and then performing a cutting cleaning operation. The pre-cleaning operation comprises: controlling the rolling brush to perform a rotating action, the rotating action comprising at least one rotating action in a first rotating direction and a second rotating direction alternately, wherein the first rotating direction and the second rotating direction are opposite directions; during the at least one rotating action in the first rotating direction and the second rotating direction alternately, the rolling brush is in contact with a scraping strip, the scraping strip being arranged on the cleaning device or on a base station, the base station being used to cooperate with the cleaning device. The cutting cleaning operation comprises: controlling a cutting device to move to cut at least part of the winding on the rolling brush, the cutting device being arranged on the cleaning device or on the base station.

2. The self-cleaning control method of a cleaning apparatus according to claim 1, characterized by, When the cleaning device cleans the surface to be cleaned, the cleaning device is placed on the base station, and before the cleaning device performs the first cutting cleaning operation, the pre-cleaning operation is performed. 3.The self-cleaning control method of a cleaning apparatus according to claim 1, wherein, The self-cleaning control method further comprises a washing cleaning operation, the washing cleaning operation being performed after the cutting cleaning operation, and the washing cleaning operation comprising: providing cleaning water to the rolling brush to wet the rolling brush and clean the rolling brush.

4. The self-cleaning control method of a cleaning apparatus according to claim 1, wherein, controlling the rolling brush to perform the rotating action so that the winding on the rolling brush is tightly attached to the rolling brush, and / or so that the garbage on the rolling brush is scraped off from the rolling brush by the scraping strip.

5. The self-cleaning control method of a cleaning apparatus according to claim 4, wherein, The control of the rolling brush to perform the rotating action comprises: first controlling the rolling brush to rotate in the first rotating direction, and then controlling the rolling brush to rotate in the second rotating direction, wherein the first rotating direction is the rotating direction of the rolling brush when the rolling brush cleans the surface to be cleaned.

6. The self-cleaning control method of a cleaning apparatus according to claim 5, wherein Before the cutting device is controlled to move to cut the winding on the rolling brush, it is detected whether the rolling brush is in place; When a preset condition is met, the cutting device is controlled to move to cut the winding on the rolling brush, wherein the preset condition comprises that the rolling brush is in place.

7. The self-cleaning control method of a cleaning apparatus according to claim 6, wherein The detection of whether the rolling brush is in place comprises: detecting whether the rolling brush is homed on the cleaning device; The cleaning device comprises a driving motor for driving the rolling brush to rotate, and the detection of whether the rolling brush is homed on the cleaning device comprises: when the working current of the driving motor is less than a preset current during the control of the rolling brush to rotate in the first rotating direction, it is determined that the rolling brush is not homed on the cleaning device, and a prompt information that the rolling brush is not homed on the cleaning device is outputted; when the working current of the driving motor is greater than or equal to the preset current during the control of the rolling brush to rotate in the first rotating direction, it is determined that the rolling brush is homed on the cleaning device.

8. The self-cleaning control method of a cleaning apparatus according to claim 7, wherein, In the case that the cutting device is arranged on the base station, the detection of whether the rolling brush is in place further comprises: detecting whether the cleaning device is homed on the base station; when the cleaning device is homed on the base station and the rolling brush is homed on the cleaning device, it is determined that the rolling brush is in place.

9. The self-cleaning control method of a cleaning apparatus according to claim 8, wherein, The base station is provided with an in-place detector for detecting whether the cleaning device is placed on the base station, comprising: When the in-place detector receives a current signal, it is determined that the cleaning device is placed on the base station; When the in-place detector does not receive a current signal, it is determined that the cleaning device is removed from the base station. 10.The self-cleaning control method of a cleaning apparatus according to claim 9, wherein, The in-place detector comprises a controller, a first connection terminal and a second connection terminal, the first connection terminal is arranged on the base station and connected to the controller, and the second connection terminal is arranged on the cleaning device; when the cleaning device is placed on the base station, the first connection terminal and the second connection terminal are in conduction; when the cleaning device is removed from the base station, the first connection terminal and the second connection terminal are disconnected.

11. The self-cleaning control method of a cleaning apparatus according to any one of claims 1 to 10, characterized in that, The cleaning device or the base station is provided with a fan, and when the control of the rotating action of the roller brush is performed, the method further comprises: Controlling the fan to operate to suck away at least part of the garbage on the roller brush. 12.The self-cleaning control method of a cleaning apparatus according to claim 1, wherein, The cutting cleaning operation comprises: Controlling the cutting device to move in a first direction from a first position to cut at least part of the winding on the roller brush; and Controlling the relative movement of the cutting device and the roller brush in a second direction, and in the process of the relative movement, the cutting device is in contact with the roller brush; Wherein, the first direction and the second direction are not parallel. 13.The self-cleaning control method of a cleaning apparatus according to claim 12, wherein, The first direction is substantially parallel to the axis direction of the roller brush, and the second direction is the direction of rotation around the axis of the roller brush, and the second direction is perpendicular to the first direction. 14.The self-cleaning control method of a cleaning apparatus according to claim 13, wherein, The control of the relative movement of the cutting device and the roller brush in the second direction comprises: Controlling the cutting device to stop; When the cutting device stops, controlling the roller brush to perform the rotating action to take away at least part of the winding on the cutting device. 15.The self-cleaning control method of a cleaning apparatus according to claim 14, wherein, When the cutting device moves in the first direction from the first position, the roller brush stops. 16.The self-cleaning control method of a cleaning apparatus according to claim 13, wherein, The roller brush comprises a roller brush cylinder and a cloth arranged on the side of the roller brush cylinder, and in the relative movement of the cutting device and the roller brush in the second direction, the cutting device is in contact with the cloth.

17. The self-cleaning control method of a cleaning apparatus according to any one of claims 12 to 16, characterized in that, After controlling the cutting device to move in the first direction from the first position, the self-cleaning control method of the cleaning device comprises: After the cutting device moves to the second position, controlling the cutting device to move in a third direction from the second position and stop at a third position, the third position is between the second position and the first position; Wherein, the first position is the starting position of cutting the winding on the roller brush, the second position is the end position of cutting the winding on the roller brush, and the distance between the first position and the second position is greater than or equal to the length of the roller brush; The third direction is opposite to the first direction. 18.The self-cleaning control method of a cleaning apparatus according to claim 17, wherein, The control of the relative movement of the cutting device and the roller brush in the second direction comprises: When the cutting device is located at the third position, controlling the roller brush to perform the rotating action to take away at least part of the winding on the cutting device. 19.The self-cleaning control method of a cleaning apparatus according to claim 18, wherein, The third position includes a plurality of third positions, and the plurality of third positions are located at different positions, and the cutting device stays at different third positions between the second position and the first position after cutting the winding on the roller brush each time. 20.The self-cleaning control method of a cleaning apparatus according to claim 19, wherein, The cutting device stays at different third positions between the second position and the first position after cutting the winding on the roller brush each time. The cutting device stays at an adjacent third position of the position where the cutting device stays after cutting the winding on the roller brush last time. The third positions where the cutting device stays after cutting the winding on the roller brush each time are sequentially arranged along the axial direction of the roller brush.

21. The self-cleaning control method of a cleaning apparatus according to claim 17, wherein, The control of the movement of the cutting device from the first position in the first direction includes: Controlling the movement of the cutting device from the first position in the first direction for a first time length, so that the cutting device moves to the second position. The control of the movement of the cutting device from the second position in the third direction and the stopping of the cutting device at the third position include: Controlling the movement of the cutting device from the second position in the third direction for a second time length, so that the cutting device stops at the third position; and the second time length is less than the first time length.

22. The self-cleaning control method of a cleaning apparatus according to claim 21, wherein, The second time length of the movement of the cutting device from the second position in the third direction each time is not the same, so that the cutting device stays at different positions on the roller brush after cutting the winding on the roller brush each time.

23. The self-cleaning control method of a cleaning apparatus according to claim 22, wherein, The control of the movement of the cutting device from the second position in the third direction for a second time length, so that the cutting device stops at the third position, includes: Obtaining time length information of the movement of the cutting device in the third direction last time; According to the time length information, the second time length is determined.

24. The self-cleaning control method of a cleaning apparatus according to claim 23, wherein, The control of the movement of the cutting device from the second position in the third direction for a second time length, so that the cutting device stops at the third position, includes: According to the second time length, the time length information of the movement of the cutting device in the third direction this time is generated and recorded.

25. The self-cleaning control method of a cleaning apparatus according to claim 23, wherein, The determination of the second time length according to the time length information includes: Increasing the time length recorded in the time length information by a first preset time length to obtain the second time length; or Reducing the time length recorded in the time length information by the first preset time length to obtain the second time length.

26. The self-cleaning control method of a cleaning apparatus according to claim 18, wherein, The control of the rotation of the roller brush includes: Controlling the rotation of the roller brush in the first rotation direction and the second rotation direction alternately for multiple times, and the time length of the rotation of the roller brush in the first rotation direction / second rotation direction is different each time.

27. The self-cleaning control method of a cleaning apparatus according to claim 18, wherein, The cleaning device or the base station is provided with a fan, and the self-cleaning control method of the cleaning device further includes: Controlling the operation of the fan to suck away the winding.

28. The self-cleaning control method of a cleaning apparatus according to claim 27, wherein, The self-cleaning control method of the cleaning device further includes: After the cutting device moves to the second position, the speed of the operation of the fan is increased.

29. The self-cleaning control method of a cleaning apparatus according to claim 18, wherein, After the step of controlling the rotation of the roller brush is completed, the self-cleaning control method of the cleaning device further includes: controlling the cutting device to move from the third position to the first position. 30.The self-cleaning control method of a cleaning apparatus according to claim 1, wherein, The cutting and cleaning operation comprises: controlling the cutting device to move from a first position in a first direction to cut at least part of the wrapping on the roller brush; controlling the cutting device to move from the second position in a third direction and stop at a third position after the cutting device moves to the second position, the third position being between the second position and the first position; wherein the third direction is opposite to the first direction and is substantially parallel to the axis direction of the roller brush, the first position being a starting position for cutting the wrapping on the roller brush, and the second position being an ending position for cutting the wrapping on the roller brush; controlling the roller brush to perform the rotating action to take away at least part of the wrapping on the cutting device.

31. The self-cleaning control method of a cleaning apparatus according to claim 1, wherein, The cutting and cleaning operation further comprises: after the cutting is completed, controlling the roller brush to perform the rotating action to make the cut wrapping be rolled to a place or scraped off from the roller brush by the scraping strip; and controlling the air blower to operate to suck away the wrapping; The air blower is arranged on the cleaning device or the base station. The controlling the roller brush to perform the rotating action after the cutting is completed comprises:

32. The self-cleaning control method of a cleaning apparatus according to claim 31, wherein, controlling the roller brush to rotate in the first rotating direction and the second rotating direction alternately for multiple times, wherein the roller brush rotates for different lengths of time in the first rotating direction / second rotating direction in different times. The controlling the roller brush to rotate in the first rotating direction and the second rotating direction alternately for multiple times comprises:

33. The self-cleaning control method of a cleaning apparatus according to claim 32, wherein, controlling the roller brush to rotate in the second rotating direction for a third length of time and then rotate in the first rotating direction; controlling the roller brush to rotate in the second rotating direction for a fourth length of time and then rotate in the first rotating direction after the roller brush completes one time of rotating in the first rotating direction and the second rotating direction alternately; wherein the fourth length of time is greater than the third length of time. The controlling the roller brush to rotate in the first rotating direction and the second rotating direction alternately for multiple times comprises:

34. The self-cleaning control method of a cleaning apparatus according to claim 33, wherein, determining the fourth length of time based on the third length of time. The determining the fourth length of time based on the third length of time comprises:

35. The self-cleaning control method of a cleaning apparatus according to claim 34, wherein, determining a time difference; adding the third length of time and the time difference to obtain the fourth length of time. The determining the time difference comprises:

36. The self-cleaning control method of a cleaning apparatus according to claim 35, wherein, determining the time difference according to the rotating speed of the roller brush. The controlling the roller brush to perform the rotating action after the cutting is completed comprises:

37. The self-cleaning control method of a cleaning apparatus according to claim 31, wherein, controlling the roller brush to rotate in the first rotating direction and the second rotating direction alternately for multiple times, wherein the roller brush rotates for different numbers of rotating circles in the first rotating direction / second rotating direction in different times. The controlling the roller brush to rotate in the first rotating direction and the second rotating direction alternately for multiple times comprises:

38. The self-cleaning control method of a cleaning apparatus according to claim 37, wherein, controlling the roller brush to rotate in the second rotating direction for a first preset number of rotating circles and then rotate in the first rotating direction; ​ after the rolling brush completes one rotation in the first rotation direction and the second rotation direction alternately, the rolling brush is controlled to rotate in the second rotation direction for a second preset number of rotations and then rotate in the first rotation direction. The second preset number of rotations is greater than the first preset number of rotations.

39. The self-cleaning control method of a cleaning apparatus according to claim 31, wherein, The method further comprises, while the cutting device is controlled to move to cut at least part of the wrapping on the rolling brush: The fan is controlled to operate to simultaneously cut and suck away the wrapping.

40. The self-cleaning control method of a cleaning apparatus according to claim 39, wherein, The speed of the fan after the cutting is completed is greater than the speed of the fan during the cutting.

41. The self-cleaning control method of a cleaning apparatus according to claim 40, wherein, The method comprises: The fan is controlled to operate at a first speed during the cutting device is controlled to move to cut the wrapping; The fan is controlled to operate at a second speed after the cutting is completed; The second speed is greater than the first speed.

42. The self-cleaning control method of a cleaning apparatus according to claim 3, wherein, The cleaning operation comprises: The rolling brush is subjected to at least one cleaning process; After the cleaning process is completed, the rolling brush is subjected to a drying process, the drying process comprising at least one of a heating process and a water-spinning process.

43. The self-cleaning control method of a cleaning apparatus according to claim 42, wherein, The drying process after the cleaning process is completed comprises: After the cleaning process is completed, the rolling brush is subjected to a heating process; After the heating process is completed, the rolling brush is subjected to a rinsing process; After the rinsing process is completed, the rolling brush is subjected to a water-spinning process.

44. A control method of a cutting device for cutting entanglements on a roller brush in a cleaning apparatus placed on a base station for maintenance, the maintenance comprising cutting entanglements on the roller brush, the cutting device being provided in the cleaning apparatus or the base station, characterized in that, The cutting device is used to perform a cutting procedure, the cutting procedure comprising the cutting device reciprocating between a first position and a second position, a line between the first position and the second position being substantially parallel to the axis direction of the rolling brush, the first position being a starting position for cutting the wrapping on the rolling brush, and the second position being an end position for cutting the wrapping on the rolling brush; the control method of the cutting device is applied to the self-cleaning control method of the cleaning device according to any one of claims 1 to 43. The control method of the cutting device comprises: During the cutting procedure performed by the cutting device, when the cleaning device leaves the base station, the cutting device is controlled to stop moving; After the cutting device stops moving, when the cleaning device is placed back into the base station, the cutting device is controlled to move back to the first position.

45. The method of controlling a cutting apparatus according to claim 44, wherein, After the cutting device is controlled to move back to the first position, the control method comprises: The cutting device is controlled to re-perform the cutting procedure.

46. The control method of the cutting device according to claim 45, wherein: The cutting procedure is triggered based on a self-cleaning instruction, and before the cutting device is controlled to stop moving when the cleaning device leaves the base station, the control method comprises: Based on the self-cleaning instruction, a self-cleaning procedure is started, the self-cleaning procedure comprising the cutting procedure; After the cutting device is controlled to move back to the first position, the control method comprises: The cutting device is controlled to re-perform the cutting procedure; Or, the cutting procedure is triggered based on a cutting instruction, and after the cutting device is controlled to move back to the first position, the cutting procedure is not re-performed.

47. The method of controlling a cutting apparatus of claim 44, wherein, The cutting device reciprocates between a first position and a second position, comprising: The cutting device moves from the first position to the second position in a first direction to cut at least part of the entanglements on the roller brush; The cutting device moves from the second position to the first position in a third direction, wherein the first direction and the third direction are substantially parallel to the axis direction of the roller brush; The cutting device moves back to the first position, comprising: the cutting device moves from the second position to the first position in the third direction.

48. The control method of the cutting apparatus according to claim 47, wherein, When the cleaning device is leaving the base station and the cutting device is in the process of moving from the first position to the second position in the first direction, after the control of the cutting device moving back to the first position in the third direction, the control method comprises: Controlling the cutting device to re-perform the cutting process; Or, when the cleaning device is leaving the base station and the cutting device is in the process of moving from the second position to the first position in the third direction, after the control of the cutting device moving back to the first position in the third direction, the cutting process is not re-performed.

49. The control method of the cutting apparatus according to claim 47, wherein When the cleaning device is leaving the base station and the cutting device is in the process of moving from the second position to the first position in the third direction, after the control of the cutting device moving back to the first position, the control method comprises: When the time from the cleaning device leaving the base station to returning to the base station is less than a second preset time length, the cutting device does not re-perform the cutting process; When the time from the cleaning device leaving the base station to returning to the base station is greater than or equal to the second preset time length, the cutting device is controlled to re-perform the cutting process.

50. The method of controlling a cutting apparatus according to any one of claims 47 to 49, wherein The first position is the position of the cutting device before or at the beginning of the cutting process.

51. The method of controlling a cutting apparatus according to any one of claims 47 to 49, wherein The cutting device is arranged on the base station, the base station comprises a shell, an inner cavity is formed in the interior of the shell, a cleaning cavity is formed on the exterior of the shell, the cleaning cavity is used for placing the roller brush, the cleaning cavity has a cavity opening for the roller brush to enter, a sliding groove is arranged on the cavity wall of the cleaning cavity, the sliding groove communicates the inner cavity and the cleaning cavity, and the sliding groove is arranged correspondingly to the roller brush; The cutting device comprises a cutting knife, the cutting knife is arranged in the sliding groove, and at least part of the cutting knife is located in the cleaning cavity to cut at least part of the entanglements on the roller brush; The first position is located at one end of the sliding groove, and the second position is located at the other end of the sliding groove; When the cutting device is located at the first position, the cutting knife is not exposed in the cleaning cavity.

52. A control method of a cutting device for cutting entanglements on a roller brush in a cleaning apparatus placed on a base station for maintenance, the maintenance comprising cutting entanglements on the roller brush, the cutting device being provided in the cleaning apparatus or the base station, characterized in that, The control method of the cutting device is applied to the self-cleaning control method of the cleaning device according to any one of claims 1 to 43; The control method of the cutting device comprises: When the cleaning device is away from the base station during the cutting process of the cutting device, the cutting device is controlled to move back to the first position along a third direction, wherein the cutting process comprises cutting at least part of the winding on the roller brush by moving the cutting device along a first direction and moving the cutting device back to the first position along the third direction, the first direction and the third direction are substantially parallel to the axis direction of the roller brush, and the first position is the position of the cutting device before the cutting process starts. After the cutting device returns to the first position, the cutting device is controlled to re-execute the cutting process when the cleaning device is placed back to the base station.

53. A control method of a cutting device for cutting entanglements on a roller brush in a cleaning apparatus placed on a base station for maintenance, the maintenance comprising cutting entanglements on the roller brush, the cutting device being provided in the cleaning apparatus or the base station, characterized in that, The control method of the cutting device is applied to the self-cleaning control method of the cleaning device according to any one of claims 1 to 43. The control method of the cutting device comprises: When the cleaning device is away from the base station during the cutting process of the cutting device, the cutting device is controlled to stop moving, wherein the cutting process comprises cutting at least part of the winding on the roller brush by moving the cutting device along a first direction and moving the cutting device back to the first position along a third direction, the first direction and the third direction are substantially parallel to the axis direction of the roller brush, and the first position is the position of the cutting device before the cutting process starts. After the cutting device stops moving, the cutting device is controlled to continue the cutting process when the cleaning device is placed back to the base station.

54. The control method of the cutting apparatus according to claim 53, wherein The control of the cutting device to continue the cutting process comprises: If the time from the cleaning device leaving the base station to being placed back to the base station is less than a second preset time length, the cutting device is controlled to continue the cutting process; or If the time from the cleaning device leaving the base station to being placed back to the base station is greater than or equal to the second preset time length, the cutting device is controlled to return to the first position and then continue the cutting process.

55. A control method of a cutting apparatus characterized by, The control method is applied to a cleaning device or a base station for maintaining the cleaning device. The cleaning device comprises a roller brush, which rotates to clean a surface to be cleaned when the cleaning device performs a cleaning task, and a cutting device for cutting winding on the roller brush, and the control method of the cutting device is applied to the self-cleaning control method of the cleaning device according to any one of claims 1 to 43. The control method of the cutting device comprises: The cutting device is controlled to execute a cutting process, wherein the cutting process comprises a cutting process of moving along a first direction and a homing process of moving along a third direction, and the first direction and the third direction are opposite. In the cutting process, when the cutting device is in a stop state, it is determined whether the stop state of the cutting device is normal. If the stop state of the cutting device is normal, the cutting device is controlled to move along the third direction. If the stop state of the cutting device is abnormal, the cleaning device or the base station is controlled to output an abnormal prompt.

56. The method of controlling a cutting apparatus according to claim 55, wherein, The cleaning device or the base station comprises a driving assembly connected with the cutting device to drive the cutting device to move in the first direction or the third direction, and the first direction and the third direction are parallel to the axis direction of the roller brush.

57. The method of controlling a cutting apparatus according to claim 56, wherein, The method comprises the following steps: When the cutting device stops moving in the first direction, it is determined whether the stopping state of the cutting device is normal. When the cutting device stops moving in the first direction, it is determined whether the cutting device is at the first position, wherein the cutting device is located outside the first end of the roller brush and faces the first end of the roller brush when it is at the first position. When the cutting device is at the first position, it is determined that the stopping state of the cutting device is abnormal. When the cutting device is still at the first position while moving in the first direction, the cleaning device or the base station outputs a second abnormal prompt, and the second abnormal prompt is used to prompt that the placement of the roller brush is abnormal.

58. The method of controlling a cutting apparatus according to claim 57, wherein, The method comprises the following steps: When the cutting device stops moving in the third direction, it is determined whether the cutting device is at the first position, wherein the cutting device is located outside the first end of the roller brush and faces the first end of the roller brush when it is at the first position.

59. The method of controlling a cutting apparatus of claim 56, wherein, When the cutting device is at the first position, it is determined that the stopping state of the cutting device is abnormal. ​ ​ 60. The method of controlling a cutting apparatus according to claim 59, wherein, ​ ​ 61. The method of controlling a cutting apparatus of claim 56, wherein, ​ ​ When the cutting device is not in the first position, it is determined that the stop state of the cutting device is abnormal; when the cutting device is in the first position, it is determined that the stop state of the cutting device is normal. Or, the cutting device stops when moving in the third direction, and it is determined whether the sixth time length is a fourth preset time length, wherein the sixth time length is a time length from the start of the cutting process to the stop of the cutting device when moving in the third direction, and the fourth preset time length is a time length from the start of the cutting process to the normal completion of the homing process of the cutting device. When the sixth time length is not the fourth preset time length, it is determined that the stop state of the cutting device is abnormal. When the sixth time length is the fourth preset time length, it is further determined whether the cutting device is in the first position. When the cutting device is not in the first position, it is determined that the stop state of the cutting device is abnormal. When the cutting device is in the first position, it is determined that the stop state of the cutting device is normal.

62. The control method of the cutting apparatus according to claim 61, wherein When it is determined that the stop state of the cutting device is abnormal, the cleaning equipment or the base station is controlled to output an abnormal prompt. When the cutting device stops when moving in the third direction and the cutting device is not in the first position, the cleaning equipment or the base station is controlled to output a third abnormal prompt, and the third abnormal prompt is used to prompt that the cutting device has an abnormality when performing the homing process.

63. The method of controlling a cutting apparatus of claim 56, wherein, The control method further comprises: Before the start of the cutting process, it is determined whether the cutting device is in the first position, wherein the cutting device is located outside the first end of the roller brush and towards the first end of the roller brush when the cutting device is in the first position. When it is determined that the cutting device is not in the first position, the cutting device is controlled to move in the third direction to the first position, and / or the cleaning equipment or the base station is controlled to output a fourth abnormal prompt, and the fourth abnormal prompt is used to prompt that the cutting device is not in the first position.

64. A method of controlling a cutting apparatus as claimed in any one of claims 59 to 63, wherein, The cleaning equipment or the base station further comprises an in-position detection mechanism for detecting whether the cutting device is in the first position, and the control method further comprises: When the in-position detection mechanism receives an in-position signal, it is determined that the cutting device is in the first position. When the in-position detection mechanism does not receive an in-position signal, it is determined that the cutting device is not in the first position.

65. The method of controlling a cutting apparatus of claim 64, wherein, The in-position detection mechanism comprises a limit switch, and the in-position detection mechanism receiving an in-position signal comprises the limit switch being in a closed state; and the in-position detection mechanism not receiving an in-position signal comprises the limit switch being in an open state.

66. The method of controlling a cutting apparatus of claim 56, wherein, The control method further comprises: During the movement of the cutting device in the first direction or in the third direction, it is determined whether the current of the driving assembly meets a second current condition: When the driving assembly meets the second current condition, the cleaning equipment or the base station is controlled to output a fifth abnormal prompt, and the fifth abnormal prompt is used to prompt that the cutting device is disconnected. The second current condition is that the current is not greater than a second current threshold, and a duration in which the current is not greater than the second current threshold is not less than a second threshold.

67. The method of controlling a cutting apparatus of claim 56, wherein, The control method further includes: When the cutting device is in a stop state in the cutting process, it is determined whether a seventh duration is a third preset duration or a fourth preset duration, wherein the seventh duration is a duration from the start of the cutting process to the time when the cutting device is in the stop state, the third preset duration is a duration from the start of the cutting process to the time when the cutting device normally completes the cutting process, and the fourth preset duration is a duration from the start of the cutting process to the time when the cutting device normally completes the homing process. When the seventh duration is neither the third preset duration nor the fourth preset duration, it is further determined whether the current of the driving assembly meets a third current condition: When the driving assembly meets the third current condition, the driving assembly is controlled to stop running, and / or the cleaning device or the base station outputs a sixth abnormal prompt for prompting the abnormality of the driving assembly. The third current condition is that the current is not less than a third current threshold, and a duration in which the current is not less than the third current threshold is not less than a third threshold.

68. A base station, comprising: A cleaning device is adapted for being placed on a base station for maintenance after cleaning a surface to be cleaned, and the base station includes: a housing provided with a suction port, the position of the suction port being opposite to the position of the roller brush when the cleaning device is placed on the base station; a fan provided in the housing and in communication with the suction port; a cutting device provided on the housing; and a control device in communication with the cutting device and the cleaning device, the control device being configured to perform the self-cleaning control method of the cleaning device according to any one of claims 1 to 43 and / or the control method of the cutting device according to any one of claims 44 to 67. The housing has an inner cavity formed therein and a cleaning cavity formed thereon, the cleaning cavity being used for placing the roller brush and having a cavity opening for the roller brush to enter, and a chute is provided on a cavity wall of the cleaning cavity, the chute being in communication with the inner cavity and the cleaning cavity and being arranged corresponding to the roller brush.

69. The base station of claim 68, characterized by The cutting device is arranged in the chute, and at least part of the cutting device is located in the cleaning cavity for maintaining the roller brush. The base station further includes: a first sealing member connected with the cutting device; a first driving assembly provided in the inner cavity and connected with the cutting device and / or the first sealing member to drive at least part of the cutting device and the first sealing member to move along the chute; During the movement of at least part of the cutting device and the first sealing member along the chute, the first sealing member at least partially closes the chute to separate the cleaning cavity and the inner cavity. ​ 70. The base station of claim 69, characterized by The shell further comprises a receiving cavity which is located outside the length range of the chute and communicates with the inner cavity; the cutting device enters the receiving cavity after moving along the chute, and the receiving cavity is used for parking the cutting device; the cutting device is parked in the receiving cavity, and the cutting device corresponds to the first position.

71. The base station of claim 68, wherein, The base station is provided with a scraping strip, the length of the scraping strip is greater than or equal to the length of the rolling brush, and at least part of the scraping strip contacts the rolling brush.

72. A cleaning apparatus, characterized by The cleaning equipment comprises a rolling brush, a fan, a cutting device and a control device, the control device is in communication connection with the rolling brush, the fan and the cutting device, the control device is used for executing the self-cleaning control method of the cleaning equipment according to any one of claims 1 to 43, and / or is used for executing the control method of the cutting device according to any one of claims 44 to 67.

73. The cleaning apparatus of claim 72, wherein, The cleaning equipment is a scrubber; The rolling brush comprises a rolling brush cylinder and a cloth arranged on the side of the rolling brush cylinder.

74. The cleaning apparatus of claim 72, wherein, The cleaning equipment is provided with a scraping strip, the length of the scraping strip is greater than or equal to the length of the rolling brush, and at least part of the scraping strip contacts the rolling brush.

75. A cleaning system characterized by, The cleaning equipment comprises: A base station capable of maintaining the cleaning equipment; The base station is the base station according to any one of claims 68 to 71, or the cleaning equipment is the cleaning equipment according to any one of claims 72 to 74. The cutting device comprises: A base; 76. The cleaning system of claim 75, wherein, A cutting piece connected with the base at least in part; the cutting piece comprises a fixed blade and a moving blade; The cutting device reciprocates along a direction parallel to the axis of the rolling brush under the action of a first external force; At least when the cutting device moves to the length range of the rolling brush, the fixed blade abuts against the rolling brush; At least during the reciprocation of the cutting device in the length range of the rolling brush: the fixed blade peels off at least part of the winding on the rolling brush from the rolling brush, and the moving blade moves relative to the fixed blade so that the moving blade cooperates with the fixed blade to shear the winding. The cutting device comprises: A base; 77. The cleaning system of claim 75, wherein, A cutting piece for cutting at least part of the winding on the rolling brush; An adjusting piece connected with the base and at least part of the cutting piece respectively, so that at least part of the cutting piece moves relative to the base along a preset direction to abut against the rolling brush. The computer readable storage medium stores a computer program, and the computer program is executed by the processor to make the processor realize the self-cleaning control method of the cleaning equipment according to any one of claims 1 to 43, and / or the control method of the cutting device according to any one of claims 44 to 67. ​ 78. A computer-readable storage medium, characterized in that, ​

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