Control method for cleaning device and cleaning device

Abstract

A control method for a cleaning device and a cleaning device. The cleaning device comprises a body (10), a floor brush assembly (20) connected to the body (10), and locomotion wheels (30). The body (10) is configured to rotate relative to the floor brush assembly (20). The locomotion wheels (30) are configured to provide a driving force to drive the floor brush assembly (20) to move on a surface to be cleaned. The side of the cleaning device facing a user is recorded as a rear side, and the side thereof away from the user is recorded as a front side. The control method comprises: receiving a shutdown signal; and controlling the locomotion wheels (30) to drive the floor brush assembly (20) to move towards the rear side until the angle (a) between the axis (11) of the body (10) in the extension direction and a vertical line (z) is not greater than 20°.

Description

Control method of cleaning device and cleaning device

[0001] The present application claims priority to the Chinese patent application No. 202411251920.0, filed on September 6, 2024, and entitled "Control method of cleaning device and cleaning device", the content of which is incorporated herein by reference in its entirety.

[0002] The present application claims priority to the Chinese patent application No. 202411273252.1, filed on September 11, 2024, and entitled "Control method of cleaning device and cleaning device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of cleaning devices, and more particularly, to a control method of a cleaning device and a cleaning device. BACKGROUND

[0004] The existing cleaning devices currently include a sweeping machine, a mopping machine, a sweeping and mopping all-in-one machine, etc. These cleaning devices can realize cleaning or washing of the ground and are increasingly common in family life.

[0005] These cleaning devices usually have a machine body, a handle and a brush assembly. The brush assembly is used for cleaning the ground, and the handle is used for the user to hold. When the user uses these cleaning devices, the machine body is usually inclined relative to the ground to facilitate the user to push and pull the cleaning device to clean the surface to be cleaned.

[0006] After the user finishes cleaning, the machine body usually needs to be straightened up to restore the cleaning device to a standby state or a state in which the machine body itself will not fall. This requires additional actions, such as the user holding the handle to drag the brush assembly back so that the machine body is straightened up; or the user needs to step on the brush assembly with the foot to prevent the brush assembly from moving, and then straighten up the machine body. The overall process is relatively cumbersome and inconvenient, and the user experience is poor. Moreover, in some cleaning devices, a cleaning liquid tank is arranged on the brush. In this way, when the user steps on the brush assembly, the hollow cleaning liquid tank is easily damaged. SUMMARY

[0007] The embodiments of the present application provide a control method of a cleaning device and a cleaning device to solve or alleviate one or more technical problems in the prior art.

[0008] As an aspect of the embodiments of the present application, the embodiments of the present application provide a control method of a cleaning device, the cleaning device comprising a body, a brush assembly connected to the body, and a walking wheel; the body is configured to rotate relative to the brush assembly, the walking wheel is configured to provide driving force to drive the brush assembly to move on a surface to be cleaned; a side of the cleaning device facing a user is recorded as a back side, and a side of the cleaning device away from the user is recorded as a front side.

[0009] The control method comprises:

[0010] receiving a shutdown signal;

[0011] controlling the walking wheel to drive the brush assembly to move towards the back side until an angle between an axis of an extension direction of the body and a vertical line is not greater than 20°.

[0012] In an embodiment, the cleaning device comprises an angle sensor, the angle sensor is arranged on the body and is configured to obtain the angle between the axis of the extension direction of the body and the vertical line.

[0013] In an embodiment, before controlling the walking wheel to drive the brush assembly to move towards the back side, the control method further comprises:

[0014] obtaining an initial angle between the axis of the extension direction of the body and the vertical line.

[0015] In an embodiment, controlling the walking wheel to drive the brush assembly to move towards the back side is:

[0016] controlling the walking wheel to reverse at a rotation speed corresponding to the initial angle to drive the brush assembly to move towards the back side.

[0017] In an embodiment, controlling the walking wheel to drive the brush assembly to move towards the back side is: judging whether the body is in a non-laying state, and controlling the walking wheel to reverse to drive the brush assembly to move towards the back side in the non-laying state.

[0018] In an embodiment, the control method further comprises: controlling the walking wheel to stop rotating when the body is in the laying state.

[0019] In an embodiment, a first clamping part is arranged on the body, a second clamping part is arranged on the brush assembly, and the first clamping part and the second clamping part are configured to cooperate when the body is in an upright state relative to the brush assembly to lock the body and the brush assembly.

[0020] In an embodiment, controlling the walking wheel to drive the brush assembly to move towards the back side until the angle between the axis of the extension direction of the body and the vertical line is not greater than 20° is: controlling the walking wheel to drive the brush assembly to move towards the back side until the first clamping part and the second clamping part cooperate with each other.

[0021] In an embodiment, the control of the walking wheels to drive the floor brush assembly to move rearward until the angle between the axis of the extension direction of the machine body and the vertical line is not greater than 20° comprises: controlling the walking wheels to drive the floor brush assembly to move rearward until the distance between the first clamping part and the second clamping part is less than the first distance threshold.

[0022] In an embodiment, the floor brush assembly comprises a floor brush body, a rolling brush and a driving unit, the rolling brush is arranged at the front side of the floor brush body and is configured to rotate relative to the surface to be cleaned under the control of the driving unit to clean the surface to be cleaned.

[0023] The machine body is provided with a fan unit, and the floor brush body is provided with a dirt suction port, and the fan unit is configured to suck dirt on the surface to be cleaned through the dirt suction port.

[0024] In the control method, after receiving the shutdown signal, the control method further comprises:

[0025] The control of the walking wheels to generate driving force to drive the floor brush assembly to move rearward by a second distance threshold within a first preset time period, and the control of the fan unit to work for a second preset time period, the first preset time period is configured to be less than the second preset time period.

[0026] In an embodiment, the floor brush bottom is provided with a scraping strip, the scraping strip is located at the rear side of the rolling brush and is configured to abut against the surface to be cleaned to push the dirt on the surface to be cleaned forward during the forward movement of the cleaning device.

[0027] The second distance threshold is configured to be greater than or equal to the distance between the scraping strip and the lower edge of the rolling brush.

[0028] As a second aspect of the embodiments of the present application, the embodiments of the present application also provide a control method of a cleaning device, the cleaning device comprising a machine body, a floor brush assembly, walking wheels and an angle sensor, the floor brush assembly is arranged at the bottom of the machine body, and the machine body is configured to rotate relative to the floor brush assembly, the walking wheels are configured to drive the floor brush assembly to move on the surface to be cleaned, and the angle sensor is arranged on the machine body and is configured to obtain the angle between the axis of the extension direction of the machine body and the vertical line.

[0029] The control method comprises:

[0030] Receiving a shutdown signal;

[0031] Controlling the walking wheels to drive the floor brush assembly to move in a direction in which the angle decreases until the angle is not greater than 20°.

[0032] As a third aspect of the embodiments of the present application, the embodiments of the present application also provide a control method of a cleaning device, the cleaning device comprising a machine body, a floor brush assembly, and a walking wheel, the floor brush assembly being arranged at the bottom of the machine body, and the machine body being configured to rotate relative to the floor brush assembly, the walking wheel being configured to drive the floor brush assembly to move on a surface to be cleaned; the machine body is provided with a first buckle part, and the floor brush assembly is provided with a second buckle part, the first buckle part and the second buckle part being configured to be matched when the machine body is in an upright state relative to the floor brush assembly, so as to lock the machine body and the floor brush assembly together.

[0033] The control method comprises:

[0034] receiving a shutdown signal;

[0035] controlling the walking wheel to drive the floor brush assembly to move, so that the first buckle part and the second buckle part are close to each other.

[0036] As a fourth aspect of the embodiments of the present application, the embodiments of the present application also provide a control method of a cleaning device, the cleaning device comprising a machine body, a floor brush assembly connected to the machine body, and a walking wheel, the machine body being configured to rotate relative to the floor brush assembly, the floor brush assembly comprising a rolling brush and a scraping strip located at the rear side of the rolling brush, the walking wheel being configured to provide driving force to drive the floor brush assembly to move on a surface to be cleaned, and a side of the cleaning device facing a user is recorded as a rear side, and a side of the cleaning device away from the user is recorded as a front side; the control method comprises:

[0037] receiving a shutdown signal and starting a first stage, in the first stage, controlling the walking wheel to drive the floor brush assembly to move a second distance threshold to the rear side, the second distance threshold being greater than a distance threshold between the scraping strip and the rolling brush;

[0038] starting a second stage after the first stage ends, in the second stage, controlling the walking wheel to drive the floor brush assembly to move a third distance threshold to the rear side, the third distance threshold being greater than the second distance threshold, and an angle between an axis of an extension direction of the machine body and a vertical line being not greater than 20°.

[0039] In an embodiment, after the second stage ends, the walking wheel is controlled to stop outputting the driving force.

[0040] In an embodiment, a fan unit is arranged in the machine body, and a dirt suction port is arranged on the floor brush assembly, the fan unit being configured to suck dirt on the surface to be cleaned through the dirt suction port;

[0041] In the first stage, the control method further comprises controlling the fan unit to work for a second preset time length, the second preset time length being configured to be greater than a first preset time length required for the walking wheel to move the second distance threshold to the rear side.

[0042] In an embodiment, in the first stage and the second stage, the walking wheel is configured to continuously move to the rear side.

[0043] In one embodiment, the rotation speed of the walking wheel in the first stage is less than the rotation speed of the walking wheel in the second stage.

[0044] As a fifth aspect of the embodiments of the present application, the embodiments of the present application provide a cleaning device, the cleaning device comprising a body, a floor brush assembly, a walking wheel, an angle sensor and a control unit, the floor brush assembly is arranged at the bottom of the body, and the body is configured to rotate relative to the floor brush assembly, the walking wheel is configured to drive the floor brush assembly to move on a surface to be cleaned, the angle sensor is arranged on the body and is configured to obtain an angle between an axis of an extending direction of the body and a vertical line; a side of the cleaning device facing a user is recorded as a rear side, and a side of the cleaning device away from the user is recorded as a front side;

[0045] The control unit is configured to receive a shutdown signal and control the walking wheel to drive the floor brush assembly to move towards the rear side until the angle between the axis of the extending direction of the body and the vertical line is not greater than 20°.

[0046] In the use process of the cleaning device of the embodiments of the present application, after the user triggers the shutdown signal to the cleaning device by touching the shutdown key or by other means, the cleaning device can control the walking wheel to drive the floor brush assembly to move towards the rear side after receiving the shutdown signal, so that the angle between the axis of the extending direction of the body and the vertical line is continuously reduced until the angle between the axis of the extending direction of the body and the vertical line is not greater than 20°, at this time, the body has been in a state close to vertical; when the body is in a state close to vertical, the user only needs to gently push the body after the floor brush assembly retreats completely to complete the last small-amplitude rotation of the body; since the floor brush assembly is close to directly below the body after the floor brush assembly retreats completely, the user does not need to manually drag the floor brush assembly back, and the user pushing the body forward will not make the floor brush assembly move forward, so the user can complete the last small-amplitude rotation of the body without stepping on the floor brush assembly.

[0047] It can be seen that, compared with the control method of the existing cleaning device, the control method of the cleaning device of the embodiments of the present application can complete most of the steps required for the body to stand vertically by the cleaning device itself, and the user only needs to perform the last small-amplitude rotation step, thereby reducing the required actions of the user, improving the user experience, and the user does not need to step on the floor brush assembly, thereby ensuring that the floor brush assembly and the cleaning liquid tank above it of the embodiments of the present application are not damaged by the user's feet, and ensuring the long-term durability of the cleaning device of the embodiments of the present application.

[0048] The above summary is intended to illustrate only and is not intended to limit in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features will be readily apparent to those skilled in the art by reference to the drawings and the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0049] In the drawings, like reference numerals refer to like elements throughout the various figures. The drawings are not necessarily to scale, the emphasis instead being placed upon illustrating the principles of the application. It should be understood that the drawings are merely schematic and that the application can be embodied in many different forms.

[0050] Fig. 1 is a perspective view of a cleaning device according to an embodiment of the application in a tilted state;

[0051] Fig. 2 is a perspective view of a cleaning device according to an embodiment of the application in a near upright state;

[0052] Fig. 3 is a perspective view of a cleaning device according to an embodiment of the application in an upright state;

[0053] Fig. 4 is a close-up view of a portion of the circle and dash line in Fig. 1;

[0054] Fig. 5 is a perspective view of a cleaning device according to an embodiment of the application;

[0055] Fig. 6 is a cross-sectional view of a cleaning device according to an embodiment of the application.

[0056] Reference signs: 10, machine body; 11, axis of the extension direction of the machine body; 16, first clamping portion; 20, floor brush assembly; 21, floor brush body; 22, rolling brush; 23, squeegee strip; 24, suction port; 25, cleaning liquid tank; 26, second clamping portion; 30, traveling wheel. z, vertical line; a, angle between the axis of the extension direction of the machine body and the vertical line. DETAILED DESCRIPTION

[0057] In the following, only some exemplary embodiments are described in brief. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the application. Therefore, the drawings and the description are to be considered as being exemplary in nature and not restrictive.

[0058] The cleaning device according to embodiments of the application is used for cleaning a surface to be cleaned. The cleaning device according to embodiments of the application can be a scrubber, which can be moved along the surface to be cleaned under the pulling and pushing operation of a user and clean the surface to be cleaned with cleaning liquid.

[0059] The cleaning device of the embodiments of the present application comprises a body, a floor brush assembly, a walking wheel, and a handle. The body is generally a cuboid, and can also be a cylinder or other shapes. The body has an extension direction along its length. The body is generally provided with a power device for generating cleaning power and an energy storage device for providing energy. In different embodiments, the power device and the energy storage device can also be arranged on other components of the cleaning device, such as the floor brush assembly or the handle. The floor brush assembly and the handle are arranged at the two ends of the body along the extension direction of the body. The floor brush assembly is arranged at one end of the body close to the surface to be cleaned, and can move on the surface to be cleaned to clean the surface. The walking wheel is arranged on the floor brush assembly and in contact with the surface to be cleaned, and is configured to drive the floor brush assembly to move on the surface to be cleaned and provide rolling friction to reduce resistance. The handle for the user to hold and operate is arranged at the other end of the body away from the surface to be cleaned, so that the handle is at a certain height from the surface to be cleaned in most cases, and the user does not need to bend down to operate, improving the comfort of operation. In some cleaning devices, the handle can also be considered as part of the body.

[0060] In order to further improve the comfort of different users and take into account different use conditions, the body can be rotated relative to the floor brush assembly to change the included angle between the body and the floor brush assembly and the ground clearance of the body. The cleaning device of the embodiments of the present application generally has at least two use states. In one use state, the cleaning device is in a first working mode, and the body is in an inclined state relative to the floor brush assembly, and the included angle between the body and the vertical line is an acute angle, preferably between 30° and 75°. Further preferably, the included angle is between 45° and 60°. The angle of the included angle makes the handle on the body have an ideal ground clearance, and the user's hand holds the handle in a natural relaxed state. In this working mode, the user can push and pull the cleaning device to make the floor brush assembly advance or retreat on the surface to be cleaned, thereby completing the cleaning work.

[0061] Another use state is that the cleaning device is in a second working mode, and the body is in a substantially flush state relative to the floor brush assembly, that is, the included angle between the body and the vertical line is generally 90 degrees, similar to the state of the body lying flat. The user needs to operate the handle with a low height to push and pull the cleaning device to move on the surface to be cleaned. This use state is for cleaning areas with low height, such as the bottom of a bed, the bottom of a sofa, the bottom of a cabinet, etc. The cleaning device generally cannot enter these cleaning areas to perform cleaning work in the first working mode, so the cleaning device needs to be adjusted to the second working mode.

[0062] Another use state is that the cleaning device is in an upright state, the machine body and the floor brush assembly are substantially at an angle of 90 degrees, and substantially at an angle of 0 degrees with the vertical line. In some conditions, the angle between the machine body and the floor brush assembly is slightly greater than 90 degrees, and substantially at a negative angle with the vertical line. In this state, the cleaning device is in a non-working state. The machine body can remain in the upright state without any operation of the user, thereby reducing the floor area and facilitating storage. At this time, the projection of the machine body on the ground is substantially within the projection range of the floor brush assembly on the ground. When the user finishes the cleaning task each time, the cleaning device is usually adjusted to the upright mode until the next use.

[0063] The side of the cleaning device facing the user is referred to as the rear side, and the side away from the user is referred to as the front side. The control method of the cleaning device of the embodiment of the present application comprises:

[0064] receiving a shutdown signal;

[0065] controlling the walking wheels to drive the floor brush assembly to move towards the rear side until the angle between the axis of the extension direction of the machine body and the vertical line is not greater than 20°.

[0066] In this way, in the use process of the cleaning device of the embodiment of the present application, after the user triggers the shutdown signal to the cleaning device by touching the shutdown key or through other means, the cleaning device can control the walking wheels to drive the floor brush assembly to move towards the rear side after receiving the shutdown signal, so that the angle between the axis of the extension direction of the machine body and the vertical line is continuously reduced until the angle between the axis of the extension direction of the machine body and the vertical line is not greater than 20°. At this time, the machine body is in a state close to the upright state. When the machine body is in a state close to the upright state, the user only needs to gently push the machine body after the floor brush assembly is completely retracted, and then complete the final small-amplitude rotation of the machine body. Since the floor brush assembly is close to the front of the machine body after the floor brush assembly is completely retracted, the user does not need to manually drag the floor brush assembly back, and the user pushing the machine body forward will not move the floor brush assembly forward. Therefore, the user can complete the final small-amplitude rotation of the machine body without stepping on the floor brush assembly.

[0067] It can be seen that, compared with the control method of the existing cleaning device, the control method of the cleaning device of the embodiment of the present application can complete most of the steps required for the machine body to stand upright by the cleaning device itself, and the user only needs to perform the final small-amplitude rotation step, thereby reducing the required actions of the user, improving the user experience, and ensuring that the floor brush assembly and the cleaning liquid tank above it of the embodiment of the present application are not damaged by the user stepping on them, thereby ensuring the durability of the cleaning device of the embodiment of the present application.

[0068] For the convenience of understanding, the control method of the cleaning device of the embodiments of the present application and the structure of the cleaning device of the embodiments of the present application and the working principle thereof are described in detail below with reference to FIGS. 1-6.

[0069] The embodiments of the present application provide a control method of a cleaning device, which can be applied to assist the cleaning device to stand upright, so as to reduce the work burden of the user. Specifically, the cleaning device of the embodiments of the present application is used for cleaning a to-be-cleaned surface. The cleaning device of the embodiments of the present application can be a scrubber, which can move along the to-be-cleaned surface under the pushing and pulling traction operation of the user and clean the to-be-cleaned surface by using cleaning liquid.

[0070] As shown in FIGS. 1-6, the cleaning device of the embodiments of the present application comprises a machine body 10, a floor brush assembly 20, a walking wheel 30, and a handle. The machine body 10 is generally a rectangular parallelepiped, and of course can also be a cylinder or other shapes. The machine body 10 has an extension direction extending along its length. The machine body 10 is usually provided with a power device generating cleaning power and an energy storage device providing energy. Of course, in different embodiments, the power device and the energy storage device can also be arranged on other components of the cleaning device, such as the floor brush assembly 20 or the handle, etc. The floor brush assembly 20 and the handle are respectively arranged at both ends of the extension direction of the machine body 10. The floor brush assembly 20 is arranged at one end of the machine body 10 close to the to-be-cleaned surface, and the floor brush assembly 20 can move on the to-be-cleaned surface to clean the to-be-cleaned surface. The walking wheel 30 is arranged on the floor brush assembly 20 and in contact with the to-be-cleaned surface, which is configured to drive the floor brush assembly 20 to move on the to-be-cleaned surface and provide rolling friction to reduce resistance. The handle for providing the user with holding operation is arranged at one end of the machine body 10 away from the to-be-cleaned surface, so that the handle is usually at a certain height from the to-be-cleaned surface in most cases, so that the user does not need to bend down to operate, and the comfort of operation is improved. In some cleaning devices, the handle can also be considered as a part of the machine body 10.

[0071] In order to further improve the comfort of different users and take into account different use conditions, the machine body 10 can rotate relative to the floor brush assembly 20, so as to change the included angle between the machine body 10 and the floor brush assembly 20 and the ground clearance of the machine body 10. The cleaning device of the embodiments of the present application usually has at least two use states. One use state is that the cleaning device is in a first working mode, and the machine body 10 is in an inclined state relative to the floor brush assembly 20, and the included angle between the machine body 10 and the vertical line z is an acute angle, preferably, the included angle is between ~75 degrees; further preferably, the included angle is between 45-60 degrees. The angle of the included angle makes the handle on the machine body 10 have an ideal ground clearance, and the user's hand holds the handle in a natural relaxed state. In this working mode, the user can push and pull the cleaning device, so that the floor brush assembly 20 advances or retreats on the to-be-cleaned surface, thereby completing the cleaning work.

[0072] Another use state is that the cleaning device is in the second working mode, and the body 10 is in a substantially flush state relative to the brush assembly 20, that is, the body 10 and the vertical line z form an angle of substantially 90 degrees, similar to the state that the body 10 lies flat. The user needs to operate the handle with a lower height to push and pull the cleaning device to move on the surface to be cleaned. This use state is for cleaning areas with low height such as the bottom of the bed, the bottom of the sofa, and the bottom of the cabinet. The cleaning device cannot usually enter these cleaning areas to perform cleaning work in the first working mode, so it is necessary to adjust the cleaning device to the second working mode.

[0073] Another use state is that the cleaning device is in an upright state, the body 10 and the brush assembly 20 form an angle of substantially 90 degrees, and the body 10 and the vertical line z form an angle of substantially 0 degrees. In some conditions, the angle between the body 10 and the brush assembly 20 is slightly greater than 90 degrees, and the body 10 and the vertical line z form an angle of substantially negative. In this state, the cleaning device is in a non-working state. The body 10 can remain upright without any operation of the user, thereby reducing the floor area and facilitating storage. At this time, the projection of the body 10 on the ground is substantially within the projection range of the brush assembly 20 on the ground. When the user finishes the cleaning task each time, the cleaning device is usually adjusted to the upright mode until the next use.

[0074] The side of the cleaning device facing the user is recorded as the rear side, and the side away from the user is recorded as the front side. The control method of the cleaning device of the embodiment of the present application comprises:

[0075] Receiving a shutdown signal;

[0076] Controlling the walking wheel 30 to drive the brush assembly 20 to move to the rear side until the angle a between the axis 11 of the extension direction of the body 10 and the vertical line z satisfies the first angle threshold value of not greater than 20°.

[0077] In this way, in the use of the cleaning device in the embodiment of the present application, after the user triggers the shutdown signal to the cleaning device by touching the shutdown key or by other means, the cleaning device can control the walking wheel 30 to drive the brush assembly 20 to move to the rear side after receiving the shutdown signal, so that the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is continuously reduced until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z satisfies the first angle threshold value of not greater than 20°, at this time, the machine body 10 has been in the upright state or close to the upright state; when the machine body 10 is in the state close to the upright state, the user only needs to gently push the machine body 10 after the brush assembly 20 retreats completely to complete the last small amplitude rotation of the machine body 10. Since the brush assembly 20 is close to the position directly below the machine body 10 after the brush assembly 20 retreats completely, the user does not need to manually drag the brush assembly 20 back, and the user pushing the machine body 10 forward will not make the brush assembly 20 move forward, so the user can complete the last small amplitude rotation of the machine body 10 without stepping on the brush assembly 20.

[0078] It can be seen that, compared with the control method of the existing cleaning device, the control method of the cleaning device in the embodiment of the present application can complete most of the steps required for the machine body 10 to stand upright by the cleaning device itself, and the user only needs to perform the last small amplitude rotation step, thereby reducing the required actions of the user, improving the user experience, and the user does not need to step on the brush assembly 20, thereby ensuring that the brush assembly 20 and the cleaning liquid tank 25 above it in the embodiment of the present application will not be damaged by the user's feet, and ensuring the durability of the cleaning device in the embodiment of the present application.

[0079] The embodiment of the present application provides a control method of a cleaning device, which can be applied to assist the cleaning device to stand upright. Specifically, the cleaning device in the embodiment of the present application includes a machine body 10, a brush assembly 20, a walking wheel 30, and an angle sensor (not shown in the figure). The brush assembly 20 is arranged at the bottom of the machine body 10, and the machine body 10 is configured to rotate relative to the brush assembly 20.

[0080] The walking wheel 30 is configured to drive the brush assembly 20 to move on the surface to be cleaned. Specifically, the walking wheel 30 is controlled by the motor to drive the brush assembly 20 to move forward and backward, and the duty cycle of the motor driving the walking wheel 30 can be controlled to control the walking wheel 30 to drive the brush assembly 20 to move to the front side or the rear side, and the specific speed of movement.

[0081] The angle sensor is arranged on the machine body 10 and is configured to obtain the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z. Specifically, a device such as a gyroscope can be selected as the angle sensor in the embodiment of the present application, which is not limited here.

[0082] The side of the cleaning device facing the user is recorded as the rear side, and the side away from the user is recorded as the front side. The control method of the cleaning device of the embodiment of the present application comprises:

[0083] receiving a shutdown signal;

[0084] controlling the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20°.

[0085] In this way, in the use process of the cleaning device of the embodiment of the present application, as shown in FIG. 1, after the user triggers the shutdown signal to the cleaning device by touching the shutdown key or by other means, the cleaning device can control the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side after receiving the shutdown signal, so that the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is continuously reduced until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20°, at this time, the machine body 10 has been in the upright state shown in FIG. 3 or the state close to the upright state shown in FIG. 2; when the machine body 10 is in the state close to the upright state shown in FIG. 2, the user only needs to gently push the machine body 10 after the floor brush assembly 20 is completely retreated to complete the last small-amplitude rotation of the machine body 10, so that the machine body is in the upright state shown in FIG. 3; since the floor brush assembly 20 is close to directly below the machine body 10 after the floor brush assembly 20 is completely retreated, the user does not need to manually drag the floor brush assembly 20 back, and the user pushing the machine body 10 forward will not make the floor brush assembly 20 move forward, so the user does not need to step on the floor brush assembly 20 to complete the last small-amplitude rotation of the machine body 10.

[0086] It can be seen that, compared with the control method of the existing cleaning device, the control method of the cleaning device of the embodiment of the present application can complete most of the steps required for the machine body 10 to stand upright by the cleaning device itself, and the user only needs to perform the last small-amplitude rotation step, thereby reducing the required actions of the user, improving the user's use experience, and the user does not need to step on the floor brush assembly 20, thereby ensuring that the floor brush assembly 20 and the cleaning liquid tank 25 above it of the embodiment of the present application are not damaged by the user's feet, and ensuring the durability of the cleaning device of the embodiment of the present application.

[0087] In an embodiment of the embodiment of the present application, the cleaning device of the embodiment of the present application further comprises an angle sensor, the angle sensor is arranged on the machine body 10 and is configured to obtain the angle a between the axis 11 of the extension direction of the machine body and the vertical line z. In other embodiments, the angle sensor can also be arranged on the handle.

[0088] In the use process of the cleaning device in the embodiment of the application, when the user triggers a shutdown signal to the cleaning device by touching the shutdown key or by other means, the cleaning device can be in three situations: stationary, moving forward and moving backward.

[0089] When the user triggers the shutdown signal, the cleaning device is in the stationary state, the duty cycle of the motor is 0, at this time, the motor providing a negative duty cycle to the walking wheel 30 controls the walking wheel 30 to drive the brush assembly 20 to move backward, so that the angle a between the axis 11 in the extension direction of the machine body 10 and the vertical line z is continuously reduced, until the angle a between the axis 11 in the extension direction of the machine body 10 and the vertical line z is not greater than 20°, the walking wheel 30 stops rotating.

[0090] Similarly, when the user triggers the shutdown signal, the cleaning device is in the forward motion state, the motor has a positive duty cycle, at this time, the motor is stopped providing power, and then a negative duty cycle is provided to control the walking wheel 30 to reverse after stopping, so that the angle a between the axis 11 in the extension direction of the machine body 10 and the vertical line z is continuously reduced, until the angle a between the axis 11 in the extension direction of the machine body 10 and the vertical line z is not greater than 20°, the walking wheel 30 stops rotating.

[0091] When the user triggers the shutdown signal, the cleaning device is in the backward motion state, the motor has a negative duty cycle, at this time, the negative duty cycle is continuously provided to continuously control the walking wheel 30 to keep rotating backward, the angle a between the axis 11 in the extension direction of the machine body 10 and the vertical line z is continuously reduced until the angle a between the axis 11 in the extension direction of the machine body 10 and the vertical line z is not greater than 20°, the walking wheel 30 stops rotating. Here, according to the speed of the cleaning device moving backward when the shutdown signal is triggered, it can be divided into three cases:

[0092] 1. When the speed is large, after triggering the shutdown signal, a negative duty cycle with a small absolute value is provided to reduce the rotation speed of the walking wheel 30 until it stops rotating.

[0093] 2. When the speed is small, after triggering the shutdown signal, a negative duty cycle with a large absolute value is provided to increase the rotation speed of the walking wheel 30, so that it quickly moves towards the user, and then a negative duty cycle with a small absolute value is provided to reduce the rotation speed of the walking wheel 30 until it stops rotating.

[0094] 3. When the speed is moderate, after triggering the shutdown signal, a negative duty cycle with a small absolute value is provided to reduce the rotation speed of the walking wheel 30 until it stops rotating.

[0095] In one of the embodiments of the present application, before the step of controlling the walking wheel 30 to drive the brush assembly 20 to move to the rear side, the method further comprises: obtaining an initial angle between the axis 11 of the extension direction of the machine body 10 and the vertical line z.

[0096] The step of controlling the walking wheel 30 to drive the brush assembly 20 to move to the rear side comprises: controlling the walking wheel 30 to reverse the rotating speed corresponding to the initial angle to drive the brush assembly 20 to move to the rear side.

[0097] In this way, during the use of the cleaning device of the present application, after the user triggers the shutdown signal to the cleaning device by touching the shutdown key or by other means, the cleaning device can obtain the initial angle between the axis 11 of the extension direction of the machine body 10 and the vertical line z after receiving the shutdown signal, and then control the walking wheel 30 to reverse the rotating speed corresponding to the initial angle to drive the brush assembly 20 to move to the rear side. The reverse speed of the walking wheel 30 is determined based on the initial angle at the moment of receiving the shutdown signal. When the initial angle of the machine body 10 is large, the reverse speed of the walking wheel 30 is also fast, so that the brush assembly 20 moves to the rear side quickly, and the machine body 10 can be quickly uprighted. When the initial angle of the machine body 10 is small, the reverse speed of the walking wheel 30 is slow, so that the speed of the brush assembly 20 moving to the rear side is not too fast, preventing the user from being caught off guard and the brush assembly 20 from hitting the user's foot, and effectively improving the user experience.

[0098] In another embodiment of the present application, before the step of controlling the walking wheel 30 to drive the brush assembly 20 to move to the rear side, the method further comprises: obtaining an initial angle between the axis 11 of the extension direction of the machine body 10 and the vertical line z.

[0099] The step of controlling the walking wheel 30 to drive the brush assembly 20 to move to the rear side comprises: judging whether the machine body 10 is in a non-laying state, and controlling the walking wheel 30 to reverse in the non-laying state to drive the brush assembly 20 to move to the rear side.

[0100] That is, for the cleaning device capable of laying cleaning, when the cleaning device is in a laying state, the brush assembly 20 directly moves to the rear side, which drives the machine body 10 to move to the user. Therefore, after obtaining the initial angle between the axis 11 of the extension direction of the machine body 10 and the vertical line z, the cleaning device of the present application can judge whether the machine body 10 is in a non-laying state, and only in the non-laying state, the walking wheel 30 is controlled to reverse to drive the brush assembly 20 to move to the rear side, so that the machine body 10 moves to the upright state, and in the laying state of the machine body 10, the walking wheel 30 is not controlled to reverse, thereby avoiding the machine body 10 in the laying state from moving directly to the user's body, and effectively improving the user experience.

[0101] Further, in one of the embodiments of the present application, the control method further comprises: controlling the walking wheel 30 to stop rotating when the machine body 10 is in the lying state. When the machine body 10 is in the lying state, the user triggers the shutdown signal, and the walking wheel 30 can be controlled to stop rotating, thereby facilitating the user to drag the cleaning device of the present application to move. As shown in FIG. 4, in one of the embodiments of the present application, the machine body 10 is provided with a first buckle part 16, and the floor brush assembly 20 is provided with a second buckle part 26. The first buckle part 16 and the second buckle part 26 are configured to cooperate when the machine body 10 is in the upright state relative to the floor brush assembly 20, so as to lock the machine body 10 and the floor brush assembly 20. That is, when the machine body 10 is in the upright state relative to the floor brush assembly 20, the first buckle part 16 and the second buckle part 26 can cooperate with each other, thereby locking the machine body 10 and the floor brush assembly 20, so that the machine body 10 can remain in the upright state, thereby facilitating the machine body 10 to be charged or stored. When the user needs to continue to use the cleaning device to clean, the user can unlock the first buckle part 16 and the second buckle part 26, so that the machine body 10 can be inclined relative to the vertical line z.

[0102] In one of the embodiments of the present application, the step of controlling the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20° is: controlling the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side, so that the first buckle part 16 and the second buckle part 26 are close to each other, until the first buckle part 16 and the second buckle part 26 cooperate with each other.

[0103] In the use process of the cleaning device of the present application, after the user triggers the shutdown signal to the cleaning device by touching the shutdown key or by other means, the cleaning device can control the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side, so that the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is continuously reduced, the first buckle part 16 and the second buckle part 26 are close to each other, until the first buckle part 16 and the second buckle part 26 cooperate with each other, the machine body 10 has been in the upright state, and the user can directly lift the cleaning device, thereby charging or storing the cleaning device.

[0104] In another embodiment of the present application, the step of controlling the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20° includes: controlling the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side, the first buckle part 16 and the second buckle part 26 are close to each other until the distance between the first buckle part 16 and the second buckle part 26 is less than the first distance threshold. In this way, when the distance between the first buckle part 16 and the second buckle part 26 is less than the first distance threshold, the user only needs to gently push the machine body 10 so that the first buckle part 16 and the second buckle part 26 cooperate with each other, reducing the required action of the user and improving the user experience.

[0105] As shown in FIGS. 5 and 6, in one embodiment of the present application, the floor brush assembly 20 includes a floor brush body 21, a rolling brush 22 and a driving unit (not shown in the figure), the rolling brush 22 is arranged at the front side of the floor brush body 21 and is configured to rotate relative to the surface to be cleaned under the control of the driving unit to clean the surface to be cleaned; a fan unit is arranged in the machine body 10, and a dirt suction port 24 is arranged on the floor brush body 21, and the fan unit is configured to suck dirt on the surface to be cleaned through the dirt suction port 24. That is, in the normal working process of the cleaning device of the present application, the rolling brush 22 can rotate relative to the surface to be cleaned under the control of the driving unit to clean the surface to be cleaned, and the fan unit in the machine body 10 can suck the dirt on the surface to be cleaned through the dirt suction port 24 into the sewage tank of the cleaning device.

[0106] As shown in FIG. 6, in one embodiment of the present application, a scraping strip 23 is arranged at the rear side of the rolling brush 22 and is configured to abut against the surface to be cleaned to push the dirt on the surface to be cleaned forward during the forward movement of the cleaning device. During the forward movement of the cleaning device of the present application, since the scraping strip 23 is located at the rear side of the rolling brush 22 and abuts against the surface to be cleaned, the scraping strip 23 pushes the dirt on the surface to be cleaned forward, ensuring that the dirt can be sucked away from the dirt suction port 24, avoiding residual dirt on the surface to be cleaned.

[0107] However, when the cleaning device of the present application is turned off, usually some dirt remains between the scraping strip 23 and the rolling brush 22, affecting the user experience.

[0108] Therefore, in one embodiment of the present application, the step of the control method of the cleaning device after receiving the shutdown signal further includes: controlling the walking wheel 30 or the rolling brush 22 to reverse for a first preset time length to drive the floor brush assembly 20 to move to the rear side by a second distance threshold, and controlling the fan unit to work for a second preset time length.

[0109] That is, after the cleaning device in the embodiment of the present application receives the shutdown signal, the walking wheel 30 or the roller brush 22 can be controlled to reverse for a first preset time length, to drive the ground brush assembly 20 to move a second distance threshold to the rear side, and the fan unit is controlled to work for a second preset time length, so as to wipe off the dirt between the scraping strip 23 and the roller brush 22 and suck it away, avoiding leaving dirt on the surface to be cleaned, effectively improving the user experience.

[0110] It can be understood that the process of driving the ground brush assembly 20 to move a second distance threshold to the rear side can be completed by the walking wheel 30 moving to the rear side, or by the roller brush 22 moving to the rear side, which is not limited here; and the process of driving the ground brush assembly 20 to move to the rear side only by the walking wheel 30 moving to the rear side can effectively avoid the roller brush 22 leaving dirt on the surface to be cleaned for a long time.

[0111] Among them, the process of driving the ground brush assembly 20 to move a second distance threshold to the rear side and the process of driving the ground brush assembly 20 to move to the rear side until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20° can be performed consecutively without obvious interval, thereby reducing the user's perception.

[0112] In an embodiment of the present application, the first preset time length is configured to be less than the second preset time length, so that after the ground brush assembly 20 moves a second distance threshold to the rear side to wipe off the dirt between the scraping strip 23 and the roller brush 22, the fan unit can continue to work for a period of time, thereby ensuring that the dirt can be effectively sucked away, reducing the residual dirt on the roller brush 22.

[0113] In an embodiment of the present application, the second distance threshold is configured to be greater than or equal to the distance between the scraping strip 23 and the lower edge of the roller brush 22. Since the second distance threshold is greater than or equal to the distance between the scraping strip 23 and the lower edge of the roller brush 22, it can be ensured that during the process of driving the ground brush assembly 20 to move a second distance threshold to the rear side, the dirt between the scraping strip 23 and the roller brush 22 can be completely wiped off, avoiding omission.

[0114] It can be understood that during the process of driving the ground brush assembly 20 to move a second distance threshold to the rear side by the roller brush 22, the rotation speed of the roller brush 22 can be configured to be less than the rotation speed in the normal working state, thereby further reducing the user's perception.

[0115] The embodiment of the present application also provides a control method of a cleaning device, the cleaning device comprising a machine body 10, a floor brush assembly 20, a walking wheel 30, and an angle sensor, the floor brush assembly 20 is arranged at the bottom of the machine body 10, and the machine body 10 is configured to rotate relative to the floor brush assembly 20, the walking wheel 30 is configured to drive the floor brush assembly 20 to move on a surface to be cleaned, and the angle sensor is arranged on the machine body 10 and is configured to obtain an angle a between an axis 11 of an extension direction of the machine body and a vertical line z.

[0116] The control method comprises:

[0117] receiving a shutdown signal;

[0118] controlling the walking wheel 30 to drive the floor brush assembly 20 to move in a direction such that the angle a decreases until the angle a is not greater than 20°.

[0119] In the use process of the cleaning device of the embodiment of the present application, as shown in FIG. 1, after the user triggers a shutdown signal to the cleaning device by touching a shutdown key or by other means, the cleaning device can control the walking wheel 30 to drive the floor brush assembly 20 to move in a direction such that the angle a decreases until the angle a is not greater than 20° after receiving the shutdown signal, at this time, the machine body 10 has been in the upright state shown in FIG. 3 or the state close to the upright state shown in FIG. 2; when the machine body 10 is in the state close to the upright state shown in FIG. 2, the user only needs to gently push the machine body 10 after the floor brush assembly 20 is completely retreated to complete the last small-amplitude rotation of the machine body 10, so that the machine body is in the upright state shown in FIG. 3; since the floor brush assembly 20 is close to directly below the machine body 10 after the floor brush assembly 20 is completely retreated, the user does not need to manually drag the floor brush assembly 20 back, and the user pushing the machine body 10 forward will not make the floor brush assembly 20 move forward, so the user can complete the last small-amplitude rotation of the machine body 10 without stepping on the floor brush assembly 20.

[0120] It can be seen that, compared with the control method of the existing cleaning device, the control method of the cleaning device of the embodiment of the present application can complete most of the steps required for the machine body 10 to stand upright by the cleaning device itself, and the user only needs to perform the last small-amplitude rotation step, thereby reducing the required actions of the user, improving the user experience, and ensuring that the floor brush assembly 20 and the cleaning liquid tank 25 above the floor brush assembly 20 of the embodiment of the present application are not damaged by the user stepping on them, thereby ensuring the durability of the cleaning device of the embodiment of the present application.

[0121] The embodiments of the present application also provide a control method of a cleaning device, as shown in FIGS. 1-6, the cleaning device comprising a body 10, a floor brush assembly 20, and a walking wheel 30, the floor brush assembly 20 being arranged at the bottom of the body 10, and the body 10 being configured to rotate relative to the floor brush assembly 20, the walking wheel 30 being configured to drive the floor brush assembly 20 to move on a surface to be cleaned; the body 10 is provided with a first buckle part 16, and the floor brush assembly 20 is provided with a second buckle part 26, the first buckle part 16 and the second buckle part 26 being configured to cooperate when the body 10 is in an upright state relative to the floor brush assembly 20, so as to lock the body 10 and the floor brush assembly 20 together;

[0122] The control method comprises:

[0123] receiving a shutdown signal;

[0124] controlling the walking wheel 30 to drive the floor brush assembly 20 to move, so that the first buckle part 16 and the second buckle part 26 are close to each other.

[0125] In the use process of the cleaning device in the embodiments of the present application, after the user triggers a shutdown signal to the cleaning device by touching a shutdown key or by other means, the cleaning device can control the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side, so that the first buckle part 16 and the second buckle part 26 are close to each other, until the first buckle part 16 and the second buckle part 26 cooperate with each other, the body 10 is in an upright state, and the user can directly lift the cleaning device, so as to charge or store the cleaning device.

[0126] The embodiments of the present application also provide a control method of a cleaning device, the cleaning device comprising a body 10, a floor brush assembly 20 connected to the body, and a walking wheel 30, the body 10 being configured to rotate relative to the floor brush assembly 20, the floor brush assembly 20 comprising a rolling brush 22 and a scraping strip 23 located at the rear side of the rolling brush 22, the walking wheel 30 being configured to provide driving force to drive the floor brush assembly 20 to move on a surface to be cleaned, the side of the cleaning device facing the user being recorded as the rear side, and the side of the cleaning device away from the user being recorded as the front side; the control method comprises:

[0127] receiving a shutdown signal and starting a first stage, in the first stage, controlling the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side by a second distance threshold, the second distance threshold being greater than a distance threshold between the scraping strip 23 and the rolling brush 22;

[0128] starting a second stage after the first stage ends, in the second stage, controlling the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side by a third distance threshold, the third distance threshold being greater than the second distance threshold, and the angle a between the axis 11 of the extension direction of the body 10 and the vertical line z being not greater than 20°.

[0129] That is, after the cleaning device in the embodiment of the present application receives the shutdown signal, the common control walking wheel retreats in two stages. In the first stage, the cleaning device controls the walking wheel 30 to drive the ground brush assembly 20 to move backward by a second distance threshold, which is greater than the distance threshold between the scraping strip 23 and the roller brush 22, so as to wipe off the dirt between the scraping strip 23 and the roller brush 22. In the second stage, the cleaning device controls the walking wheel 30 to drive the ground brush assembly 20 to move backward by a third distance threshold. Since the third distance threshold is greater than the second distance threshold, and the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20°, the machine body 10 has already been in a state close to vertical. When the machine body 10 is in a state close to vertical, the user only needs to gently push the machine body 10 after the ground brush assembly 20 retreats completely, and then completes the final small-amplitude rotation of the machine body 10. Since the ground brush assembly 20 is already close to directly below the machine body 10 after the ground brush assembly 20 retreats completely, the user does not need to manually drag the ground brush assembly 20 back, and the user pushing the machine body 10 forward will not make the ground brush assembly 20 move forward, so the user can complete the final small-amplitude rotation of the machine body 10 without stepping on the ground brush assembly 20.

[0130] It can be seen that, compared with the control method of the existing cleaning device, the cleaning device in the embodiment of the present application can make the machine body 10 retreat in two stages, wipe off the dirt between the scraping strip 23 and the roller brush 22 in the first stage, and assist in vertical in the second stage, which not only reduces the required actions of the user, but also improves the user experience. Moreover, since the backward movement of the ground brush assembly 20 in the above-mentioned first stage and second stage is only completed by the backward movement of the walking wheel 30, it can effectively avoid that the roller brush 22 leaves dirt on the surface to be cleaned for a long time after reversing.

[0131] It can be understood that, in an embodiment of the present application, after the second stage ends, the cleaning device can control the walking wheel 30 to stop outputting driving force, so as to ensure that the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20°, and the machine body 10 has already been in a state close to vertical. When the walking wheel 30 stops moving backward in time, it prevents the user from being caught off guard and the ground brush assembly 20 from hitting the user's foot, effectively improving the user experience.

[0132] In an embodiment of the present application, a fan unit is arranged in the machine body 10, and a dirt suction port 24 is arranged on the ground brush assembly 20. The fan unit is configured to suck the dirt on the surface to be cleaned through the dirt suction port 24. In the first stage, the method further comprises controlling the fan unit to work for a second preset time length, which is configured to be greater than a first preset time length required for the walking wheel 30 to move backward by the second distance threshold.

[0133] In this way, when the walking wheel 30 drives the floor brush assembly 20 to move to the rear side by a second distance threshold, the required time length is a first preset time length, and the working time length of the fan unit is a second preset time length. Since the second preset time length is greater than the first preset time length, it can be ensured that the rolling brush 22 can completely remove the dirt between the scraping strip 23 and the rolling brush 22, and the fan unit can completely suck away the dirt, thereby avoiding leaving dirt on the surface to be cleaned and effectively improving the user experience.

[0134] In an embodiment of the present application, in the first stage and the second stage, the walking wheel is configured to continuously move to the rear side. That is, in the first stage and the second stage, the walking wheel can continuously move to the rear side without stopping and moving again, thereby saving the required time of the entire first stage and the second stage and improving the user experience.

[0135] Further, in an embodiment of the present application, the rotating speed of the walking wheel 30 in the first stage is less than the rotating speed of the walking wheel 30 in the second stage. Since the rotating speed of the walking wheel 30 in the first stage is less than the rotating speed of the walking wheel 30 in the second stage, it can be ensured that in the first stage, the rolling brush 22 can completely remove the dirt between the scraping strip 23 and the rolling brush 22 without omission, and in the second stage, the rolling brush 22 can be quickly erected to save the required time.

[0136] The embodiment of the present application also provides a cleaning device, which comprises a machine body 10, a floor brush assembly 20, a walking wheel 30, an angle sensor and a control unit. The floor brush assembly 20 is arranged at the bottom of the machine body 10, and the machine body 10 is configured to rotate relative to the floor brush assembly 20. The walking wheel 30 is configured to drive the floor brush assembly 20 to move on a surface to be cleaned. The angle sensor is arranged on the machine body 10 and is configured to obtain an angle a between an axis 11 of an extension direction of the machine body 10 and a vertical line z. The side of the cleaning device facing the user is recorded as the rear side, and the side away from the user is recorded as the front side.

[0137] The control unit is configured to receive a shutdown signal and control the walking wheel 30 to drive the floor brush assembly 20 to move to the rear side until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20°.

[0138] Thus, in the use of the cleaning device of the embodiment of the present application, after the user triggers the shutdown signal to the cleaning device by touching the shutdown key or by other means, the control unit can control the walking wheel 30 to drive the brush assembly 20 to move to the rear side, so that the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is continuously reduced until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20°, at which time the machine body 10 has been in a nearly upright state; when the machine body 10 is in a nearly upright state, the user only needs to gently push the machine body 10 after the brush assembly 20 retreats completely to complete the final small-amplitude rotation of the machine body 10. Since the brush assembly 20 is close to directly below the machine body 10 after the brush assembly 20 retreats completely, the user does not need to manually drag the brush assembly 20 back, and the user pushing the machine body 10 forward will not make the brush assembly 20 move forward, so the user can complete the final small-amplitude rotation of the machine body 10 without stepping on the brush assembly 20.

[0139] It can be seen that, compared with the existing cleaning device, the cleaning device of the embodiment of the present application can complete most of the steps required for the machine body 10 to stand upright by itself, and the user only needs to perform the final small-amplitude rotation step, thereby reducing the required actions of the user, improving the user's use experience, and ensuring that the brush assembly 20 and the cleaning liquid tank 25 above it of the embodiment of the present application will not be damaged by the user's feet, thereby ensuring the durability of the cleaning device of the embodiment of the present application.

[0140] The cleaning device of the embodiment of the present application is described below with an example of a specific application scenario. In the use of the cleaning device, after the user triggers the shutdown signal to the cleaning device by touching the shutdown key or by other means, the walking wheel 30 of the cleaning device drives the brush assembly 20 to move to the rear side, moving in the direction close to the user, so that the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is continuously reduced until the angle a between the axis 11 of the extension direction of the machine body 10 and the vertical line z is not greater than 20°, at which time the machine body 10 has been in a nearly upright state; when the machine body 10 is in a nearly upright state, the user only needs to gently push the machine body 10 after the brush assembly 20 retreats completely to complete the final small-amplitude rotation of the machine body 10. Since the brush assembly 20 is close to directly below the machine body 10 after the brush assembly 20 retreats completely, the user does not need to manually drag the brush assembly 20 back, and the user pushing the machine body 10 forward will not make the brush assembly 20 move forward, so the user can complete the final small-amplitude rotation of the machine body 10 without stepping on the brush assembly 20.

[0141] It can be seen that, compared with the control method of the existing cleaning device, the control method of the cleaning device of the embodiment of the application can make most of the steps required for the body 10 to stand upright completed by the cleaning device itself, and the user only needs to perform the last small-amplitude rotation step, thereby reducing the required action of the user, improving the user experience, and the user does not need to step on the floor brush assembly 20, thereby ensuring that the floor brush assembly 20 and the cleaning liquid tank 25 above it of the embodiment of the application are not damaged by the user's foot, and ensuring the durability of the cleaning device of the embodiment of the application.

[0142] Other configurations of the cleaning device of the above embodiment can use various technical solutions known to those skilled in the art now and in the future, which are not described in detail here.

[0143] In the description of the present specification, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0144] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0145] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection, or communication; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0146] In this application, unless otherwise explicitly specified and limited, "on" or "under" of a first feature with respect to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "on top of" of a first feature with respect to a second feature includes that the first feature is directly above and obliquely above the second feature, or only means that the first feature is horizontally higher than the second feature. "Under", "below" and "underneath" of a first feature with respect to a second feature includes that the first feature is directly below and obliquely below the second feature, or only means that the first feature is horizontally lower than the second feature.

[0147] The above disclosure provides many different embodiments or examples for implementing different structures of the present application. For the purpose of simplifying the present application, the components and settings of specific examples are described in the above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0148] The above description is merely specific implementation of the present application, but the protection scope of the present application is not limited thereto, any skilled in the art within the technical scope disclosed by the present application can easily think of various changes or replacements, which should be covered 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 control method of a cleaning device, the cleaning device comprising a main body (10), a floor brush assembly (20) connected to the main body, and a walking wheel (30), the main body (10) being configured to rotate relative to the floor brush assembly (20), the walking wheel (30) being configured to provide a driving force to drive the floor brush assembly (20) to move on a surface to be cleaned, a side of the cleaning device facing a user being referred to as a rear side, and a side of the cleaning device away from the user being referred to as a front side; characterized in that the control method comprising: receiving a shutdown signal; controlling the walking wheel (30) to drive the floor brush assembly (20) to move towards the rear side until an angle (a) between an axis (11) of an extension direction of the main body (10) and a vertical line (z) is not greater than 20°.

2. The control method according to claim 1, characterized by, The cleaning device comprises an angle sensor arranged on the main body (10) and configured to obtain the angle (a) between the axis (11) of the extension direction of the main body and the vertical line (z).

3. The control method according to claim 1, characterized by, The control of the walking wheel (30) to drive the floor brush assembly (20) to move towards the rear side further comprises: obtaining an initial angle between the axis (11) of the extension direction of the main body (10) and the vertical line (z).

4. The control method according to claim 3, characterized by, The control of the walking wheel (30) to drive the floor brush assembly (20) to move towards the rear side is: controlling the walking wheel (30) to reverse at a rotation speed corresponding to the initial angle to drive the floor brush assembly (20) to move towards the rear side.

5. The control method according to claim 3, characterized by, The control of the walking wheel (30) to drive the floor brush assembly (20) to move towards the rear side is to determine whether the main body (10) is in a non-laying state, and to control the walking wheel (30) to reverse to drive the floor brush assembly (20) to move towards the rear side in the non-laying state.

6. The control method according to claim 3, characterized by Further comprising: controlling the walking wheel (30) to stop rotating when the main body (10) is in a laying state.

7. The control method according to claim 2, characterized by, The main body (10) is provided with a first clamping portion (16), and the floor brush assembly (20) is provided with a second clamping portion (26), the first clamping portion (16) and the second clamping portion (26) being configured to cooperate when the main body (10) is in an upright state relative to the floor brush assembly (20) to lock the main body (10) and the floor brush assembly (20).

8. The control method according to claim 7, characterized by, The control of the walking wheel (30) to drive the floor brush assembly (20) to move towards the rear side until the angle (a) between the axis (11) of the extension direction of the main body (10) and the vertical line (z) is not greater than 20° is to control the walking wheel (30) to drive the floor brush assembly (20) to move towards the rear side until the first clamping portion (16) and the second clamping portion (26) cooperate with each other.

9. The control method according to claim 7, characterized by, The control of the walking wheel (30) drives the rear movement of the floor brush assembly (20) until the angle (a) between the axis (11) of the extension direction of the machine body (10) and the vertical line (z) is not greater than 20°: controlling the walking wheel (30) to drive the rear movement of the floor brush assembly (20) until the distance between the first buckle part (16) and the second buckle part (26) is less than the first distance threshold.

10. The control method according to any one of claims 1 to 9, characterized by, The floor brush assembly (20) comprises a floor brush body (21), a rolling brush (22) and a driving unit, the rolling brush (22) is arranged at the front side of the floor brush body (21) and is configured to rotate relative to the surface to be cleaned under the control of the driving unit to clean the surface to be cleaned; The machine body (10) is provided with a fan unit, and the floor brush body (21) is provided with a dirt suction port (24), and the fan unit is configured to suck dirt on the surface to be cleaned through the dirt suction port (24); In the control method, after receiving the shutdown signal, further comprising: Controlling the walking wheel (30) to generate driving force within a first preset time period to drive the floor brush assembly (20) to move rearward by a second distance threshold, and controlling the fan unit to work for a second preset time period, the first preset time period is configured to be less than the second preset time period.

11. The control method according to claim 10, characterized by, The floor brush bottom is provided with a scraping strip (23), the scraping strip (23) is located at the rear side of the rolling brush (22), and is configured to abut against the surface to be cleaned to push the dirt on the surface to be cleaned forward during the forward movement of the cleaning device; The second distance threshold is configured to be greater than or equal to the distance between the scraping strip (23) and the lower edge of the rolling brush (22).

12. A control method of a cleaning device, the cleaning device comprising a machine body (10), a floor brush assembly (20), a walking wheel (30), an angle sensor, the floor brush assembly (20) being arranged at the bottom of the machine body (10), and the machine body (10) being configured to rotate relative to the floor brush assembly (20), the walking wheel (30) being configured to drive the floor brush assembly (20) to move on the surface to be cleaned, and the angle sensor being arranged on the machine body (10) and being configured to obtain the angle (a) between the axis (11) of the extension direction of the machine body and the vertical line (z); characterized in that The control method comprises: Receiving a shutdown signal; Controlling the walking wheel (30) to drive the floor brush assembly (20) to move in a direction that reduces the angle (a) until the angle (a) is not greater than 20°.

13. A control method of a cleaning device, the cleaning device comprising a main body (10), a brush assembly (20) arranged at a bottom of the main body (10) and configured to rotate relative to the main body (10), and a walking wheel (30) configured to drive the brush assembly (20) to move on a surface to be cleaned, wherein a first clamping part (16) is arranged on the main body (10), a second clamping part (26) is arranged on the brush assembly (20), and the first clamping part (16) and the second clamping part (26) are configured to be matched when the main body (10) is in an upright state relative to the brush assembly (20) to lock the main body (10) and the brush assembly (20) together; characterized in that the control method comprising: receiving a shutdown signal; controlling the walking wheel (30) to drive the brush assembly (20) to move, so that the first clamping part (16) and the second clamping part (26) are close to each other.

14. A control method of a cleaning device, the cleaning device comprising a machine body (10), a floor brush assembly (20) connected to the machine body, a walking wheel (30), the machine body (10) being configured to rotate relative to the floor brush assembly (20), the floor brush assembly (20) comprising a rolling brush (22) and a squeegee strip (23) located at a rear side of the rolling brush (22), the walking wheel (30) being configured to provide a driving force to drive the floor brush assembly (20) to move on a surface to be cleaned, a side of the cleaning device facing a user being referred to as a rear side, and a side of the cleaning device away from the user being referred to as a front side; characterized in that, the control method comprising: receiving a shutdown signal and starting a first stage, in the first stage, controlling the walking wheel (30) to drive the brush assembly (20) to move a second distance threshold to a rear side, the second distance threshold being greater than a distance threshold between the scraping strip (23) and the rolling brush (22); starting a second stage after the first stage ends, in the second stage, controlling the walking wheel (30) to drive the brush assembly (20) to move a third distance threshold to the rear side, the third distance threshold being greater than the second distance threshold, and an angle (a) between an axis (11) of an extension direction of the main body (10) and a vertical line (z) being not greater than 20°.

15. The control method according to claim 14, characterized by, controlling the walking wheel (30) to stop outputting driving force after the second stage ends.

16. The control method according to claim 14, wherein a fan unit is arranged in the main body (10), and a dirt suction port (24) is arranged on the brush assembly (20), and the fan unit is configured to suck dirt on the surface to be cleaned through the dirt suction port (24); in the first stage, further comprising controlling the fan unit to work for a second preset time length, the second preset time length being configured to be greater than a first preset time length required for the walking wheel (30) to move the second distance threshold to the rear side.

17. The control method according to claim 14, characterized by, in the first stage and the second stage, the walking wheel is configured to continuously move to the rear side.

18. The control method according to claim 14, wherein a rotating speed of the walking wheel (30) in the first stage is less than a rotating speed of the walking wheel (30) in the second stage.

19. A cleaning apparatus, characterized by The cleaning device comprises a machine body (10), a floor brush assembly (20), a walking wheel (30), an angle sensor and a control unit, the floor brush assembly (20) is arranged at the bottom of the machine body (10), and the machine body (10) is configured to rotate relative to the floor brush assembly (20), the walking wheel (30) is configured to drive the floor brush assembly (20) to move on the surface to be cleaned, the angle sensor is arranged on the machine body (10) and is configured to obtain the angle (a) between the axis (11) of the extending direction of the machine body (10) and the vertical line (z); the side of the cleaning device facing the user is recorded as the rear side, and the side away from the user is recorded as the front side; The control unit is configured to receive a shutdown signal and control the walking wheel (30) to drive the floor brush assembly (20) to move to the rear side until the angle (a) between the axis (11) of the extending direction of the machine body (10) and the vertical line (z) is not greater than 20°.

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