Control method and device for cleaning apparatus, cleaning apparatus, computer apparatus, storage medium, and program product

Abstract

Disclosed in the embodiments of the present application are a control method and device for a cleaning apparatus, a cleaning apparatus, a computer apparatus, a storage medium, and a program product. The cleaning apparatus comprises a rolling brush and a wastewater suction mechanism, wherein the wastewater suction mechanism comprises a wastewater tank, a wastewater suction fan and a wastewater suction pipe. The method comprises: when the cleaning apparatus is switched from an operating state to a standby state, first, acquiring the motion state of the rolling brush during the switching of the cleaning apparatus from the operating state to the standby state; second, controlling, on the basis of the motion state of the rolling brush, the rolling brush to move a first distance in a target direction, so as to suck wastewater remaining on a working surface when the cleaning apparatus is on standby onto the rolling brush; and finally, controlling the wastewater suction fan to suck the wastewater on the rolling brush into the wastewater tank by means of the wastewater suction pipe. In this way, water stains remaining on the working surface when the cleaning apparatus is on standby can be reduced, thereby improving the cleaning effect of the cleaning apparatus.

Description

Control method and device of cleaning equipment, cleaning equipment, computer equipment, storage medium and program product Cross-reference to Related Applications

[0001] The present application is based on the Chinese patent application No.CN202411274084.8, filed on September 11, 2024, entitled "Control method and device of cleaning equipment, cleaning equipment and computer equipment", and claims priority to the Chinese patent application No.CN202411274084.8, the entire contents of which are hereby incorporated by reference. TECHNICAL FIELD

[0002] The present application relates to, but is not limited to, the technical field of cleaning equipment, and in particular relates to a control method and device of cleaning equipment, a cleaning equipment, a computer equipment, a storage medium and a program product. BACKGROUND

[0003] When the cleaning equipment cleans the ground, the water pump supplies water to the roller brush to wet the roller brush, and the rotating roller brush wipes and washes the ground. The sewage fan sucks the sewage on the roller brush back into the sewage tank. In the related art, when the cleaning equipment switches from the running state to the parking state, the position where the roller brush contacts the ground will produce water marks or foam, and the distribution is uneven, thereby affecting the cleaning effect. SUMMARY

[0004] Therefore, the embodiments of the present application provide at least a control method and device of cleaning equipment, a cleaning equipment, a computer equipment, a storage medium and a program product.

[0005] The technical solutions of the embodiments of the present application are implemented as follows:

[0006] The embodiments of the present application provide a control method of a cleaning equipment, the cleaning equipment comprising a roller brush and a sewage suction mechanism, the sewage suction mechanism comprising a sewage tank, a sewage suction fan and a sewage suction pipeline, and the method comprising:

[0007] In response to the cleaning equipment switching from the running state to the parking state, the motion state of the roller brush in the process of the cleaning equipment switching from the running state to the parking state is acquired;

[0008] Based on the motion state, the roller brush is controlled to move along a target direction by a first distance to suck the sewage remaining on the working surface when the cleaning equipment is parked onto the roller brush;

[0009] The sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipeline.

[0010] The embodiments of the present application provide a control device of a cleaning equipment, the device comprising:

[0011] The first acquisition module is configured to, in response to the cleaning device switching from the running state to the parking state, acquire a motion state of the roller brush in a process in which the cleaning device switches from the running state to the parking state.

[0012] The first control module is configured to, based on the motion state, control the roller brush to move in the target direction by a first distance to suck the sewage remaining on the work surface when the cleaning device is parked onto the roller brush.

[0013] The second control module is configured to control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipeline.

[0014] Embodiments of the present application provide a cleaning device, which comprises a controller, a roller brush and a sewage suction mechanism, the sewage suction mechanism comprising a sewage tank, a sewage suction fan and a sewage suction pipeline, wherein:

[0015] The controller is configured to, in response to the cleaning device switching from the running state to the parking state, acquire a motion state of the roller brush in a process in which the cleaning device switches from the running state to the parking state; based on the motion state, control the roller brush to move in the target direction by a first distance to suck the sewage remaining on the work surface when the cleaning device is parked onto the roller brush; and control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipeline.

[0016] Embodiments of the present application provide a computer device, which comprises a memory and a processor, the memory storing a computer program capable of running on the processor, and the processor implements part or all of the steps in the above method when executing the program.

[0017] Embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement part or all of the steps in the above method.

[0018] Embodiments of the present application provide a computer program, which comprises computer readable code, and the computer readable code is run in a computer device to cause a processor in the device to execute part or all of the steps for implementing the above method.

[0019] Embodiments of the present application provide a computer program product, which comprises a computer program or instructions, and the computer program or instructions are executed by a processor to implement part or all of the steps in the above method.

[0020] In the embodiment of the present application, in the case that the cleaning device is switched from the running state to the parking state, firstly, the motion state of the roller brush in the process of the cleaning device being switched from the running state to the parking state is acquired; secondly, according to the motion state of the roller brush, the roller brush is controlled to move in the target direction by a first distance, so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; finally, the sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipeline. In this way, the water stains remaining on the working surface when the cleaning device is parked can be reduced, and the cleaning effect of the cleaning device is improved.

[0021] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, rather than limiting the technical solutions of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the technical solutions of the present application.

[0023] Fig. 1 is a schematic diagram of the component structure of a cleaning device according to an embodiment of the present application;

[0024] Fig. 2 is a schematic diagram of the implementation flow of a control method of a cleaning device according to an embodiment of the present application;

[0025] Fig. 3 is a schematic diagram of the component structure of a cleaning device according to an embodiment of the present application;

[0026] Fig. 4 is a schematic diagram of the component structure of a cleaning device according to an embodiment of the present application;

[0027] Fig. 5 is a schematic diagram of the component structure of a cleaning device according to an embodiment of the present application;

[0028] Fig. 6 is a schematic diagram of the component structure of a control device of a cleaning device according to an embodiment of the present application;

[0029] Fig. 7 is a schematic diagram of the hardware entity of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further described in detail below in combination with the drawings and embodiments, and the described embodiments should not be regarded as limiting the present application. All other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application.

[0031] In the following description, "some embodiments" are referred to, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict. The term "first / second / third" referred to is only to distinguish similar objects, and does not represent a specific order of the objects. Understandably, "first / second / third" can be interchanged with a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification is for describing the present application only and is not intended to limit the application.

[0033] In order to better understand the scheme of the embodiments of the present application, the composition structure of the cleaning equipment will be described first.

[0034] Fig. 1 is a composition structure schematic diagram of a cleaning equipment according to an embodiment of the present application. As shown in Fig. 1, the cleaning equipment 100 includes a rolling brush 110 and a sewage suction mechanism 120, and the sewage suction mechanism 120 includes a sewage tank 121, a sewage suction fan 122 and a sewage suction pipeline 123.

[0035] On this basis, the present application provides a control method of a cleaning equipment. Fig. 2 is an implementation flow schematic diagram of a control method of a cleaning equipment according to an embodiment of the present application. As shown in Fig. 2, the method includes the following steps S201 to S203:

[0036] Step S201: in response to the cleaning equipment switching from a running state to a parking state, acquiring a motion state of the rolling brush in the process of the cleaning equipment switching from the running state to the parking state.

[0037] In some embodiments, the cleaning equipment can be at least one of a scrubber, a high-pressure washer, a carpet cleaning machine, etc.

[0038] In some embodiments, the cleaning equipment can be handheld or self-moving, and the present application is not limited thereto.

[0039] In some embodiments, the running state is a state in which the cleaning equipment is working, and the parking state is a state after the cleaning equipment ends running.

[0040] In some embodiments, the motion state of the rolling brush can include at least one of a moving speed, a rotating speed, a moving direction, a rotating direction, etc.

[0041] Step S202: based on the motion state, controlling the roller brush to move a first distance along a target direction to suck the sewage remaining on the working surface when the cleaning device is parked to the roller brush;

[0042] In some embodiments, the target direction is the direction in which the roller brush is controlled to move horizontally on the working surface.

[0043] In some embodiments, the first distance can be a suitable value set according to the actual application scenario. For example, the first distance of the roller brush movement is set to be able to move the roller brush far enough to clean the sewage on the working surface, and not to move too far to bring bad user experience.

[0044] In some embodiments, the target direction is the backward direction of the cleaning device. Here, the backward direction of the cleaning device can be a default setting, or can be dynamically determined according to the moving direction of the cleaning device, and the embodiments of the present application are not limited thereto.

[0045] In some embodiments, in the case that the user pushes the cleaning device forward during the operation of the cleaning device, the backward direction of the cleaning device when parked is the direction close to the user.

[0046] In some embodiments, in the case that the user pulls the cleaning device backward during the operation of the cleaning device, the backward direction of the cleaning device when parked is the direction away from the user.

[0047] In some embodiments, the working surface of the cleaning device can be a dry ground, or a bathroom with water on the ground.

[0048] It can be understood that when the cleaning device is parked, there can be water stains remaining at the position where the roller brush and the working surface contact due to too much water on the roller brush, and the distribution is uneven, which affects the cleaning effect of the cleaning device.

[0049] In some embodiments, according to the motion state of the roller brush during the process that the cleaning device switches from the running state to the parked state, the target direction of the roller brush is determined, the target direction is opposite to the moving direction of the roller brush during the process that the cleaning device switches from the running state to the parked state, and the roller brush is controlled to move a first distance along the target direction (i.e., the roller brush is controlled to reverse to move along the target direction), so as to suck the water stains on the ground to the roller brush or evenly.

[0050] In some embodiments, the time length of controlling the roller brush to move along the target direction can not consider other factors such as the working mode of the cleaning device, which is equivalent to an additional action of the cleaning device automatically when the user stops cleaning the ground.

[0051] Step S203: controlling the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage pipeline.

[0052] In some embodiments, the water stains on the ground are sucked onto the roller brush, while the suction fan is controlled to suck the water on the roller brush into the sewage tank.

[0053] In the embodiments of the present application, in the case that the cleaning device is switched from the running state to the parking state, firstly, the motion state of the roller brush in the process of the cleaning device being switched from the running state to the parking state is acquired; secondly, according to the motion state of the roller brush, the roller brush is controlled to move in the target direction by a first distance to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; finally, the suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage pipeline. In this way, the water stains remaining on the working surface when the cleaning device is parked can be reduced, and the cleaning effect of the cleaning device is improved.

[0054] In some embodiments, the step S202 of controlling the roller brush to move in the target direction by a first distance based on the motion state can include the following steps S211 and S212:

[0055] Step S211: determining whether the cleaning device has a back-up based on the motion state of the roller brush.

[0056] In some embodiments, the motion state of the roller brush and the reference rotation direction of the roller brush before the cleaning device is parked can be used to determine whether the cleaning device has a back-up.

[0057] In some embodiments, the motion state of the roller brush can include a first rotation speed and a first rotation direction of the roller brush, and the relationship between the first rotation direction and the reference direction and the size of the first rotation speed can be used to determine whether the cleaning device has a back-up.

[0058] In some embodiments, in the case that at least one booster wheel is arranged below the cleaning device, the roller brush can be moved by controlling the plurality of booster wheels, and thus the motion state of the roller brush can be determined by acquiring the motion state of the booster wheel.

[0059] In some embodiments, in the case that no booster wheel is arranged below the cleaning device, the roller brush is moved by controlling the rotation of the roller brush, and thus the motion state of the roller brush can be directly acquired.

[0060] In some embodiments, in the case that at least one booster wheel is arranged below the cleaning device, the motion state of the roller brush can be determined by acquiring the motion state of the booster wheel.

[0061] In some embodiments, in the case that no booster wheel is arranged below the cleaning device, the motion state of the roller brush is directly acquired to determine whether the cleaning device has a back-up.

[0062] In some embodiments, if the user has pulled the cleaning device to a position close to his own body, it may be inconvenient for the user to force the cleaning device to retreat a distance (i.e., control the roller brush to move a first distance in the target direction) and thus, it is necessary to determine whether the cleaning device has retreated when the cleaning device is stationary to determine whether to control the roller brush to move a first distance in the target direction.

[0063] Step S212: In the case where the cleaning device does not retreat, control the roller brush to move a first distance in the target direction.

[0064] In some embodiments, in the case where the cleaning device does not retreat, control the roller brush to move a first distance in the target direction, suck the water stains remaining on the working surface to the roller brush when the cleaning device is stationary, and control the sewage suction fan to suck the sewage on the roller brush to the sewage tank through the sewage suction pipeline.

[0065] In some embodiments, in the case where the cleaning device retreats, control the roller brush to stop moving a first distance in the target direction, i.e., stop controlling the cleaning device to retreat.

[0066] In some embodiments, the cleaning device may leave uneven water stains on the working surface due to incomplete cleaning at the end of the roller brush advance, and moving the roller brush in the target direction can repeat cleaning at the end of the advance to improve the water stain problem. If it is detected that the cleaning device itself is in a reverse state (i.e., retreats), it means that the user has performed a pull-back action after the cleaning device advances to the end. In theory, the effect of controlling the roller brush to move a first distance in the target direction is the same, and the water stains at the end of the advance on the working surface are probably not obvious, and thus the roller brush can no longer be controlled to move in the target direction.

[0067] In the embodiments of the present application, it is determined whether the cleaning device retreats according to the movement state of the roller brush, and in the case where the cleaning device does not retreat, the roller brush is controlled to move a first distance in the target direction. In this way, it is flexibly determined whether to control the roller brush to move a first distance in the target direction according to whether the cleaning device retreats to meet the needs of the cleaning device in various scenarios.

[0068] In some embodiments, the movement state of the roller brush includes a first rotation speed and a first rotation direction of the roller brush, and the above method can further include the following steps S221 and S222:

[0069] Step S221: Obtain a reference rotation direction of the roller brush before the cleaning device is stationary.

[0070] In some embodiments, the reference rotation direction is the rotation direction of the roller brush during the operation of the cleaning device before the cleaning device is stationary.

[0071] In some embodiments, the reference rotation direction is the rotation direction of the roller brush when the cleaning device is advancing.

[0072] Step S222: determining whether the cleaning device is retreating based on the motion state of the roller brush.

[0073] The step S222 can include the following step S223:

[0074] Step S223: determining whether the cleaning device is retreating based on the first rotation speed and the first rotation direction of the roller brush, and the reference rotation direction of the roller brush.

[0075] In some embodiments, whether the cleaning device is retreating is determined by determining whether the reference rotation direction of the roller brush before the cleaning device is parked and the first rotation direction of the roller brush when the cleaning device is parked change, and the size of the first rotation speed of the roller brush during the process of switching the cleaning device from the running state to the parked state.

[0076] In the embodiments of the present application, the motion state of the roller brush includes the first rotation speed and the first rotation direction of the roller brush, the reference rotation direction of the roller brush before the cleaning device is parked is obtained, and whether the cleaning device is retreating is determined based on the first rotation speed and the first rotation direction of the roller brush, and the reference rotation direction of the roller brush. In this way, whether the cleaning device is retreating can be accurately determined by judging the relationship between the reference rotation direction and the first rotation direction, and the size of the first rotation speed.

[0077] In some embodiments, the step S201 can include the following steps S231 and S232:

[0078] Step S231: obtaining a plurality of rotation speeds and a plurality of rotation directions of the roller brush in a first time interval during the process of switching the cleaning device from the running state to the parked state.

[0079] In some embodiments, in order to prevent the motion speed and direction of the roller brush near the parked state of the cleaning device from having certain errors, data in a certain time window can be collected to accurately determine the motion state of the roller brush.

[0080] For example, during the process of switching from the running state to the parking state of the cleaning device, the moving speed of the roller brush relative to the ground can be around 0, at this time, the small motion can cause misjudgment of the motion state of the roller brush before parking. In order to more accurately determine the motion state and trend of the roller brush, the rotation speed and rotation direction of the roller brush every 100 milliseconds (ms) within 1 second (s) before the cleaning device parks can be obtained. At the same time, because the time when the user ends the running of the cleaning device cannot be determined, the rotation speed and rotation direction of the roller brush of the last 10 consecutive 100 ms are continuously recorded during the running of the cleaning device.

[0081] Step S232: determining the first rotation speed and the first rotation direction of the roller brush based on the plurality of rotation speeds and the plurality of rotation directions.

[0082] In some embodiments, the average value of the plurality of rotation speeds is taken as the first rotation speed of the roller brush, and the rotation direction with the highest occurrence frequency in the plurality of rotation directions is taken as the first rotation direction of the roller brush.

[0083] In the embodiments of the present application, the plurality of rotation speeds and the plurality of rotation directions of the roller brush within the first time interval during the process of switching from the running state to the parking state of the cleaning device are obtained, and the first rotation speed and the first rotation direction of the roller brush are determined based on the plurality of rotation speeds and the plurality of rotation directions. In this way, the first rotation speed and the first rotation direction of the roller brush are determined by the plurality of rotation speeds and the plurality of rotation directions of the roller brush within the first time interval, which improves the accuracy of the first rotation speed and the first rotation direction, thereby reducing the error in determining the first rotation speed and the first rotation direction of the roller brush.

[0084] In some embodiments, the above step S223 can include at least one of the following steps S241 and S242:

[0085] Step S241: determining that the roller brush has occurred back-off in the case that the first rotation direction is opposite to the reference rotation direction and the first rotation speed is greater than a first preset threshold value.

[0086] In some embodiments, during the process of switching from the running state to the parking state of the cleaning device, if the roller brush rotates in the direction opposite to the reference rotation direction, it indicates that the roller brush has occurred back-off.

[0087] Step S242: determining that the roller brush has not occurred back-off in the case that the first rotation direction is the same as the reference rotation direction or the first rotation speed is not greater than the first preset threshold value.

[0088] In some embodiments, when the first rotation direction is the same as the reference rotation direction, it indicates that the roller brush does not rotate in the direction opposite to the reference rotation direction, and therefore the roller brush has not occurred back-off.

[0089] In some embodiments, when the first rotation speed is not greater than the first preset threshold, the relationship between the first rotation direction of the roller brush and the reference rotation direction can not be concerned, i.e., it can be determined that the roller brush does not back up. Even if the first rotation direction of the roller brush is opposite to the reference rotation direction, it can only be indicated that the first rotation direction of the roller brush is changed before the cleaning device stops, and the roller brush does not back up, i.e., the roller brush does not back up.

[0090] In the embodiments of the present application, when the first rotation direction is opposite to the reference rotation direction and the first rotation speed is greater than the first preset threshold, it is determined that the roller brush backs up; and when the first rotation direction is the same as the reference rotation direction or the first rotation speed is not greater than the first preset threshold, it is determined that the roller brush does not back up. In this way, by judging the relationship between the reference rotation direction and the first rotation direction and the size of the first rotation speed, it can be accurately determined whether the cleaning device backs up.

[0091] In some embodiments, the motion state of the roller brush includes the first rotation direction of the roller brush; and the step S202 of controlling the roller brush to move a first distance along a target direction based on the motion state can include the following steps S251 and S252:

[0092] Step S251: controlling the roller brush to stop rotating for a first preset time length;

[0093] In some embodiments, considering that the roller brush rotates forward before the cleaning device stops, if the roller brush is immediately reversed when the cleaning device stops, the user experience will be very abrupt, and the roller brush will have a large impact current when directly switching from forward rotation to reverse rotation, which affects the service life of the motor and the driving circuit. Therefore, the roller brush can be controlled to stop rotating for a first preset time length when the cleaning device stops, and then controlled to move a first distance along the target direction.

[0094] Step S252: after the first preset time length ends, controlling the roller brush to move a first distance along the target direction based on the motion state.

[0095] In some embodiments, the first preset time length of the pause and the time for moving the first distance along the target direction are both parameters determined according to repeated test cleaning effects, so as to make the user experience not too abrupt, and make the roller brush move a sufficient distance to clean the water marks left on the working surface, and the roller brush does not move too long distance to bring bad experience.

[0096] In the embodiments of the present application, the rotating of the rolling brush is stopped for a first preset time length; after the first preset time length ends, the rolling brush is controlled to move a first distance along the target direction based on the motion state. In this way, the sense of strangeness of the control of the rolling brush moving along the target direction can be reduced, and the impact current generated by directly controlling the rolling brush to move along the target direction can be reduced, thereby improving the service life of the cleaning device.

[0097] In some embodiments, the motion state of the rolling brush includes a first rotating direction of the rolling brush; and the step S202 of controlling the rolling brush to move a first distance along the target direction based on the motion state can include the following step S253:

[0098] The step S253 of controlling the rolling brush to move a first distance along the target direction based on the first rotating direction, the target direction being a moving direction of the rolling brush when the rolling brush rotates in a second rotating direction opposite to the first rotating direction.

[0099] In some embodiments, the second rotating direction opposite to the first rotating direction can be determined first, and then the rolling brush is controlled to rotate in the second rotating direction to move the rolling brush a first distance along the target direction.

[0100] In the embodiments of the present application, the motion state of the rolling brush includes a first rotating direction of the rolling brush; and the rolling brush is controlled to move a first distance along the target direction according to the first rotating direction, the target direction being a moving direction of the rolling brush when the rolling brush rotates in a second rotating direction opposite to the first rotating direction. In this way, the residual sewage on the working surface of the rolling brush can be cleaned by controlling the rolling brush to rotate in the second rotating direction opposite to the first rotating direction to move along the target direction.

[0101] In some embodiments, as shown in FIG. 3, at least one booster wheel 130 is arranged below the cleaning device 100; and the step S253 of controlling the rolling brush to move a first distance along the target direction based on the first rotating direction can include the following step S261:

[0102] The step S261 of controlling a plurality of booster wheels to rotate in the second direction to drive the rolling brush to move the first distance along the target direction based on the first rotating direction.

[0103] In some embodiments, at least one booster wheel is arranged below the cleaning device, and the rolling brush can be driven to move a first distance along the target direction on the working surface by controlling the rotation of the booster wheel.

[0104] In some embodiments, the motion state of the rolling brush can be determined by acquiring the motion state of the booster wheel.

[0105] In the embodiments of the present application, at least one booster wheel is arranged below the cleaning device; based on the first rotation direction, the plurality of booster wheels are controlled to rotate in the second direction to drive the roller brush to move in the target direction by the first distance. In this way, the residual sewage of the roller brush on the working surface is cleaned by means of the rotation of the booster wheel to drive the roller brush to move, which can reduce the labor intensity and thus improve the cleaning efficiency.

[0106] In some embodiments, the step S253 of controlling the roller brush to move in the target direction by the first distance based on the first rotation direction can include the following step S262:

[0107] Step S262: based on the first rotation direction, the roller brush is controlled to rotate in the second rotation direction to move in the target direction by the first distance.

[0108] In some embodiments, when no booster wheel is arranged below the cleaning device, the roller brush can be directly controlled to rotate in the second rotation direction to move in the target direction on the working surface by the first distance.

[0109] In the embodiments of the present application, based on the first rotation direction, the roller brush is controlled to rotate in the second rotation direction to move in the target direction by the first distance. In this way, the residual sewage of the roller brush on the working surface can be cleaned by controlling the roller brush to reverse.

[0110] In some embodiments, as shown in FIG. 4, the cleaning device 100 further includes a mopping mechanism 140, which includes a clean water tank 141, a water supply pipeline 143, and a clean water pump 142, the clean water pump 142 is used to rotate in a third rotation direction to drive the clean water in the clean water tank 141 to be sprayed onto the roller brush 110 through the water supply pipeline 143;

[0111] The above method further includes the following step S271:

[0112] Step S271: in response to the cleaning device switching from the running state to the parking state, the clean water pump is controlled to rotate in a fourth rotation direction for a second preset time length to suck the clean water in the water supply pipeline into the clean water tank, and the fourth rotation direction is opposite to the third rotation direction.

[0113] In some embodiments, when the cleaning device is parked, the clean water pump can be controlled to reverse (i.e., rotate in the fourth rotation direction) to suck the clean water in the water supply pipeline into the clean water tank, so as to reduce unnecessary water flow onto the roller brush, thereby reducing the water stains left at the contact position of the roller brush and the working surface.

[0114] In some embodiments, the second preset time length does not need to be adjusted according to the current of the clean water pump, and only needs to suck the clean water in the water supply pipeline into the clean water tank.

[0115] In some embodiments, the clean water pump can suck the clean water in the water supply pipeline back to the clean water tank when the clean water pump is reversed, and the dirty water on the roller brush is not sucked back to the clean water tank.

[0116] In the embodiments of the present application, the cleaning device further comprises a mop-washing mechanism, the mop-washing mechanism comprising a clean water tank, a water supply pipeline and a clean water pump, the clean water pump being configured to rotate in a third rotation direction to drive the clean water in the clean water tank to be sprayed onto the roller brush through the water supply pipeline; in response to the cleaning device being switched from a running state to a parking state, the clean water pump is controlled to rotate in a fourth rotation direction for a second preset time length, so as to suck the clean water in the water supply pipeline into the clean water tank, the fourth rotation direction being opposite to the third rotation direction. In this way, when the cleaning device is parked, the clean water pump is controlled to be reversed to suck the clean water in the water supply pipeline into the clean water tank, thereby reducing unnecessary water flow onto the roller brush, and thus reducing the water stains left on the contact position of the roller brush and the working surface.

[0117] In some embodiments, the method further comprises the following step S281:

[0118] Step S281: in response to the cleaning device being switched from a running state to a parking state, the dirty water suction fan is controlled to work at a first working power for a third preset time length, so as to suck the dirty water on the roller brush into the dirty water tank through the dirty water pipeline, the first working power being greater than a second working power at which the dirty water suction fan works before the cleaning device is parked.

[0119] In some embodiments, when the cleaning device is parked, the dirty water suction fan is controlled to work at a larger power (i.e., the dirty water suction fan works at a first working power) for a third preset time length, so as to suck the dirty water on the roller brush into the dirty water tank, thereby reducing the water content of the roller brush body and thus reducing the water stains left on the contact position of the roller brush and the working surface.

[0120] In the embodiments of the present application, in response to the cleaning device being switched from a running state to a parking state, the dirty water suction fan is controlled to work at a first working power for a third preset time length, so as to suck the dirty water on the roller brush into the dirty water tank through the dirty water pipeline, the first working power being greater than a second working power at which the dirty water suction fan works before the cleaning device is parked. In this way, when the cleaning device is parked, the dirty water suction fan is controlled to work at a larger power, so as to suck the dirty water on the roller brush into the dirty water tank, thereby reducing the water content of the roller brush body and thus reducing the water stains left on the contact position of the roller brush and the working surface.

[0121] In some embodiments, the cleaning device further comprises a mop-washing mechanism, the mop-washing mechanism comprising a clean water tank, a water supply pipeline and a clean water pump, the clean water pump being configured to rotate in a third rotation direction to drive the clean water in the clean water tank to be sprayed onto the roller brush through the water supply pipeline; the method further comprises the following steps S291 to S293:

[0122] Step S291: controlling the clean water pump to spray the clean water in the clean water tank onto the rolling brush through the water supply pipeline, and controlling the rolling brush to rotate to clean the rolling brush;

[0123] In some embodiments, when the cleaning device performs self-cleaning on the rolling brush, the rolling brush starts to rotate to clean the rolling brush by controlling the clean water pump to rotate to drive the clean water in the clean water tank to be sprayed onto the rolling brush through the water supply pipeline.

[0124] Step S292: controlling the sewage suction fan to suck the sewage on the rolling brush into the sewage tank through the sewage suction pipeline to dry the rolling brush;

[0125] In some embodiments, the rolling brush is spun dry and dried by controlling the sewage suction fan to suck the clean rolling brush into the sewage tank through the sewage suction pipeline.

[0126] Step S293: in response to the completion of cleaning the rolling brush, controlling the clean water pump to rotate in a fourth rotation direction for a fourth preset time length to suck the clean water in the water supply pipeline into the clean water tank, the fourth rotation direction being opposite to the third rotation direction.

[0127] In some embodiments, after the rolling brush is cleaned, the clean water pump is controlled to reverse (i.e., the clean water pump rotates in a fourth rotation direction opposite to the third rotation direction) for a period of time to suck the clean water in the water supply pipeline into the clean water tank, which reduces unnecessary water flow onto the rolling brush and improves the spinning dry and drying effect of the rolling brush.

[0128] In some embodiments, when the cleaning device automatically cleans the rolling brush, it does not need to consider that there is too much water on the rolling brush and that water marks have been formed on the working surface. The cleaning device runs on the pile during self-cleaning, which is independent of the water marks on the working surface when the cleaning device is stationary. Here, too much water on the rolling brush will affect the spinning dry efficiency and drying effect.

[0129] In the embodiments of the present application, the cleaning device further comprises a mop washing mechanism, the mop washing mechanism comprising a clean water tank, a water supply pipeline and a clean water pump, the clean water pump being configured to rotate in a third rotation direction to drive the clean water in the clean water tank to be sprayed onto the rolling brush through the water supply pipeline; the clean water pump is controlled to spray the clean water in the clean water tank onto the rolling brush through the water supply pipeline, and the rolling brush is controlled to rotate to clean the rolling brush; the sewage suction fan is controlled to suck the sewage on the rolling brush into the sewage tank through the sewage suction pipeline to dry the rolling brush; in response to the completion of cleaning the rolling brush, the clean water pump is controlled to rotate in a fourth rotation direction for a fourth preset time length to suck the clean water in the water supply pipeline into the clean water tank, the fourth rotation direction being opposite to the third rotation direction. In this way, the rolling brush is cleaned, and after the cleaning is completed, the clean water pump is controlled to reverse to suck the clean water in the water supply pipeline into the clean water tank, which reduces unnecessary water flow onto the rolling brush, thereby improving the spinning dry efficiency and drying effect of the rolling brush.

[0130] The embodiment of the present application provides a cleaning device, as shown in Figure 5, which comprises a controller 150, a rolling brush 110 and a sewage suction mechanism 120, wherein the sewage suction mechanism 120 comprises a sewage tank 121, a sewage suction fan 122 and a sewage suction pipeline 123, and wherein:

[0131] The controller 150 is configured to: in response to the cleaning device 100 switching from a running state to a parking state, acquire a motion state of the rolling brush 110 in a process in which the cleaning device 100 switches from the running state to the parking state; based on the motion state, control the rolling brush 110 to move in a target direction by a first distance, so as to suck sewage remaining on a working surface when the cleaning device 100 is parked onto the rolling brush; and control the sewage suction fan 122 to suck the sewage on the rolling brush 110 into the sewage tank 121 through the sewage suction pipeline 123.

[0132] The following describes the application of the control method of the cleaning device provided by the embodiment of the present application in an actual scene, taking the scene of eliminating water stains remaining on the ground when the cleaning device is parked or the scene of eliminating residual water when the rolling brush is self-cleaned as an example.

[0133] The cleaning device usually comprises a clean water tank, a sewage tank, a clean water pump, a sewage suction fan (corresponding to the sewage suction fan in the foregoing embodiment) and a rolling brush, and has the functions of mopping the ground, automatically cleaning the rolling brush and drying the rolling brush. When cleaning the ground, the clean water pump is used to pump water to the rolling brush to wet the rolling brush, the rolling brush is rotated to mop the ground, and the sewage suction fan is used to suck the sewage on the rolling brush back to the sewage tank. When the rolling brush is automatically cleaned, the clean water pump is used to pump the water in the clean water tank to the rolling brush, the rolling brush is rotated to clean the rolling brush, and the sewage suction fan is used to suck the sewage back to the sewage tank. The above two functions have the following problems:

[0134] When the cleaning device ends running (is parked), the position of the rolling brush in contact with the ground will produce water marks, which are often unevenly distributed and produce foam, which not only affects the appearance but also affects the cleaning effect.

[0135] When the cleaning device automatically cleans the rolling brush, a large amount of clean water is needed to complete the self-cleaning work. If the water is excessive or leaks, too much water will remain on the rolling brush, affecting the spin-drying and drying effect.

[0136] Based on the above description, the embodiment of the present application combines strategies and devices such as a peristaltic pump (a clean water pump), a sewage suction fan, a booster wheel or a rolling brush to achieve the purpose of optimizing the water marks remaining when the cleaning device is parked and the spin-drying and drying effect when the rolling brush is self-cleaned, and provides a method for eliminating water stains remaining on the ground when the cleaning device is parked or residual water when the rolling brush is self-cleaned.

[0137] When it is detected that the cleaning device is running to the parking, the ground residual water marks are reduced by the cooperation of the sewage water fan, the booster wheel and the clean water pump, and the cleaning effect is improved.

[0138] When the cleaning device is parked, there is still a lot of water on the roller brush and in the water supply pipeline. These residual water may flow to the ground. The embodiments of the present application reduce and optimize the parking water marks from the following three aspects to improve user experience and cleaning effect.

[0139] Reduce unnecessary water flow to the roller brush;

[0140] Controllable unnecessary water mainly refers to the water in the water supply pipeline to the roller brush. When it is detected that the cleaning device is parked, the clean water pump that supplies clean water to the roller brush is reversed for 1-3 seconds to suck the water in the water supply pipeline from the clean water tank to the roller brush back into the clean water tank, reducing the water in the water supply pipeline due to gravity, liquid tension and other factors. When the clean water pump is reversed, the water in the water supply pipeline of the roller brush can be sucked back into the clean water tank. Among them, the reverse time can be selected and determined according to the specific implementation, and the present application does not limit it

[0141] Reduce the water residue on the roller brush;

[0142] When it is detected that the cleaning device is parked, the sewage water fan is controlled to suck for 1-3 seconds at a higher power, so that as much water as possible on the roller brush can be sucked into the sewage tank of the cleaning device, reducing the water content of the roller brush body. Among them, the power and working time of the sewage water fan are selected according to the specific implementation, and the present application does not limit it.

[0143] Optimize the water marks that have been formed.

[0144] The running condition of the cleaning device is complex, and the working ground has great difference. For example, the user uses the cleaning device in the bathroom with water on the ground, which will probably cause the water content of the roller brush to be too high. The water content of the roller brush after running is difficult to control, so the roller brush needs to suck and mop the water marks remaining on the ground.

[0145] After running, the roller brush of the cleaning device is actively run a small distance backward, and the end water stain is cleaned (at this time, the sewage water fan also works synchronously to suck the water sucked on the roller brush back to the sewage tank).

[0146] In particular, for cleaning equipment equipped with a booster wheel, in order not to make the user feel stiff when the cleaning equipment is backward, the booster wheel can be reversed by a certain angle to push the cleaning equipment roller brush backward to clean the water stain. Currently, the booster wheel will be reversed by an angle of about 120° to 150°, which can be selected and determined according to the specific implementation. At the same time, considering the relationship between the angle of the cleaning equipment and the user's use of the hand feeling, if the user has pulled the cleaning equipment to a position close to his body, it may be inconvenient for the user to force the cleaning equipment to retreat a certain distance. Therefore, the action of the booster wheel should consider the recognition of the current motion state of the cleaning equipment. When the booster wheel is recognized to be backward, the booster wheel does not perform the forced reverse behavior after the operation is completed.

[0147] The specific way to identify the backward state of the cleaning equipment: the cleaning equipment can obtain the current speed and rotation direction of the booster wheel through communication with the booster wheel, and combined with the installation position of the booster wheel and the cleaning equipment (i.e. whether the left wheel or the right wheel of the cleaning equipment reports the information), the current motion direction of the cleaning equipment can be determined. When the motion directions of the two booster wheels are recognized to be in the backward direction of the cleaning equipment when the operation is stopped, it is considered that the cleaning equipment is in the backward state.

[0148] The specific behavior principle of the booster wheel:

[0149] Using a brushless booster wheel with a motor can report the current speed and direction of the booster wheel in real time. By reading the relevant data (current speed and direction of the booster wheel) and combining the information of whether the cleaning equipment is in the running state (whether the cleaning equipment is stopped) issued by the controller, the motion state of the cleaning equipment before the operation is completed can be obtained. In order to prevent the motion speed and direction of the cleaning equipment near the stopped state from having a certain error, the data in a certain time window can be collected to accurately determine the motion state of the cleaning equipment.

[0150] Here, the main purpose is to determine the motion state and trend of the cleaning equipment before the operation is completed. The motion speed of the cleaning equipment relative to the ground may be around 0 at this time, and at this time, the small motion may cause the booster wheel to change the measurement of the speed and direction, resulting in a misjudgment of the motion state of the cleaning equipment before the operation is stopped. In order to more accurately determine the motion state and trend of the cleaning equipment, the average value of the motion speed (with direction) of the cleaning equipment within 1s before the operation is completed can be taken as the final motion speed and direction. At the same time, because the user cannot determine the time when the operation is completed, the running speed and direction of the continuous 10 100ms will be recorded during the operation.

[0151] When it is recognized that the cleaning equipment is not in the backward state and the user has completed the operation, the controller manipulates the booster wheel to rotate backward by a certain suitable angle and move backward by a certain distance to complete the cleaning of the end water stain by issuing a specified command.

[0152] The cleaning device can cause uneven water marks on the work surface due to incomplete cleaning of the front end of the roller brush. By controlling the roller brush to move in the target direction, the front end of the roller brush can be repeatedly cleaned to improve the water mark problem. If it is detected that the cleaning device is in a reverse state (i.e., backtracking), it means that the user has pulled the cleaning device back after it has reached the end of the forward movement. In theory, the effect of controlling the roller brush to move backward by a certain distance is the same, and the water marks on the work surface at the end of the forward movement are probably not obvious, so the roller brush can no longer be controlled to move backward by a certain distance.

[0153] Optionally, for a cleaning device without a booster wheel, the roller brush is directly controlled to reverse for a short distance to remove and scrape the water marks on the ground. Considering user experience, when the cleaning device is detected to stop, the roller brush is first controlled to stop for 200 ms, and then reverse for 250 ms. The foregoing time selection can be determined according to specific conditions during implementation. While scraping the water marks, the abrupt experience and large current risk caused by switching the roller brush from forward rotation to reverse rotation are reduced.

[0154] When the cleaning device is running before stopping, the roller brush is in forward rotation. If the roller brush is immediately reversed when the cleaning device stops, the user experience will be very abrupt, and the roller brush will have a large impact current when switching from forward rotation to reverse rotation, which affects the service life of the motor and the driving circuit. Therefore, when the cleaning device stops, the roller brush can be controlled to stop rotating for a period of time, and then controlled to rotate in reverse.

[0155] The reverse rotation time is set regardless of other factors such as the working mode, which is equivalent to an additional action performed by the cleaning device automatically when the user stops cleaning the ground.

[0156] The pause time and reverse time are parameters determined based on cleaning effect after repeated experiments, which can make the user experience not too abrupt, and make the roller brush rotate backward far enough to remove the water marks on the ground, while the roller brush does not rotate too much to cause a bad experience.

[0157] When the cleaning device automatically cleans the roller brush, the peristaltic pump and strategy are used to reduce unnecessary water flow to the roller brush to improve the effect of spin-drying and drying the roller brush. Similar to a washing machine, the automatic cleaning of the roller brush by the cleaning device includes two steps: washing and spin-drying. The former requires a large amount of water to wash the roller brush, and the latter requires the water on the roller brush to be spun off as much as possible. At the end of the washing stage, the water supply pipe from the clean water tank to the roller brush will be filled with water. During the spin-drying period, due to factors such as vibration, gravity, and liquid tension of the cleaning device, the water in the water supply pipe will flow onto the roller brush, resulting in poor spin-drying effect and weakening the drying effect, thereby reducing the user experience. When the automatic cleaning of the roller brush by the cleaning device is completed, the clean water pump is controlled to reverse for 2 seconds to suck the water in the water supply pipe back into the clean water tank, thereby reducing the water flow from the water supply pipe to the roller brush and affecting the spin-drying and drying effects.

[0158] In the process of cleaning the cleaning device automatically, the water residue on the roller brush is not considered, and the water mark formed is optimized. The cleaning device runs on the pile during self-cleaning, which is irrelevant to the water mark left on the ground during shutdown. Here, the water left in the water supply pipeline is sucked into the clean water tank during self-cleaning, which improves the efficiency of spin-drying and drying effect.

[0159] In the embodiment of the application, when the cleaning device is parked, the clean water in the water supply pipeline is sucked into the clean water tank by controlling the clean water pump to reverse, reducing the excess water flow to the roller brush; the water on the roller brush is sucked into the sewage tank by controlling the sewage fan at a high power, reducing the water content of the roller brush; the end water stain left on the ground when the cleaning device is parked is cleaned by retreating a small distance, reducing the water mark left on the ground when the cleaning device is parked; the above three operations reduce the water stain left on the ground when the cleaning device is parked, improving the cleaning effect of the cleaning device.

[0160] In the embodiment of the application, after the roller brush is cleaned, the clean water in the water supply pipeline is sucked into the clean water tank by controlling the clean water pump to reverse, reducing the excess water flow to the roller brush, improving the efficiency of spin-drying and drying effect of the roller brush.

[0161] Based on the foregoing embodiments, the application provides a control device of a cleaning device, which includes various modules and units included in the modules, and can be realized by a processor in a computer device. Of course, it can also be realized by a specific logic circuit. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0162] FIG. 6 is a schematic diagram of the composition structure of a control device of a cleaning device according to an embodiment of the application. As shown in FIG. 6, the control device of the cleaning device 600 includes a first acquisition module 601, a first control module 602, and a second control module 603, wherein:

[0163] The first acquisition module 601 is configured to, in response to the cleaning device switching from a running state to a parked state, acquire a motion state of the roller brush in the process of the cleaning device switching from the running state to the parked state.

[0164] The first control module 602 is configured to control the roller brush to move a first distance along a target direction based on the motion state of the roller brush, so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush.

[0165] The second control module 603 is configured to control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipeline.

[0166] In some embodiments, the first control module comprises: a first determination unit configured to determine whether the cleaning device has a backtracking based on the motion state of the roller brush; and a first control unit configured to control the roller brush to move the first distance along the target direction in a case where the cleaning device has no backtracking.

[0167] In some embodiments, the motion state of the roller brush comprises a first rotation speed and a first rotation direction of the roller brush; and the control device of the cleaning device further comprises: a second acquisition module configured to acquire a reference rotation direction of the roller brush before the cleaning device is parked; and a first determination module configured to determine whether the cleaning device has a backtracking based on the motion state of the roller brush.

[0168] In some embodiments, the first determination module comprises: a second determination unit configured to determine whether the cleaning device has a backtracking based on the first rotation speed and the first rotation direction of the roller brush, and the reference rotation direction of the roller brush.

[0169] In some embodiments, the first acquisition module comprises: an acquisition unit configured to acquire a plurality of rotation speeds and a plurality of rotation directions of the roller brush in a first time interval during a process in which the cleaning device is switched from the running state to the parked state; and a third determination unit configured to determine the first rotation speed and the first rotation direction of the roller brush based on the plurality of rotation speeds and the plurality of rotation directions.

[0170] In some embodiments, the second determination unit comprises at least one of: a first determination sub-unit configured to determine that the roller brush has a backtracking in a case where the first rotation direction is opposite to the reference rotation direction, and the first rotation speed is greater than a first preset threshold; and a second determination sub-unit configured to determine that the roller brush has no backtracking in a case where the first rotation direction is the same as the reference rotation direction, or the first rotation speed is not greater than the first preset threshold.

[0171] In some embodiments, the motion state of the rolling brush includes a first rotation direction of the rolling brush; the first control module further includes: a second control unit configured to control the rolling brush to stop rotating for a first preset time length; and a third control unit configured to control the rolling brush to move a first distance in the target direction based on the motion state after the first preset time length ends.

[0172] In some embodiments, the motion state of the rolling brush includes a first rotation direction of the rolling brush; the first control module further includes: a fourth control unit configured to control the rolling brush to move a first distance in the target direction based on the first rotation direction, the target direction being a moving direction of the rolling brush when the rolling brush rotates in a second rotation direction, the second rotation direction being opposite to the first rotation direction.

[0173] In some embodiments, the cleaning device is provided with at least one booster wheel below; the fourth control unit includes: a first control sub-unit configured to control a plurality of the booster wheels to rotate in the second direction to drive the rolling brush to move the first distance in the target direction based on the first rotation direction.

[0174] In some embodiments, the fourth control unit further includes: a second control sub-unit configured to control the rolling brush to rotate in the second rotation direction to make the rolling brush move the first distance in the target direction based on the first rotation direction.

[0175] In some embodiments, the cleaning device further includes a mop-washing mechanism, the mop-washing mechanism including a clean water tank, a water supply pipeline, and a clean water pump, the clean water pump being used to rotate in a third rotation direction to drive clean water in the clean water tank to be sprayed onto the rolling brush through the water supply pipeline; the control device of the cleaning device further includes: a third control module configured to control the clean water pump to rotate in a fourth rotation direction for a second preset time length to suck the clean water in the water supply pipeline into the clean water tank in response to the cleaning device switching from a running state to a parking state, the fourth rotation direction being opposite to the third rotation direction.

[0176] In some embodiments, the control device of the cleaning device further includes: a fourth control module configured to control the sewage suction fan to work at a first working power for a third preset time length to suck the sewage on the rolling brush into the sewage tank through the sewage suction pipeline in response to the cleaning device switching from a running state to a parking state, the first working power being greater than a second working power at which the sewage suction fan works before the cleaning device parks.

[0177] In some embodiments, the cleaning device further comprises a mop-washing mechanism, the mop-washing mechanism comprising a clean water tank, a water supply pipeline and a clean water pump, the clean water pump being configured to rotate in a third rotation direction to drive clean water in the clean water tank to be sprayed onto the rolling brush through the water supply pipeline; the control device of the cleaning device further comprises: a fifth control module configured to control the clean water pump to spray the clean water in the clean water tank onto the rolling brush through the water supply pipeline, and control the rolling brush to rotate to clean the rolling brush; a sixth control module configured to control the sewage suction fan to suck the sewage on the rolling brush into the sewage tank through the sewage suction pipeline to dry the rolling brush; and a seventh control module configured to, in response to the rolling brush being cleaned, control the clean water pump to rotate in a fourth rotation direction for a fourth preset time length to suck the clean water in the water supply pipeline into the clean water tank, the fourth rotation direction being opposite to the third rotation direction.

[0178] The above description of the device embodiments is similar to the description of the method embodiments, and has similar beneficial effects as the method embodiments. In some embodiments, the device provided by the embodiments of the present application has functions or includes modules that can be used to perform the methods described in the above method embodiments. For technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application.

[0179] It should be noted that, in the embodiments of the present application, if the above-mentioned method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various storage media that can store program codes. Thus, the embodiments of the present application are not limited to any specific hardware, software or firmware, or any combination of hardware, software and firmware.

[0180] The embodiments of the present application provide a computer device, comprising a memory and a processor, the memory storing a computer program capable of running on the processor, and the processor implements part or all of the steps in the above method when executing the program.

[0181] The embodiment of the present application provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement some or all steps of the above method. The computer readable storage medium can be transitory or non-transitory.

[0182] The embodiment of the present application provides a computer program, which includes computer readable code. When the computer readable code is run in a computer device, a processor in the computer device executes some or all steps of the above method.

[0183] The embodiment of the present application provides a computer program product, which includes a non-transitory computer readable storage medium storing a computer program. When the computer program is read and executed by a computer, some or all steps of the above method are implemented. The computer program product can be implemented by hardware, software or a combination thereof. In some embodiments, the computer program product is embodied as a computer storage medium. In other embodiments, the computer program product is embodied as a software product, such as a software development kit (SDK) or the like.

[0184] It should be noted that the above description of the various embodiments tends to emphasize the differences between the various embodiments, and the same or similar parts can be referred to each other. The above description of the device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiments, and has similar advantages. For technical details not disclosed in the device, storage medium, computer program and computer program product embodiments of the present application, please refer to the description of the method embodiments of the present application.

[0185] It should be noted that FIG. 7 is a schematic diagram of a hardware entity of a computer device in the embodiment of the present application. As shown in FIG. 7, the hardware entity of the computer device 700 includes a processor 701, a communication interface 702 and a memory 703, wherein:

[0186] The processor 701 generally controls the overall operation of the computer device 700.

[0187] The communication interface 702 can enable the computer device to communicate with other terminals or servers through a network.

[0188] The memory 703 is configured to store instructions and applications executable by the processor 701, and can also cache data (for example, image data, audio data, voice communication data, and video communication data) to be processed by the processor 701 and modules in the computer device 700, and can be implemented by FLASH or Random Access Memory (RAM). The processor 701, the communication interface 702, and the memory 703 can perform data transmission through the bus 704.

[0189] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that the size of the sequence number of each step / process in various embodiments of the present application does not mean the order of execution, and the execution order of each step / process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The sequence number of the above embodiments of the present application is only for description, not representing the advantages and disadvantages of the embodiments.

[0190] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0191] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic, for example, the division of units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the various components shown or discussed can be indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0192] The units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units; they can be located in one place or distributed on multiple network units; part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme. In addition, the functional units in each embodiment of the present application can be integrated into one processing unit, or each unit can be separately implemented as a unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0193] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware, and the aforementioned program can be stored in a computer readable storage medium, and the program executes the steps including the above-mentioned method embodiments when executed; and the aforementioned storage medium includes mobile storage device, read only memory (Read Only Memory, ROM), magnetic disc or optical disc and various storage program codes.

[0194] Alternatively, the integrated units of the present application, if implemented in the form of software functional modules and sold or used as independent products, can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts that contribute to the related art can be embodied in the form of software products, which are stored in a storage medium and include a number of instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the embodiments of the present application. The aforementioned storage medium includes mobile storage device, ROM, magnetic disc or optical disc and various storage program codes.

[0195] The above is only an embodiment 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 changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Industrial applicability

[0196] In the embodiments of the present application, in the case that the cleaning device is switched from the running state to the parking state, firstly, the motion state of the roller brush in the process that the cleaning device is switched from the running state to the parking state is acquired; secondly, according to the motion state of the roller brush, the roller brush is controlled to move in the target direction by a first distance, so as to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; finally, the sewage suction fan is controlled to suck the sewage on the roller brush into the sewage tank through the sewage suction pipeline. In this way, the water stains remaining on the working surface when the cleaning device is parked can be reduced, and the cleaning effect of the cleaning device is improved.

Claims

1. A method for controlling a cleaning device, the cleaning device comprising a rolling brush and a siphoning mechanism, the siphoning mechanism comprising a siphon tank, a siphon fan and a siphon pipeline, the method comprising: in response to the cleaning device switching from a running state to a parking state, obtaining a motion state of the rolling brush during the cleaning device switching from the running state to the parking state; based on the motion state, controlling the rolling brush to move a first distance in a target direction to siphon silt remaining on a working surface when the cleaning device is parked onto the rolling brush; and controlling the siphon fan to siphon the silt on the rolling brush into the siphon tank through the siphon pipeline. The controlling the rolling brush to move a first distance in a target direction based on the motion state comprises: determining whether the cleaning device has reversed based on the motion state of the rolling brush; and in a case where the cleaning device has not reversed, controlling the rolling brush to move the first distance in the target direction. The motion state of the rolling brush comprises a first rotation speed and a first rotation direction of the rolling brush, and the method further comprises: obtaining a reference rotation direction of the rolling brush before the cleaning device is parked; and the determining whether the cleaning device has reversed based on the motion state of the rolling brush comprises: determining whether the cleaning device has reversed based on the first rotation speed and the first rotation direction of the rolling brush, and the reference rotation direction of the rolling brush. The obtaining the motion state of the rolling brush during the cleaning device switching from the running state to the parking state comprises: obtaining a plurality of rotation speeds and a plurality of rotation directions of the rolling brush in a first time interval during the cleaning device switching from the running state to the parking state; and determining the first rotation speed and the first rotation direction of the rolling brush based on the plurality of rotation speeds and the plurality of rotation directions.

2. The method as claimed in claim 1, wherein, The determining whether the cleaning device has reversed based on the first rotation speed and the first rotation direction of the rolling brush, and the reference rotation direction of the rolling brush comprises at least one of: in a case where the first rotation direction is opposite to the reference rotation direction and the first rotation speed is greater than a first preset threshold, determining that the rolling brush has reversed; and in a case where the first rotation direction is the same as the reference rotation direction, or the first rotation speed is not greater than the first preset threshold, determining that the rolling brush has not reversed. The motion state of the rolling brush comprises a first rotation direction of the rolling brush, and the controlling the rolling brush to move a first distance in a target direction based on the motion state comprises: controlling the rolling brush to stop rotating for a first preset time length; and after the first preset time length ends, controlling the rolling brush to move a first distance in the target direction based on the motion state. The motion state of the rolling brush comprises a first rotation direction of the rolling brush, and the controlling the rolling brush to move a first distance in a target direction based on the motion state comprises: controlling the rolling brush to stop rotating for a first preset time length; and after the first preset time length ends, controlling the rolling brush to move a first distance in the target direction based on the motion state.

3. The method as recited in claim 2, wherein, ​ ​ ​ ​ 4. The method of any one of claims 1 to 3, wherein, ​ ​ ​ 5. The method as recited in claim 3, wherein, ​ ​ ​ 6. The method of any one of claims 1 to 5, wherein, ​ ​ ​ ​ 7. The method of any one of claims 1 to 6, wherein, ​ ​ Based on the first rotation direction, the rotating brush is controlled to move a first distance along a target direction, the target direction being a moving direction of the rotating brush when the rotating brush rotates in a second rotation direction, the second rotation direction being opposite to the first rotation direction.

8. The method as recited in claim 7, wherein, At least one booster wheel is arranged below the cleaning device. The control of the rotating brush to move a first distance along a target direction based on the first rotation direction comprises: Based on the first rotation direction, the plurality of booster wheels are controlled to rotate in the second direction to drive the rotating brush to move the first distance along the target direction.

9. The method as claimed in claim 7 or 8, wherein, The control of the rotating brush to move a first distance along a target direction based on the first rotation direction comprises: Based on the first rotation direction, the rotating brush is controlled to rotate in the second rotation direction to make the rotating brush move the first distance along the target direction.

10. The method of any one of claims 1 to 9, wherein, The cleaning device further comprises a mop-washing mechanism, the mop-washing mechanism comprising a clean water tank, a water supply pipeline and a clean water pump, the clean water pump being configured to rotate in a third rotation direction to drive clean water in the clean water tank to be sprayed onto the rotating brush through the water supply pipeline. The method further comprises: In response to the cleaning device switching from a running state to a parking state, the clean water pump is controlled to rotate in a fourth rotation direction for a second preset time length, so as to suck the clean water in the water supply pipeline into the clean water tank, the fourth rotation direction being opposite to the third rotation direction.

11. The method of any one of claims 1 to 10, wherein, The method further comprises: In response to the cleaning device switching from a running state to a parking state, the sewage suction fan is controlled to work at a first working power for a third preset time length, so as to suck the sewage on the rotating brush into the sewage tank through the sewage suction pipeline, the first working power being greater than a second working power at which the sewage suction fan works before the cleaning device parks.

12. The method of any one of claims 1 to 11, wherein, The cleaning device further comprises a mop-washing mechanism, the mop-washing mechanism comprising a clean water tank, a water supply pipeline and a clean water pump, the clean water pump being configured to rotate in a third rotation direction to drive clean water in the clean water tank to be sprayed onto the rotating brush; the method further comprises: The clean water pump is controlled to spray the clean water in the clean water tank onto the rotating brush through the water supply pipeline, and the rotating brush is controlled to rotate to clean the rotating brush; The sewage suction fan is controlled to suck the sewage on the rotating brush into the sewage tank through the sewage suction pipeline to dry the rotating brush; In response to the completion of cleaning of the rotating brush, the clean water pump is controlled to rotate in a fourth rotation direction for a fourth preset time length, so as to suck the clean water in the water supply pipeline into the clean water tank, the fourth rotation direction being opposite to the third rotation direction.

13. A cleaning device, comprising a controller, a rotating brush and a sewage suction mechanism, the sewage suction mechanism comprising a sewage tank, a sewage suction fan and a sewage suction pipeline, wherein: The controller is configured to: in response to the cleaning device switching from a running state to a parking state, acquire a motion state of the rotating brush in a process in which the cleaning device switches from the running state to the parking state. based on the motion state, control the roller brush to move a first distance in a target direction to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipeline.

14. A control device of a cleaning device, the device comprising: a first acquisition module configured to, in response to the cleaning device switching from a running state to a parked state, acquire a motion state of the roller brush in a process in which the cleaning device switches from the running state to the parked state; a first control module configured to, based on the motion state, control the roller brush to move a first distance in a target direction to suck the sewage remaining on the working surface when the cleaning device is parked onto the roller brush; a second control module configured to control the sewage suction fan to suck the sewage on the roller brush into the sewage tank through the sewage suction pipeline.

15. A computer device, comprising a memory and a processor, the memory storing a computer program capable of running on the processor, and the processor implements the method according to any one of claims 1 to 12 when executing the program.

16. A computer readable storage medium, having a computer program stored thereon, the computer program being executed by a processor to implement the method according to any one of claims 1 to 12.

17. A computer program product, comprising a computer program or instructions, the computer program or instructions being executed by a processor to implement the method according to any one of claims 1 to 12.

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