Cleaning device control method and cleaning device

Abstract

A cleaning device control method and a cleaning device. The cleaning device control method comprises: during a first traveling process of a cleaning device, controlling a squeegee (241) to maintain a second state; and before a second traveling process, at least compensating for a response duration for the squeegee (241) to switch from the second state to a first state, and controlling the squeegee (241) to switch to the first state.

Description

Cleaning equipment control methods and cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202411549131.5, filed on November 1, 2024, entitled "Cleaning Equipment Control Method and Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning technology, and in particular to a cleaning equipment control method and a cleaning equipment. Background Technology

[0003] Household floor scrubbers are primarily used for cleaning and washing household floor surfaces. They automatically spray water and scrub the floor with cleaning attachments such as roller brushes, sucking the wastewater and stains from these attachments into the machine's wastewater tank for both rapid cleaning and stain collection.

[0004] During the backward movement of a floor scrubber, a significant amount of water residue can remain on the floor. Adding a squeegee and drive unit to the front of the roller brush can address this. The drive unit moves the squeegee, ensuring it contacts the floor and removes residual water and debris as the scrubber moves. However, since floor scrubbers typically operate by repeatedly moving forward and backward, controlling the squeegee's contact with the floor at the appropriate time is a crucial issue that needs to be addressed. Summary of the Invention

[0005] In view of this, the present disclosure provides a cleaning equipment control method and a cleaning equipment.

[0006] According to a first aspect of the present disclosure, a cleaning device control method is provided. The cleaning device includes: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, the top of the body assembly is provided with a handle, the floor brush assembly is movable on a surface to be cleaned, the floor brush assembly includes a cleaning element and a scraper assembly, the cleaning element is used to clean the surface to be cleaned, the scraper assembly is used to scrape off dirt from the surface to be cleaned, the scraper assembly includes a scraper and a drive unit, the scraper is disposed on the front side of the cleaning element in a first travel direction; the drive unit is configured to drive the scraper to switch between a first state and a second state; when the scraper is in the first state, the scraper is in contact with the surface to be cleaned; when the scraper is in the second state, there is a gap between the scraper and the surface to be cleaned; the cleaning device performs a first travel along the first travel direction, and after stopping the first travel, performs a second travel along a second travel direction opposite to the first travel direction;

[0007] The method includes:

[0008] During the first movement of the cleaning equipment, the scraper is controlled to maintain the second state;

[0009] Before proceeding to the second state, at least the response time for the scraper to switch from the second state to the first state is compensated, and the scraper is controlled to switch to the first state.

[0010] In the above embodiments, by compensating for the response time, the impact of the extension of the decision-making and execution processes of the scraper moving from the second state to the first state on the time point when the scraper reaches the first state can be reduced, thereby improving the timeliness of the scraper moving from the second state to the first state. On the one hand, it can clean the cleaning blind spots generated by the cleaning components during the first movement of the cleaning equipment, reducing the cleaning blind spots. Simply put, the scraper is located on the front side of the cleaning component, and the position where the scraper contacts the surface to be cleaned after it descends is necessarily in front of the position where the cleaning component contacts the surface to be cleaned. Since the projected area of ​​the cleaning component on the surface to be cleaned is not entirely the area of ​​cleaning contact, this results in a small area of ​​the floor brush assembly's projection on the surface to be cleaned not being cleaned when it stops pushing in one direction. For example, after the roller brush stops pushing forward, there is an area at its front end that the roller brush cannot clean. Especially during edge cleaning, there are cleaning dead zones at the front edge of the roller brush. This embodiment uses time compensation for the raising and lowering of the front scraper to ensure that the scraper can clean the dead zones or remove dirt from the dead zones during the machine's backward movement, thus reducing the need for manual edge cleaning. On the other hand, it can reduce the residual cleaning marks left by the cleaning components during the second movement, thereby improving the user experience. Simply put, water stains are prone to appear on the ground brush assembly during the backward movement. The front-lowering scraper can scrape away and collect the water stains. However, if the scraper descent is not compensated for, the scraper may only descend to the correct position to scrape water stains after the ground brush assembly has been pulled back a certain distance. At this point, the scraper can no longer scrape the water stains that have already been pulled back a certain distance, and can only scrape the water stains for the distance that continues to be pulled back. Through the compensation setting in this embodiment, the water stains generated when the equipment is pulled back are further reduced.

[0011] In conjunction with the embodiments described in the first aspect, in some embodiments, the cleaning device experiences a pause period during the switching between the first and second movement; the step of at least compensating for the response time of the scraper blade switching from the second state to the first state before proceeding with the second movement, and controlling the scraper blade to switch to the first state, includes at least one of the following:

[0012] During the first movement of the cleaning device, the response time is compensated to control the squeegee to switch from the second state to the first state, so that the squeegee switches to the first state when the cleaning device stops the first movement.

[0013] During the first movement of the cleaning device, the response time is compensated to control the scraper to switch from the second state to the first state. When the cleaning device stops the first movement, the scraper has not yet fully switched to the first state. Before the cleaning device starts the second movement, the scraper is controlled to switch to the first state.

[0014] In response to the cleaning device stopping the first movement, the response time is compensated to control the scraper to switch from the second state to the first state, wherein the response time is less than or equal to the stagnation time, and the scraper is controlled to switch to the first state before the cleaning device performs the second movement.

[0015] In the above embodiments, the squeegee state is switched by at least one of the time during the first movement and the pause time during the transition between the first and second movements, so that the time during the second movement is no longer occupied. This achieves the goal of switching the squeegee to the first state before the second movement, thereby achieving cleaning of blind spots and removing cleaning marks left during the second movement, thus improving the user experience.

[0016] In conjunction with the embodiments described in the first aspect, in some embodiments, the method further includes: stopping the first movement when the distance between the cleaning device and the obstacle in the first direction of travel is less than or equal to a predetermined interval distance, wherein the predetermined interval distance is less than 1 cm.

[0017] In the above embodiments, the controller can predict a first stopping time based on the distance between the cleaning device and the obstacle in the first direction of travel, and trigger the scraper to switch from the second state to the first state at a starting time before the stopping time, wherein the interval between the predicted stopping time and the starting time is greater than the response time. This improves the timeliness of the scraper switching from the second state to the first state. In conjunction with the embodiments described in the first aspect, in some embodiments, controlling the scraper to switch from the second state to the first state includes at least one of the following:

[0018] During the first movement of the cleaning device, if the speed of the first movement is less than or equal to a speed threshold, the scraper is controlled to switch from the second state to the first state.

[0019] During the first movement of the cleaning equipment, the acceleration of the cleaning equipment is directed toward the second movement direction and is greater than the acceleration threshold, thereby controlling the scraper to switch from the second state to the first state.

[0020] During the first movement of the cleaning device, if the distance between the cleaning device and the obstacle in front of the first direction of movement is less than or equal to a distance threshold, the scraper is controlled to switch from the second state to the first state.

[0021] During the first movement of the cleaning device, if the angle between the body component and the surface to be cleaned is less than or equal to an angle threshold, the scraper is controlled to switch from the second state to the first state.

[0022] In the above embodiments, the speed of the first movement, the acceleration in the second movement direction, the distance between the device and the obstacle, and the angle between the body components and the surface to be cleaned can be used to predict the transition of the cleaning device from the first movement to the second movement. This allows for advance switching of the scraper state, compensating for response time, thereby achieving cleaning of blind spots and reducing the residue of cleaning traces left by the cleaning components during the second movement, thus improving the user experience.

[0023] In conjunction with the embodiments described in the first aspect, in some embodiments, the method further includes:

[0024] In response to the squeegee switching to the first state during the first movement of the cleaning device, the squeegee is controlled to switch to the second state.

[0025] In the above embodiments, if the cleaning device is in the first movement and the scraper is switched to the first state, the controller can switch the scraper to the second state to reduce the impact of the scraper on the cleaning effect of the cleaning component in the first movement.

[0026] In conjunction with the embodiments described in the first aspect, in some embodiments, the method further includes at least one of the following:

[0027] Based on the first speed of the first movement, a second speed at which the scraper blade switches from the second state to the first state is determined, wherein the first speed is negatively correlated with the second speed;

[0028] Based on the first speed of the first movement, determine the advance or lag offset of the start time of the switch of the scraper from the second state to the first state;

[0029] Based on the first distance between the cleaning device and the obstacle in front of the first direction of travel at the initial moment, a third speed at which the scraper blade switches from the first state to the second state is determined, wherein the first distance is negatively correlated with the third speed.

[0030] In the above embodiments, the descent speed and / or descent offset of the scraper are adjusted by using a first speed and a first distance, thereby improving the accuracy of scraper control and adapting to the switching of scrapers in different scenarios.

[0031] According to a second aspect of the present disclosure, a cleaning device control method is provided. The cleaning device includes: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, the top of the body assembly is provided with a handle, the floor brush assembly is movable on a surface to be cleaned, the floor brush assembly includes a cleaning element and a scraper assembly, the cleaning element is used to clean the surface to be cleaned, the scraper assembly is used to scrape off dirt from the surface to be cleaned, the scraper assembly includes a scraper and a drive unit, the scraper is disposed on the front side of the cleaning element in a first travel direction; the drive unit is configured to drive the scraper to switch between a first state and a second state; when the scraper is in the first state, the scraper is in contact with the surface to be cleaned; when the scraper is in the second state, there is a gap between the scraper and the surface to be cleaned; the cleaning device performs a first travel along the first travel direction, stops the first travel when the distance between the cleaning device and an obstacle on the front side of the first travel direction is less than or equal to a predetermined interval distance, and performs a second travel along a second travel direction opposite to the first travel direction;

[0032] The method includes:

[0033] During the first movement of the cleaning equipment, the scraper is controlled to maintain the second state;

[0034] Before proceeding to the second state, at least the response time of the scraper blade switching from the second state to the first state is compensated, and the scraper blade is controlled to switch to the first state so that the scraper blade can clean the surface to be cleaned between the scraper blade and the cleaning component when the cleaning device stops during the second state of the cleaning device.

[0035] In the above embodiments, by compensating for the response time, the impact of the decision-making and execution processes of the scraper blade moving from the second state to the first state during the transition from the first to the second movement of the cleaning equipment due to approaching an obstacle can be reduced, thus improving the timeliness of the scraper blade moving from the second state to the first state. On the one hand, this can clean the cleaning blind spots generated by the cleaning components during the first movement of the cleaning equipment, reducing the number of cleaning blind spots. Simply put, the scraper blade is located on the front side of the cleaning component, and the position where the scraper blade contacts the surface to be cleaned after descending is necessarily in front of the position where the cleaning component contacts the surface to be cleaned. Since the projected area of ​​the cleaning component on the surface to be cleaned is not entirely the area of ​​cleaning contact, this results in a small area of ​​the floor brush assembly's projection on the surface to be cleaned not being cleaned when it stops moving in one direction. For example, after the roller brush stops moving forward, its front end has a small area that has not been cleaned. In areas that the roller brush cannot reach, especially during edge cleaning, there will be a cleaning dead zone at the front edge of the roller brush. This embodiment, through time compensation for the raising and lowering of the front scraper, ensures that the scraper can clean the dead zone or remove dirt from the dead zone during the machine's backward movement, thereby reducing manual edge cleaning. On the other hand, it can reduce the residual cleaning traces left by the cleaning components during the second movement, thus improving the user experience. Simply put, water stains are prone to appear on the general floor brush assembly during backward movement, and the front-lowering scraper can scrape away and collect the water stains. However, if the scraper descent is not compensated for, the scraper may only descend to the correct position to scrape water stains after the floor brush assembly has been pulled back a certain distance. At this time, the scraper can no longer scrape the water stains that have already been pulled back a certain distance, and can only scrape the water stains for the distance to be pulled back further. Through the compensation setting in this embodiment, the water stains generated when the equipment is pulled back are further reduced.

[0036] In conjunction with the embodiments described in the second aspect, in some embodiments, the cleaning device experiences a pause period during the switching between the first and second movement; the step of compensating for the response time of the scraper blade switching from the second state to the first state before proceeding with the second movement, and controlling the scraper blade to switch to the first state, includes at least one of the following:

[0037] During the first movement of the cleaning device, the response time is compensated to control the scraper to switch from the second state to the first state, so that the scraper switches to the first state when the cleaning device is less than or equal to the predetermined interval distance from the obstacle.

[0038] During the first movement of the cleaning device, the response time is compensated to control the scraper to switch from the second state to the first state. When the cleaning device stops the first movement, the scraper has not yet fully switched to the first state. Before the cleaning device moves to the second state, the scraper is controlled to switch to the first state.

[0039] In response to the cleaning device being less than or equal to a predetermined interval distance from the obstacle, the scraper is controlled to switch from the second state to the first state to compensate for the response time. The response time is less than or equal to the stagnation time. The scraper is controlled to switch to the first state before the cleaning device performs the second movement.

[0040] In the above embodiments, the squeegee state is switched by at least one of the time during the first movement and the pause time during the transition between the first and second movements, so that the time during the second movement is no longer occupied. This achieves the goal of switching the squeegee to the first state before the second movement, thereby achieving cleaning of blind spots and removing cleaning marks left during the second movement, thus improving the user experience.

[0041] In conjunction with the embodiments described in the second aspect, in some embodiments, controlling the scraper to switch from the second state to the first state includes at least one of the following:

[0042] During the first movement of the cleaning device, if the speed of the first movement is less than or equal to a speed threshold, the scraper is controlled to switch from the second state to the first state.

[0043] During the first movement of the cleaning equipment, the acceleration of the cleaning equipment is directed toward the second movement direction and is greater than the acceleration threshold, thereby controlling the scraper to switch from the second state to the first state.

[0044] During the first movement of the cleaning device, if the distance between the cleaning device and the obstacle is less than or equal to a distance threshold, the scraper is controlled to switch from the second state to the first state, wherein the distance threshold is greater than the predetermined interval distance;

[0045] During the first movement of the cleaning device, if the angle between the body component and the surface to be cleaned is less than or equal to an angle threshold, the scraper is controlled to switch from the second state to the first state.

[0046] In the above embodiments, the speed of the first movement, the acceleration in the second movement direction, the distance between the device and the obstacle, and the angle between the body components and the surface to be cleaned can be used to predict the transition of the cleaning device from the first movement to the second movement. This allows for advance switching of the scraper state, compensating for response time, thereby achieving cleaning of blind spots and reducing the residue of cleaning traces left by the cleaning components during the second movement, thus improving the user experience.

[0047] According to a third aspect of the present disclosure, a cleaning device is provided, comprising: a body assembly, a floor brush assembly, and a controller; the body assembly is rotatably connected to the floor brush assembly, the body assembly has a handle on its top, the floor brush assembly is movable on a surface to be cleaned, the floor brush assembly includes a cleaning element and a scraper assembly, the cleaning element is configured to clean the surface to be cleaned by a roller brush, the scraper assembly is used to scrape off dirt from the surface to be cleaned, the scraper assembly includes a scraper and a drive unit, the scraper is disposed on the front side of the cleaning element in a first travel direction; the drive unit is configured to drive the scraper to switch between a first state and a second state; when the scraper is in the first state, the scraper is in contact with the surface to be cleaned; when the scraper is in the second state, there is a gap between the scraper and the surface to be cleaned; the cleaning device performs a first travel along the first travel direction, and after stopping the first travel, performs a second travel along a second travel direction opposite to the first travel direction; the controller is used to execute the control method described in the first or second aspect.

[0048] In the above embodiments, by compensating for the response time, the impact of the decision-making and execution process of the scraper moving from the second state to the first state during the transition of the cleaning device from the first to the second movement due to approaching an obstacle can be reduced, thereby improving the timeliness of the scraper moving from the second state to the first state. On the one hand, it can clean the cleaning blind spots generated by the cleaning components during the first movement of the cleaning device, reducing the cleaning blind spots; on the other hand, it can reduce the residual cleaning traces left by the cleaning components during the second movement, thereby improving the user experience.

[0049] In conjunction with the embodiments described in the third aspect, in some embodiments, in the first state, the bottom end of the scraper that contacts the surface to be cleaned deforms and extends toward the cleaning component.

[0050] In the above embodiments, the scraper moves closer to the cleaning component from a position far from it. During this approach, the cleaning component can scrape dirt from a distance into the cleaning range of the scraper. In conjunction with the embodiments described in the third aspect, in some embodiments, during the transition of the scraper from the second state to the first state, the movement trajectory of the bottom end of the scraper is an arc. In the first direction of travel, there is at least a first trajectory point on the arc. The distance between the first trajectory point and the cleaning component is greater than the distance between the bottom end of the scraper and the cleaning component in the second state.

[0051] or

[0052] During the process of the scraper switching from the second state to the first state, the movement trajectory of the bottom end of the scraper is a straight line, and the angle between the straight line and the first plane is an acute angle. The first plane is the part of the surface to be cleaned between the scraper and the cleaning component.

[0053] In the above embodiments, the squeegee can extend into the angle between the obstacle and the surface to be cleaned via an arc-shaped trajectory, scraping out the dirt deepest in the angle, thereby improving the cleaning effect. The squeegee can also extend into the angle between the obstacle and the surface to be cleaned, scraping out the dirt deepest in the angle, thereby improving the cleaning effect.

[0054] In conjunction with the embodiments described in the third aspect, in some embodiments, the cleaning device further includes a nozzle for spraying cleaning fluid onto the front side of the scraper in the first direction of travel;

[0055] The controller is used to: when the distance between the cleaning device and the obstacle in front of the first direction of travel is less than or equal to a preset spraying distance, control the nozzle to spray cleaning liquid downwards in the first direction of travel.

[0056] In the above embodiments, the cleaning equipment can spray cleaning fluid before the scraper is switched to the first state, so that the cleaning dead area is moistened, and then the scraper in the first state scrapes off the cleaning fluid on the surface to be cleaned, thereby improving the cleaning effect on the cleaning dead area.

[0057] In the cleaning equipment control method provided in this embodiment, the cleaning equipment includes: a body assembly and a floor brush assembly; the body assembly is rotatably connected to the floor brush assembly, the top of the body assembly is provided with a handle, the floor brush assembly is movable on the surface to be cleaned, the floor brush assembly includes a cleaning element and a scraper assembly, the cleaning element is used to clean the surface to be cleaned, the scraper assembly is used to scrape off dirt from the surface to be cleaned, the scraper assembly includes a scraper and a drive unit, the scraper is disposed on the front side of the cleaning element in a first traveling direction; the drive unit is configured to drive the scraper to switch between a first state and a second state; the scraper... When in the first state, the scraper is in contact with the surface to be cleaned; when in the second state, there is a gap between the scraper and the surface to be cleaned; the cleaning device moves in the first direction and then moves in the opposite direction after stopping the first movement; the method includes: controlling the scraper to remain in the second state during the first movement of the cleaning device; before moving in the second direction, at least compensating for the response time of the scraper switching from the second state to the first state, and controlling the scraper to switch to the first state. By compensating for the response time, the impact of the decision-making process and execution process of the scraper moving from the second state to the first state on the time point of the scraper reaching the first state can be reduced, improving the timeliness of the scraper moving from the second state to the first state. On the one hand, it can clean the cleaning blind spots generated by the cleaning device during the first movement, reducing the cleaning blind spots; on the other hand, it can reduce the residue of cleaning traces left by the cleaning device during the second movement, thereby improving the user experience. Attached Figure Description

[0058] Figure 1 is a schematic diagram of a cleaning device structure according to an exemplary embodiment;

[0059] Figure 2 is a schematic diagram of a cleaning device structure according to an exemplary embodiment;

[0060] Figure 3 is a schematic flowchart of a cleaning equipment control method according to an exemplary embodiment;

[0061] Figure 4 is a schematic diagram of a cleaning device cleaning according to an exemplary embodiment;

[0062] Figure 5 is a schematic diagram of another cleaning device cleaning according to an exemplary embodiment;

[0063] Figure 6 is a schematic diagram of another cleaning device cleaning according to an exemplary embodiment;

[0064] Figure 7 is a schematic flowchart of a cleaning equipment control method according to an exemplary embodiment;

[0065] Figure 8 is a schematic diagram of another cleaning device cleaning according to an exemplary embodiment;

[0066] Figure 9 is a schematic diagram of another cleaning device cleaning according to an exemplary embodiment;

[0067] Figure 10 is a schematic diagram of another cleaning device cleaning according to an exemplary embodiment;

[0068] Figure 11 is a schematic diagram of another cleaning device cleaning according to an exemplary embodiment. Detailed Implementation

[0069] To make the technical solution and beneficial effects of the present invention more apparent and understandable, a detailed description is provided below by listing specific embodiments. The accompanying drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application pertains.

[0070] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0071] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0072] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0073] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0074] In the embodiments disclosed herein, "multiple" refers to two or more.

[0075] In some embodiments, the terms “at least one of”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.

[0076] In some embodiments, the notation "at least one of A and B", "A and / or B", "A in one case, B in another", "A in one case, B in another", etc., may include the following technical solutions depending on the situation: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). The same applies when there are more branches such as A, B, C, etc.

[0077] In some embodiments, the notation "A or B" may include the following technical solutions, depending on the situation: in some embodiments, A (execution of A regardless of B); in some embodiments, B (execution of B regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The same applies when there are more branches such as A, B, C, etc.

[0078] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, value, or content of the descriptive objects. The description of the descriptive objects should be found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the value of the descriptive object is not limited by ordinal numbers and can be one or more. For example, in "first device," the value of "device" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. Similarly, if the object being described is "information", then "first information" and "second information" can be the same information or different information, and their content can be the same or different.

[0079] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0080] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “when…”, “when…”, “if…”, etc. can be used interchangeably.

[0081] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[0082] Furthermore, each element, each row, or each column in the table of this disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0083] Specifically, as shown in Figures 1 and 2, the cleaning equipment includes at least a body assembly 1 and a floor brush assembly 2; the body assembly 1 (not shown) is rotatably connected to the floor brush assembly 2, the top of the body assembly 1 is provided with a handle 11, and the floor brush assembly 2 is able to move on the surface to be cleaned.

[0084] In one possible implementation, the user can move the floor brush assembly 2 on the surface to be cleaned and control the direction of movement of the floor brush assembly 2 by pushing or pulling the handle 11.

[0085] In one possible implementation, the floor brush assembly 2 has at least a portion of the driving force that drives the body assembly 1 to move, the user provides part or all of the driving force for the movement of the floor brush assembly 2 through the handle 11, and the user can control the direction of movement of the floor brush assembly 2 through the handle 11.

[0086] In one possible implementation, the floor brush assembly 2 may include: a floor brush body 21, a controller (not shown), a walking system 22, a cleaning component 23, and a scraper 241 assembly 24, wherein the scraper 241 assembly 24 includes a scraper 241 and a drive unit 242.

[0087] In one possible implementation, the brush assembly 2 and / or the body assembly 1 may also include a sensing system (not shown).

[0088] The cleaning component 23 mentioned above may specifically include one or more of the following: roller brush, mop, etc.

[0089] In one possible implementation, the cleaning equipment also includes a clean water tank, a wastewater tank, and a vacuuming device. Any one of the clean water tank, wastewater tank, and vacuuming device can be located in the floor brush assembly 2 or in the body assembly 1.

[0090] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0091] In one possible implementation, the cleaning component 23 is located within the main brush chamber at the bottom of the floor brush body 21. The main brush chamber is connected to the suction channel of the cleaning device.

[0092] In one possible implementation, the cleaning equipment also includes a water spraying device and a wringing strip. The water spraying device is used to draw clean water from the clean water tank and spray it onto the cleaning component 23. The wringing strip is used to scrape the wastewater generated on the cleaning component 23 after cleaning the surface to be cleaned off the cleaning component 23 and suck it into the wastewater tank through a vacuuming device.

[0093] Referring to Figures 1 and 2, the walking system 22 is mounted on the floor brush body 21 and is used to support the movement of the floor brush assembly 2. The walking system 22 may or may not be powered.

[0094] The aforementioned sensor system may include at least one of the following: a vision sensor, a laser sensor, a gyroscope, an accelerometer, a speed sensor, a mechanical sensor, an infrared sensor, an ultrasonic sensor, and a visual sensor, to acquire at least one type of information, such as the motion status information, position information, and obstacle information of the cleaning equipment.

[0095] For example, speed sensors and accelerometers can be used to detect the speed and acceleration of the cleaning equipment. Infrared sensors, ultrasonic sensors, and vision sensors can be used to detect the distance between the cleaning equipment and obstacles. Here, the moving speed of the cleaning equipment can be the moving speed of the floor brush assembly 2.

[0096] The cleaning equipment can move in a first direction or in a second direction. The first and second directions are used to distinguish between the two different directions of movement of the cleaning equipment. For example, the first direction can be the forward direction of the cleaning equipment, and the second direction can be the backward direction of the cleaning equipment.

[0097] In one possible implementation, the cleaning device achieves first and second movement based on the user's push and pull.

[0098] In one possible implementation, the cleaning device achieves first and / or second movement based on its own power and / or the user's push or pull force.

[0099] The scraper 241 is disposed on the front side of the cleaning component 23 in the first travel direction; the drive unit 242 is configured to drive the scraper 241 to switch between a first state and a second state; the drive unit is configured to drive the scraper 241 to switch between the first state and the second state; when the scraper 241 is in the first state, the scraper 241 is in contact with the surface to be cleaned; when the scraper 241 is in the second state, there is a gap between the scraper 241 and the surface to be cleaned; the cleaning device performs a first travel along the first travel direction, and after stopping the first travel, performs a second travel along a second travel direction opposite to the first travel direction.

[0100] In one possible implementation, the drive unit 242 may include a motor and a transmission component. The transmission component converts the rotational force of the motor into a force that drives the scraper blade 241 to move up and down.

[0101] In one possible implementation, the first and second directions of travel are opposite.

[0102] Understandably, during the transition from the first to the second movement of the cleaning equipment, there will inevitably be a period of stagnation. Here, the duration of this stagnation is called the stop time.

[0103] In one possible implementation, the drive is used to drive the scraper 241 to move at least in a direction perpendicular to the ground, so that the scraper 241 can switch between a first state and a second state.

[0104] In one possible implementation, the scraper 241 is in contact with the surface to be cleaned when it is in the first state.

[0105] In one possible implementation, when the scraper 241 is in the first state, the scraper 241 has an interference portion with the mask to be cleaned.

[0106] The scraper 241 can be made of a flexible material, such as rubber or silicone. When the scraper 241 is in the first state, it is in a compressed state, or the part of the scraper 241 that is in contact with the surface to be cleaned can be in a deformed and extended state.

[0107] In one possible implementation, when the scraper 241 is in the second state, the bottom end of the scraper 241 near the surface to be cleaned has a predetermined gap with the surface to be cleaned.

[0108] In one possible implementation, the scraper 241 switches from the second state to the first state, and the movement time of the scraper 241 is relatively short. For example, the movement time of the scraper 241 can be considered to be approximately equal to 0.

[0109] Understandably, the pre-set gap cannot be too small. If the pre-set gap is too small, small solid particles will easily get stuck between the squeegee 241 and the surface to be cleaned, scratching the floor. In addition, if the gap is small, dirt will adhere more easily, making the squeegee 241 get dirty more easily and soiling the surface to be cleaned when it is lowered to the ground (the squeegee 241, roller brush, roller brush cover, and surface to be cleaned form a relatively closed area. If the gap is small, the airflow generated during the suction process is faster, and the bottom surface of the squeegee 241 will be in contact with more airflow, thus getting dirty more easily).

[0110] It is understood that the above-described cleaning equipment is for illustrative purposes only and does not constitute a limitation of the embodiments described in this specification.

[0111] The scraper 241 needs to be switched to the first state before the second movement. That is, when the cleaning device moves backward, the scraper 241 needs to be in contact with the surface to be cleaned, so that water stains remaining in the cleaning component 23 during the cleaning process can be scraped off when the cleaning device moves backward.

[0112] In actual working scenarios, the controller is used to trigger the scraper 241 to switch from the second state to the first state. The controller needs to combine sensor information (such as at least one type of information such as the cleaning equipment's motion status, position information, and obstacle information) to determine whether the scraper 241 needs to switch states. After the controller determines that the scraper 241 needs to switch and sends a switching signal, the drive unit 242 needs to drive the scraper 241 to move. In this process, the sensing system's sensing, the controller's decision-making, and / or the drive unit 242's driving all require a certain amount of time. That is, the actual time when the scraper 241 switches to the first state is lagging behind the theoretical time when the scraper 241 switches to the first state. Therefore, the scraper 241 usually switches to the first state during the second movement of the cleaning equipment, which results in stains that are not scraped off by the scraper 241 during the second movement.

[0113] Therefore, how to switch the scraper 241 to the first state before the cleaning equipment moves to the second stage, thereby improving the cleanliness of the surface to be cleaned and enhancing the customer experience, is an urgent problem to be solved.

[0114] Example 1

[0115] This disclosure provides a cleaning equipment control method, as shown in FIG3, the method comprising:

[0116] Step 301: During the first movement of the cleaning equipment, the scraper 241 is controlled to maintain the second state;

[0117] Step 302: Before proceeding to the second state, at least compensate for the response time of the scraper 241 switching from the second state to the first state, and control the scraper 241 to switch to the first state.

[0118] Here, during the first movement, the cleaning component 23 cleans the surface to be cleaned in the forward direction. Therefore, the scraper 241 remains in the second state to reduce the obstruction of the surface to be cleaned from entering the cleaning range of the cleaning component 23.

[0119] When the cleaning equipment is held by the user, it is usually moved in a reciprocating forward and backward motion. That is, the cleaning equipment switches back and forth between the first and second movements.

[0120] Understandably, there must be a period of time between the first and second movements where the cleaning equipment stops moving.

[0121] In this embodiment, the cleaning component 23 can be a roller brush, cleaning brush, bristle brush, brush disc, etc. One possible way for the cleaning component 23 to clean the surface to be cleaned is as described in the above embodiments, and will not be repeated here.

[0122] Figure 4 is a schematic diagram of the cleaning component 23 and the scraper 241 assembly 24 of the cleaning equipment. The cleaning component 23 can be a roller brush. From the first moving state to the stopped state, the cleaning blind area of ​​the cleaning component 23 is from the contact part between the roller brush and the surface to be cleaned to the position of the scraper 241 (as shown by arrow X in Figure 4) in the first moving direction. At the same time, during the first moving process, the cleaning component 23 will leave water stains or dirt and other cleaning traces on its covered moving trajectory, which need to be scraped off by the cleaning equipment in the second moving process. Therefore, the scraper 241 needs to be switched to the first state before the cleaning equipment moves to the second moving state, so as to clean the cleaning blind area and further clean the cleaning traces left by the cleaning component 23.

[0123] In one possible implementation, the response time may include at least one of the following:

[0124] The sensing system acquires sensing information that satisfies the switching of the scraper 241, and sends the sensing information to the controller for the sensing duration;

[0125] The controller processes the sensing information and sends a switching signal to trigger the scraper 241 to switch from the second state to the first state. This process takes a certain amount of time.

[0126] When the drive unit receives the switching signal, it transmits the driving force to the scraper 241, which determines the driving duration for the scraper 241 to begin switching.

[0127] In one possible implementation, the driving duration may include at least one of the following:

[0128] The duration for power units such as motors to generate driving force upon receiving a switching signal;

[0129] The driving force transmission structure between the power unit and the scraper 241 has a transmission delay caused by at least one of the following when transmitting driving force: friction, gap between components, inertia, and tolerance between components.

[0130] In one possible implementation, the response time and / or drive time can be obtained through actual measurements of the cleaning equipment.

[0131] In one possible implementation, compensating for the response time of the scraper 241 switching from the second state to the first state may include at least one of the following:

[0132] The response time can be compensated by adjusting the start time at which the scraper 241 switches from the second state to the first state. For example, the start time can be advanced.

[0133] The response time can be compensated by adjusting the moving speed of the scraper 241 from the second state to the first state. For example, the moving speed of the scraper 241 can be increased.

[0134] By compensating for the response time, the impact of the decision-making and execution process of the scraper 241 moving from the second state to the first state on the time when the scraper 241 reaches the first state can be reduced, thereby improving the timeliness of the scraper 241 moving from the second state to the first state. On the one hand, it can clean the cleaning blind spots generated by the cleaning component 23 during the first movement of the cleaning equipment, reducing the cleaning blind spots; on the other hand, it can reduce the residual cleaning traces left by the cleaning component 23 during the second movement, thereby improving the user experience.

[0135] In some embodiments, the cleaning device experiences a pause during the switching between the first and second movement; before proceeding with the second movement, at least one of the following is included: compensating for the response time of the scraper 241 switching from the second state to the first state, and controlling the scraper 241 to switch to the first state:

[0136] During the first movement of the cleaning device, the response time is compensated to control the scraper 241 to switch from the second state to the first state, so that when the cleaning device stops the first movement, the scraper 241 switches to the first state.

[0137] During the first movement of the cleaning device, the response time is compensated to control the scraper 241 to switch from the second state to the first state. When the cleaning device stops the first movement, the scraper 241 has not yet fully switched to the first state. Before the cleaning device starts the second movement, the scraper 241 is controlled to switch to the first state.

[0138] In response to the cleaning device stopping the first movement, the response time is compensated to control the scraper 241 to switch from the second state to the first state. The response time is less than or equal to the stagnation time. Before the cleaning device performs the second movement, the scraper 241 is controlled to switch to the first state.

[0139] Here, the movement of the cleaning equipment can include a first movement, a second movement, and a stopped state during the transition from the first movement to the second movement.

[0140] In one possible implementation, the controller determines the compensation duration based on the response duration and determines the trigger point for the scraper 241 to switch from the second state to the first state based on the compensation duration.

[0141] In one possible implementation, during the first movement of the cleaning equipment, the controller compensates for the response time to switch the scraper 241 from the second state to the first state, so that when the cleaning equipment is in a stopped state, the scraper 241 switches to the first state.

[0142] To compensate for the response time, the controller can switch the scraper 241 from the second state to the first state in advance. The controller can control the scraper 241 to switch from the second state to the first state before the cleaning equipment makes its first movement and enters the stop state.

[0143] By switching the state of the scraper 241 using at least one of the time during the first movement and the pause time during the transition between the first and second movements, the time during the second movement is no longer occupied. This allows the scraper 241 to be switched to the first state before the second movement, thereby achieving cleaning of blind spots and removing cleaning residues left during the second movement, thus improving the user experience.

[0144] In one possible implementation, the controller can determine the stopping time of the first movement based on the motion state information of the cleaning equipment. The stopping time of the first movement is also the starting time of the cleaning equipment entering the stopped state (i.e., the starting time of the stationary period).

[0145] For example, the controller can predict the stopping time of the first movement based on the speed of the first movement and the current acceleration of the cleaning device in the second movement direction, and control the scraper 241 to switch from the second state to the first state before the stopping time (i.e. during the first movement).

[0146] In some embodiments, the method further includes: stopping the first movement when the distance between the cleaning device and the obstacle in the first direction of travel is less than or equal to a predetermined interval distance, wherein the predetermined interval distance is less than 1 cm.

[0147] Here, the stopping time of the first movement can also be determined based on the distance between the cleaning equipment and the obstacle.

[0148] Here, the distance between the cleaning equipment and the obstacle can include at least one of the following:

[0149] The distance between the foremost edge of the cleaning equipment and the obstacle in the first direction of travel;

[0150] The distance between the scraper blade 241 and the obstacle;

[0151] The distance between the sensor used to detect obstacles and the obstacle;

[0152] The distance between the predetermined reference point of the cleaning equipment and the obstacle;

[0153] The distance between the point where the cleaning equipment is closest to the obstacle and the obstacle in the first direction of travel.

[0154] Understandably, the positions of various points on the cleaning equipment are relatively fixed. Therefore, by determining the distance between one point and an obstacle, the distances between other points and obstacles can be determined. This embodiment uses the distance between the scraper 241 and an obstacle as an example for illustration.

[0155] In one possible implementation, the predetermined interval distance can be 0, that is, the scraper 241 makes contact with or interferes with the obstacle.

[0156] When the cleaning equipment makes its first move, the controller can determine the time when the distance between the cleaning equipment and the obstacle is less than or equal to a predetermined interval as the stopping time of the first move.

[0157] The controller can also predict the stopping time of the first movement based on the perception of the sensing system.

[0158] In one possible implementation, the controller can predict the first stopping time based on the distance between the cleaning device and the obstacle in the first direction of travel, and trigger the scraper 241 to switch from the second state to the first state at a starting time before the stopping time, wherein the interval between the predicted stopping time and the starting time is greater than the response time. This improves the timeliness of the scraper 241 switching from the second state to the first state.

[0159] The controller can determine the start time for triggering the scraper 241 to switch from the second state to the first state based on the stopping time of the first movement, the compensation duration, and / or the stagnation duration of the cleaning equipment in the stopped state, and then adjust the timing of the scraper 241 switching to the first state.

[0160] Here, the controller can control the scraper 241 to switch to the first state at the moment the cleaning device stops during its first movement. The controller can also control the scraper 241 to switch to the first state when the cleaning device is stopped. This achieves the goal of switching the scraper 241 to the first state before the second movement.

[0161] The controller can determine whether the cleaning equipment is in a stopped state based on the sensing information of the sensing system, and control the scraper 241 to switch to the first state when the cleaning equipment is in a stopped state.

[0162] For example, if the controller determines that the speed of the cleaning equipment is 0, it controls the scraper 241 to switch to the first state.

[0163] In one possible implementation, the controller can control the scraper 241 to switch to the first state when it is in a stopped state after the first movement.

[0164] Here, the stopping time of the stopped state is greater than the stagnation time. Therefore, the scraper 241 can switch from the second state to the first state within the stagnation time.

[0165] In some embodiments, controlling the scraper 241 to switch from the second state to the first state includes at least one of the following:

[0166] During the first movement of the cleaning device, if the speed of the first movement is less than or equal to a speed threshold, the scraper 241 is controlled to switch from the second state to the first state.

[0167] During the first movement of the cleaning equipment, the acceleration of the cleaning equipment is towards the second movement direction and is greater than the acceleration threshold, thereby controlling the scraper 241 to switch from the second state to the first state.

[0168] During the first movement of the cleaning device, if the distance between the cleaning device and the obstacle in front of the first direction of movement is less than or equal to a distance threshold, the scraper 241 is controlled to switch from the second state to the first state.

[0169] During the first movement of the cleaning device, if the angle between the body assembly 1 and the surface to be cleaned is less than or equal to an angle threshold, the scraper 241 is controlled to switch from the second state to the first state.

[0170] Here, the stopping time of the first movement can also be predicted based on the speed of the first movement. The time intervals between the first movement stopping times when the cleaning equipment is at different speeds during user operation can be statistically analyzed in advance, allowing the stopping time of the cleaning equipment to be determined based on its current speed.

[0171] In one possible implementation, the speed threshold can be determined based on the time interval between different speeds of the cleaning device and the first stopping point, as well as the response time. This allows the scraper 241 to switch when the speed of the first movement is less than or equal to the speed threshold, and the scraper 241 can be switched to the first state before the second movement.

[0172] Here, the stopping time of the first movement can also be predicted based on the distance between the cleaning equipment and the obstacle. The time interval between the user using the cleaning equipment and the obstacle at different distances and the first stopping time (such as the time when the distance between the cleaning equipment and the obstacle is less than or equal to the predetermined distance) can be counted in advance, and then the stopping time of the cleaning equipment can be determined based on the current distance between the cleaning equipment and the obstacle.

[0173] In one possible implementation, the distance threshold can be determined based on the time interval between different interval distances of the cleaning device and the first stopping time, as well as the response time, etc. This allows the scraper 241 to be switched when the interval distance is less than or equal to the distance threshold, so that the scraper 241 can be switched to the first state before the second movement.

[0174] For example, as shown in Figure 5, the controller triggers the scraper 241 to switch from the second state to the first state when the cleaning device is moving for the first time and the distance to the obstacle is equal to a distance threshold. During the period from when the distance between the cleaning device and the obstacle is equal to the distance threshold until the distance between the cleaning device and the obstacle is equal to a preset interval distance, the scraper 241 switches from the first state to the second state. This period includes the response time for the scraper 241 to switch from the second state to the first state. Therefore, the scraper 241 can switch to the first state at the moment the first movement stops or in a stopped state after the first movement. Here, the preset interval distance is the distance between the cleaning device and the obstacle when the first movement stops. Thus, when the cleaning device is moving for the second time, the scraper 241 can perform supplementary cleaning of the cleaning blind spots between the cleaning component 23 and the obstacle, and can also completely clean the cleaning marks generated by the cleaning component 23 during the second movement, improving the cleaning effect.

[0175] In one possible implementation, the distance threshold is greater than or equal to a predetermined interval distance.

[0176] Here, the stopping time of the first movement can also be predicted based on the angle between the body assembly 1 and the surface to be cleaned. When using the cleaning equipment, the floor brush assembly 2 is typically moved by pushing and pulling the body assembly 1. The body assembly 1 and the floor brush assembly 2 are rotatably connected. During the pushing and pulling process, the floor brush assembly 2 remains parallel to the surface to be cleaned, thus changing the angle between the body assembly 1 and the surface. When the angle between the body assembly 1 and the surface is small, it indicates that the floor brush assembly 2 has been pushed to a relatively far position, meaning the cleaning equipment is about to stop its first movement. Therefore, the controller can determine the stopping time of the cleaning equipment based on the angle between the body assembly 1 and the surface to be cleaned.

[0177] In one possible implementation, the angle threshold can be determined based on the time interval between the cleaning device at different angles between the body component 1 and the surface to be cleaned, up to the first travel stop time, and the response time, etc. This allows the scraper 241 to be switched when the angle between the body component 1 and the surface to be cleaned is less than or equal to the angle threshold, so that the scraper 241 can be switched to the first state before the second travel.

[0178] The controller can also predict the motion state of the cleaning equipment based on its acceleration. When the cleaning device is moving in the first direction, if there is acceleration in the second direction of movement and the acceleration is greater than the acceleration threshold (for example, the user starts to decelerate the first movement of the cleaning device significantly), the controller can predict that the cleaning device will stop moving in the first direction and switch to moving in the second direction. At this time, the cleaning device can switch the scraper 241 from the second state to the first state.

[0179] By measuring the speed of the first movement, the acceleration in the second movement direction, the distance to the obstacle, and the angle between the body component 1 and the surface to be cleaned, the cleaning equipment can predict the transition from the first movement to the second movement. This allows for the early switching of the scraper 241 state, compensating for the response time, thereby cleaning blind spots and reducing the amount of cleaning residue left by the cleaning component 23 during the second movement, thus improving the user experience.

[0180] In some embodiments, the method further includes:

[0181] In response to the squeegee 241 switching to the first state during the first movement of the cleaning device, the squeegee 241 is controlled to switch to the second state.

[0182] Because users do not push and pull the cleaning equipment in a completely regular manner, the first, second, and / or stopping of the cleaning equipment is unpredictable. For example, the speed at which the user pushes and pulls the cleaning equipment is somewhat unpredictable; the controller predicts that the cleaning equipment will stop its first movement based on the cleaning equipment's movement, but the actual user may continue to push the cleaning equipment for the first movement.

[0183] In the above embodiments, after the controller switches the scraper 241 from the second state to the first state, the cleaning device may still be in the first movement. If the scraper 241 is in the first state while the cleaning device is in the first movement, the dirt in front of the cleaning component 23 in the first movement direction will be pushed away by the scraper 241 and will not be able to be cleaned by the cleaning component 23, thus affecting the cleaning effect.

[0184] Therefore, if the cleaning device is in the first movement and the scraper 241 switches to the first state, the controller can switch the scraper 241 to the second state to reduce the impact of the scraper 241 on the cleaning effect of the cleaning component 23 in the first movement.

[0185] In some embodiments, the method further includes at least one of the following:

[0186] Based on the first speed of the first movement, a second speed at which the scraper 241 switches from the second state to the first state is determined, wherein the first speed is negatively correlated with the second speed;

[0187] Based on the first speed of the first movement, determine the advance or lag offset of the start time of the switch of the scraper 241 from the second state to the first state;

[0188] Based on the first distance between the cleaning device and the obstacle in front of the first direction of travel at the initial moment, a third speed at which the scraper 241 switches from the first state to the second state is determined, wherein the first distance is negatively correlated with the third speed.

[0189] The controller can adjust the switching speed of the scraper 241 between the first and second states by controlling the drive unit 242 in the scraper 241 main unit. For example, the controller can adjust the rotational speed of the motor driving the scraper 241 to achieve the switching speed of the scraper 241 between the first and second states.

[0190] In one possible implementation, the first speed may include the speed at which the cleaning device moves when the controller triggers the scraper 241 from the second state to the first state.

[0191] The first speed is negatively correlated with the time interval between the current moment of the cleaning equipment and the first moment of stopping. The higher the first speed, the shorter the time the cleaning equipment stops moving during the first movement, and the lower the second speed of the scraper 241 can be. The lower the first speed, the longer the time the cleaning equipment stops moving during the first movement, and the higher the second speed of the scraper 241 can be.

[0192] In one possible implementation, the first speed can be the speed of the cleaning device as the scraper 241 transitions from the second state to the first state. As the scraper 241 transitions from the second state to the first state, the first speed of the cleaning device changes from fast to slow, and the second speed can correspondingly change from slow to fast. By adjusting the second speed, the response time of the scraper 241 can be adjusted, thereby adapting to different first-stage travel scenarios.

[0193] Since the first speed is negatively correlated with the time interval between the current moment of the cleaning equipment and the first moment of stopping, the response time can be compensated by adjusting the start time.

[0194] For example, the higher the initial speed, the shorter the time the cleaning equipment stops its initial movement, which can increase the advance offset or decrease the lag offset. Conversely, the lower the initial speed, the longer the time the cleaning equipment stops its initial movement, which can decrease the advance offset or increase the lag offset.

[0195] The controller can also adjust the third speed of the scraper 241 from the second state to the first state based on the first distance between the cleaning device and the obstacle at the start time.

[0196] In an exemplary embodiment, the greater the first distance, the longer the cleaning device stops its first movement, and the lower the third speed of the scraper 241 can be. Conversely, the smaller the first distance, the shorter the time the cleaning device stops its first movement, and the higher the second speed of the scraper 241 can be. This allows the device to switch to the first state at the moment the first movement stops or when the cleaning device is in a stopped state.

[0197] By using the first speed and the first distance, the descent speed and / or descent offset of the scraper 241 can be adjusted, thereby improving the control accuracy of the scraper 241 and adapting to the switching of the scraper 241 in different scenarios.

[0198] Example 2

[0199] Here, as shown in Figure 6, if there is an obstacle in the first direction of travel during the first movement of the cleaning equipment, the cleaning equipment can stop the first movement when the distance between it and the obstacle is less than or equal to a predetermined interval.

[0200] The stopping time of the first movement can also be determined based on the distance between the cleaning equipment and the obstacle. Here, the distance between the cleaning equipment and the obstacle can include at least one of the following: the distance between the foremost point of the cleaning equipment and the obstacle in the first movement direction; the distance between the scraper 241 and the obstacle; the distance between the sensor used to sense the obstacle and the obstacle; and the distance between a predetermined reference point of the cleaning equipment and the obstacle.

[0201] Understandably, the positions of various points on the cleaning equipment are relatively fixed. Therefore, by determining the distance between one point and an obstacle, the distances between other points and obstacles can be determined. This embodiment uses the distance between the scraper 241 and an obstacle as an example for illustration.

[0202] In one possible implementation, the predetermined interval distance can be 0, that is, the scraper 241 makes contact with or interferes with the obstacle.

[0203] When the cleaning equipment makes its first move, the controller can determine the stopping time of the first move as the point in time when the distance between the cleaning equipment and the obstacle is less than or equal to a predetermined interval. The controller can also predict the stopping time of the first move in advance based on the sensing system.

[0204] Accordingly, this disclosure provides a cleaning equipment control method, as shown in FIG7, the method comprising:

[0205] Step 701: During the first movement of the cleaning equipment, the scraper 241 is controlled to maintain the second state;

[0206] Step 702: Before proceeding to the second state, at least compensate for the response time of the scraper 241 switching from the second state to the first state, and control the scraper 241 to switch to the first state so that the scraper 241 can clean the surface to be cleaned between the scraper 241 and the cleaning component 23 when the cleaning device stops during the second state of the cleaning device.

[0207] In one possible implementation, the controller can trigger the wiper 241 to switch from the second state to the first state at a start time before the first stopping time, wherein the interval between the predicted stopping time and the start time is greater than the response time. This improves the timeliness of the wiper 241 switching from the second state to the first state.

[0208] The controller can determine the start time for triggering the scraper 241 to switch from the second state to the first state based on the stopping time of the first movement, the compensation duration, and / or the stagnation duration of the cleaning equipment in the stopped state, and then adjust the timing of the scraper 241 switching to the first state.

[0209] Here, the controller can control the scraper 241 to switch to the first state at the moment the cleaning device stops during its first movement. The controller can also control the scraper 241 to switch to the first state when the cleaning device is stopped. This achieves the goal of switching the scraper 241 to the first state before the second movement.

[0210] The controller can determine whether the cleaning equipment is in a stopped state based on the sensing information of the sensing system, and control the scraper 241 to switch to the first state when the cleaning equipment is in a stopped state.

[0211] For example, if the controller determines that the speed of the cleaning equipment is 0, it controls the scraper 241 to switch to the first state.

[0212] In one possible implementation, the controller can control the scraper 241 to switch to the first state when it is in a stopped state after the first movement.

[0213] In one possible implementation, the response time may include at least one of the following:

[0214] The sensing system acquires sensing information that satisfies the switching of the scraper 241, and sends the sensing information to the controller for the sensing duration;

[0215] The controller processes the sensing information and sends a switching signal to trigger the scraper 241 to switch from the second state to the first state. This process takes a certain amount of time.

[0216] When the drive unit receives the switching signal, it transmits the driving force to the scraper 241, which determines the driving duration for the scraper 241 to begin switching.

[0217] In one possible implementation, the driving duration may include at least one of the following:

[0218] The duration for power units such as motors to generate driving force upon receiving a switching signal;

[0219] The driving force transmission structure between the power unit and the scraper 241 has a transmission delay caused by at least one of the following when transmitting driving force: friction, gap between components, inertia, and tolerance between components.

[0220] In one possible implementation, the response time and / or drive time can be obtained through actual measurements of the cleaning equipment.

[0221] In one possible implementation, compensating for the response time of the scraper 241 switching from the second state to the first state may include at least one of the following:

[0222] The response time can be compensated by adjusting the start time at which the scraper 241 switches from the second state to the first state. For example, the start time can be advanced.

[0223] The response time can be compensated by adjusting the moving speed of the scraper 241 from the second state to the first state. For example, the moving speed of the scraper 241 can be increased.

[0224] By compensating for the response time, the impact of the decision-making and execution process of the scraper 241 moving from the second state to the first state during the transition from the first to the second movement of the cleaning equipment due to approaching an obstacle can be reduced. This improves the timeliness of the scraper 241 moving from the second state to the first state. On the one hand, it can clean the cleaning blind spots generated by the cleaning component 23 during the first movement of the cleaning equipment, reducing the cleaning blind spots. On the other hand, it can reduce the residual cleaning traces left by the cleaning component 23 during the second movement, thereby improving the user experience.

[0225] In some embodiments, the cleaning device experiences a pause during the switching between the first and second movement; before proceeding with the second movement, at least one of the following is included: compensating for the response time of the scraper 241 switching from the second state to the first state, and controlling the scraper 241 to switch to the first state:

[0226] During the first movement of the cleaning device, the response time is compensated to control the scraper 241 to switch from the second state to the first state, so that the scraper 241 switches to the first state when the distance between the cleaning device and the obstacle is less than or equal to the predetermined interval distance.

[0227] During the first movement of the cleaning device, the response time is compensated to control the scraper 241 to switch from the second state to the first state. When the cleaning device stops the first movement, the scraper 241 has not yet fully switched to the first state. Before the cleaning device moves to the second movement, the scraper 241 is controlled to switch to the first state.

[0228] In response to the cleaning device being less than or equal to a predetermined interval distance from the obstacle, the scraper 241 is controlled to switch from the second state to the first state to compensate for the response time. The response time is less than or equal to the stagnation time. The scraper 241 is controlled to switch to the first state before the cleaning device performs the second movement.

[0229] Here, the movement of the cleaning equipment can include a first movement, a second movement, and a stopped state during the transition from the first movement to the second movement.

[0230] In one possible implementation, the controller determines the compensation duration based on the response duration and determines the trigger point for the scraper 241 to switch from the second state to the first state based on the compensation duration.

[0231] In one possible implementation, during the first movement of the cleaning equipment, the controller compensates for the response time to switch the scraper 241 from the second state to the first state, so that when the cleaning equipment is in a stopped state, the scraper 241 switches to the first state.

[0232] To compensate for the response time, the controller can switch the scraper 241 from the second state to the first state in advance. The controller can control the scraper 241 to switch from the second state to the first state when the cleaning equipment is at a distance less than or equal to the predetermined interval from the obstacle.

[0233] In one possible implementation, the controller can determine the stopping time of the first movement based on the distance between the cleaning device and the obstacle. The stopping time of the first movement is also the starting time of the cleaning device entering the stopped state.

[0234] For example, the controller can predict the stopping time of the first movement based on the distance between the cleaning device and the obstacle, and control the scraper 241 to switch from the second state to the first state before the stopping time (when the cleaning device moves to a distance less than or equal to the predetermined interval distance from the obstacle).

[0235] When the cleaning equipment makes its first move, the controller can determine the time when the distance between the cleaning equipment and the obstacle is less than or equal to a predetermined interval as the stopping time of the first move.

[0236] The controller can also predict the stopping time of the first movement based on the perception of the sensing system.

[0237] In one possible implementation, the controller can trigger the scraper 241 to switch from the second state to the first state at a start time before the first stopping time, wherein the interval between the predicted stopping time and the start time is greater than the response time. This improves the timeliness of the scraper 241 switching from the second state to the first state.

[0238] The controller can determine the start time for triggering the scraper 241 to switch from the second state to the first state based on the stopping time of the first movement, the compensation duration, and / or the stagnation duration of the cleaning equipment in the stopped state, and then adjust the timing of the scraper 241 switching to the first state.

[0239] As shown in Figure 8, the controller can control the scraper 241 to switch to the first state at the moment the cleaning device stops during its first movement. The controller can also control the scraper 241 to switch to the first state when the cleaning device is stopped. This achieves the goal of switching the scraper 241 to the first state before the second movement.

[0240] The controller can determine whether the cleaning equipment is in a stopped state based on the sensing information from the sensing system. When the cleaning equipment is in a stopped state, the controller controls the scraper 241 to switch to a first state. Here, the stopped state can be defined as the distance between the cleaning equipment and the obstacle being less than or equal to a predetermined interval distance.

[0241] For example, if the controller determines that the speed of the cleaning equipment is 0, it controls the scraper 241 to switch to the first state.

[0242] In one possible implementation, the controller can control the scraper 241 to switch to the first state when it is in a stopped state after the first movement.

[0243] Where there is no contradiction, Embodiment 2 may include any one or more embodiments of Embodiment 1, which will not be repeated here.

[0244] Example 3,

[0245] This application also provides a cleaning device, such as a floor scrubber, which includes a controller. The control device is used to execute the cleaning device control method as described in any of the above embodiments, and will not be elaborated further here.

[0246] In some embodiments, in the first state, the bottom end of the scraper 241 that contacts the surface to be cleaned deforms and extends toward the cleaning member 23.

[0247] The scraper 241 can be made of flexible materials such as rubber or silicone.

[0248] In one possible implementation, the bottom end of the scraper 241 can be provided with a bevel. When the bottom surface contacts the surface to be cleaned, the bottom end deforms and extends toward the cleaning component 23 due to the guiding effect of the bevel.

[0249] In one possible implementation, the scraper 241 can be tilted at a predetermined angle relative to the direction perpendicular to the surface to be cleaned, so that the bottom end is biased toward the cleaning element 23. When the bottom surface contacts the surface to be cleaned, the bottom end deforms and extends toward the cleaning element 23 due to the tilt of the scraper 241.

[0250] In one possible implementation, the length of the deformed extension of the scraper 241 is greater than or equal to the size of the cleaning blind spot between the scraper 241 and the cleaning element 23. After the scraper 241 deforms and extends, it can push the dirt in the cleaning blind spot to the cleaning element 23 for cleaning, thereby improving the cleaning effect.

[0251] In some embodiments, as shown in FIG9, during the process of the scraper 241 switching from the second state to the first state, the movement trajectory of the bottom end of the scraper 241 is an arc, wherein, in the first direction of travel, there is at least a first trajectory point on the arc, and the distance between the first trajectory point and the cleaning component 23 is greater than the distance between the bottom end of the scraper 241 and the cleaning component 23 in the second state.

[0252] In one possible implementation, the movement trajectory of the bottom end of the scraper 241 can be an arc, so that when the scraper 241 approaches the cleaning member 23 from a position far away from the cleaning member 23, the cleaning member 23 can scrape the dirt at the far end into the cleaning range of the scraper 241 during the approach process.

[0253] As shown in Figure 9, the scraper 241 can extend into the angle between the obstacle and the surface to be cleaned through an arc-shaped movement trajectory, and scrape out the dirt deepest in the angle, thereby improving the cleaning effect.

[0254] In some embodiments, as shown in FIG10, during the process of the scraper 241 switching from the second state to the first state, the movement trajectory of the bottom end of the scraper 241 is a straight line, and the angle between the straight line and the first plane is an acute angle. The first plane is the part of the surface to be cleaned between the scraper 241 and the cleaning component 23.

[0255] As shown in Figure 10, during the transition of the scraper 241 to the first state, the movement direction of the bottom end of the scraper 241 includes at least the first traveling direction, that is, the movement trajectory of the scraper 241 includes both the first traveling direction and the direction towards the surface to be cleaned. In this way, the scraper 241 can extend into the angle between the obstacle and the surface to be cleaned, scraping out the dirt deepest in the angle, thereby improving the cleaning effect.

[0256] In some embodiments, as shown in FIG11, the cleaning device further includes a nozzle 25 for spraying cleaning liquid onto the front side of the scraper 241 in the first direction of travel;

[0257] The controller is used to: when the distance between the cleaning device and the obstacle in front of the first direction of travel is less than or equal to a preset spraying distance, control the nozzle 25 to spray cleaning liquid downwards in the first direction of travel.

[0258] In one possible implementation, the cleaning fluid may include at least one of the following: water and cleaning agent.

[0259] Here, nozzle 25 can spray cleaning fluid during the first pass of the cleaning equipment.

[0260] In one possible implementation, the sprayed cleaning fluid from nozzle 25 does not exceed the scraper 241 in the first travel direction.

[0261] In one possible implementation, the squeegee 241 in the first state can spray the cleaning fluid onto the squeegee during the second travel.

[0262] In one possible implementation, the nozzle 25 may have the spraying timing controlled by a controller.

[0263] In one possible implementation, the spray can be applied based on user input to spray the cleaning solution.

[0264] In one possible implementation, the preset spray distance is greater than a distance threshold. In this way, the cleaning device can spray cleaning fluid before the scraper 241 switches to the first state, and then the scraper 241 in the first state scrapes off the cleaning fluid from the surface to be cleaned, thereby cleaning the surface to be cleaned.

[0265] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described cleaning equipment control method.

[0266] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning equipment in the above embodiment. Its implementation principle and technical effect are similar, and will not be described again in this embodiment.

[0267] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0268] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in an electronic device or a host device.

[0269] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0270] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0271] In the description of this specification, references to "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0272] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling cleaning equipment, characterized in that, The cleaning device includes a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are rotatably connected, the body assembly has a handle on its top, the floor brush assembly is movable on the surface to be cleaned, the floor brush assembly includes a cleaning element and a scraper assembly, the cleaning element is used to clean the surface to be cleaned, the scraper assembly is used to scrape off dirt from the surface to be cleaned, the scraper assembly includes a scraper and a drive unit, the scraper is located on the front side of the cleaning element in a first travel direction; the drive unit is configured to drive the scraper to switch between a first state and a second state; when the scraper is in the first state, the scraper is in contact with the surface to be cleaned; when the scraper is in the second state, there is a gap between the scraper and the surface to be cleaned; the cleaning device travels in the first travel direction for a first time, and after stopping the first travel, travels in the second travel direction opposite to the first travel direction for a second time; The method includes: During the first movement of the cleaning equipment, the scraper is controlled to maintain the second state; Before proceeding to the second state, at least the response time for the scraper to switch from the second state to the first state is compensated, and the scraper is controlled to switch to the first state.

2. The method according to claim 1, characterized in that, The cleaning device experiences a pause during the switching between the first and second movement; before proceeding with the second movement, at least one of the following is included: compensating for the response time of the scraper blade switching from the second state to the first state, and controlling the scraper blade to switch to the first state: During the first movement of the cleaning device, the response time is compensated to control the squeegee to switch from the second state to the first state, so that the squeegee switches to the first state when the cleaning device stops the first movement. During the first movement of the cleaning device, the response time is compensated to control the scraper to switch from the second state to the first state. When the cleaning device stops the first movement, the scraper has not yet fully switched to the first state. Before the cleaning device moves to the second state, the scraper is controlled to switch to the first state. In response to the cleaning device stopping the first movement, the response time is compensated to control the scraper to switch from the second state to the first state, wherein the response time is less than or equal to the stagnation time, and the scraper is controlled to switch to the first state before the cleaning device performs the second movement.

3. The method according to claim 2, characterized in that, The method further includes: when the distance between the cleaning device and the obstacle in the first direction of travel is less than or equal to a predetermined interval distance, stopping the first movement, wherein the predetermined interval distance is less than 1 cm.

4. The method according to claim 1 or 2, characterized in that, The control of the scraper to switch from the second state to the first state includes at least one of the following: During the first movement of the cleaning device, if the speed of the first movement is less than or equal to a speed threshold, the scraper is controlled to switch from the second state to the first state. During the first movement of the cleaning equipment, the acceleration of the cleaning equipment is directed toward the second movement direction and is greater than the acceleration threshold, thereby controlling the scraper to switch from the second state to the first state. During the first movement of the cleaning device, if the distance between the cleaning device and the obstacle in front of the first direction of movement is less than or equal to a distance threshold, the scraper is controlled to switch from the second state to the first state. During the first movement of the cleaning device, if the angle between the body component and the surface to be cleaned is less than or equal to an angle threshold, the scraper is controlled to switch from the second state to the first state.

5. The method according to claim 2, characterized in that, The method further includes: In response to the squeegee switching to the first state during the first movement of the cleaning device, the squeegee is controlled to switch to the second state.

6. The method according to claim 2, characterized in that, The method further includes at least one of the following: Based on the first speed of the first movement, a second speed at which the scraper blade switches from the second state to the first state is determined, wherein the first speed is negatively correlated with the second speed; Based on the first speed of the first movement, determine the advance or lag offset of the start time of the switch of the scraper from the second state to the first state; Based on the first distance between the cleaning device and the obstacle in front of the first direction of travel at the initial moment, a third speed at which the scraper blade switches from the first state to the second state is determined, wherein the first distance is negatively correlated with the third speed.

7. A method for controlling cleaning equipment, characterized in that, The cleaning device includes: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are rotatably connected, the body assembly has a handle on its top, the floor brush assembly is movable on the surface to be cleaned, the floor brush assembly includes a cleaning element and a scraper assembly, the cleaning element is used to clean the surface to be cleaned, the scraper assembly is used to scrape off dirt from the surface to be cleaned, the scraper assembly includes a scraper and a drive unit, the scraper is located on the front side of the cleaning element in a first direction of travel; the drive unit is configured to drive the scraper to switch between a first state and a second state; when the scraper is in the first state, the scraper is in contact with the surface to be cleaned; when the scraper is in the second state, there is a gap between the scraper and the surface to be cleaned; the cleaning device travels in the first direction of travel, stops traveling in the first direction of travel when the distance between the cleaning device and an obstacle on the front side of the first direction of travel is less than or equal to a predetermined interval distance, and travels in the second direction of travel in the opposite direction to the first direction of travel, wherein the predetermined interval distance is less than 1 cm; The method includes: During the first movement of the cleaning equipment, the scraper is controlled to maintain the second state; Before proceeding to the second state, at least the response time of the scraper blade switching from the second state to the first state is compensated, and the scraper blade is controlled to switch to the first state so that the scraper blade can clean the surface to be cleaned between the scraper blade and the cleaning component when the cleaning device stops during the second state of the cleaning device.

8. The method according to claim 7, characterized in that, The cleaning device experiences a pause during the switching between the first and second movement; before proceeding with the second movement, at least one of the following is included: compensating for the response time of the scraper blade switching from the second state to the first state, and controlling the scraper blade to switch to the first state: During the first movement of the cleaning device, the response time is compensated to control the scraper to switch from the second state to the first state, so that the scraper switches to the first state when the cleaning device is less than or equal to the predetermined interval distance from the obstacle. During the first movement of the cleaning device, the response time is compensated to control the scraper to switch from the second state to the first state. When the cleaning device stops the first movement, the scraper has not yet fully switched to the first state. Before the cleaning device moves to the second state, the scraper is controlled to switch to the first state. In response to the cleaning device being less than or equal to a predetermined interval distance from the obstacle, the scraper is controlled to switch from the second state to the first state to compensate for the response time. The response time is less than or equal to the stagnation time. The scraper is controlled to switch to the first state before the cleaning device performs the second movement.

9. The method according to claim 7 or 8, characterized in that, The control of the scraper to switch from the second state to the first state includes at least one of the following: During the first movement of the cleaning device, if the speed of the first movement is less than or equal to a speed threshold, the scraper is controlled to switch from the second state to the first state. During the first movement of the cleaning equipment, the acceleration of the cleaning equipment is directed toward the second movement direction and is greater than the acceleration threshold, thereby controlling the scraper to switch from the second state to the first state. During the first movement of the cleaning device, if the distance between the cleaning device and the obstacle is less than or equal to a distance threshold, the scraper is controlled to switch from the second state to the first state, wherein the distance threshold is greater than the predetermined interval distance; During the first movement of the cleaning device, if the angle between the body component and the surface to be cleaned is less than or equal to an angle threshold, the scraper is controlled to switch from the second state to the first state.

10. A cleaning device, characterized in that, The cleaning device includes: a body assembly, a floor brush assembly, and a controller; the body assembly is rotatably connected to the floor brush assembly, the top of the body assembly is provided with a handle, the floor brush assembly is movable on the surface to be cleaned, the floor brush assembly includes a cleaning element and a scraper assembly, the cleaning element is configured to clean the surface to be cleaned by a roller brush, the scraper assembly is used to scrape off dirt from the surface to be cleaned, the scraper assembly includes a scraper and a drive unit, the scraper is disposed on the front side of the cleaning element in a first travel direction; the drive unit is configured to drive the scraper to switch between a first state and a second state; when the scraper is in the first state, the scraper is in contact with the surface to be cleaned; when the scraper is in the second state, there is a gap between the scraper and the surface to be cleaned; the cleaning device performs a first travel along the first travel direction, and after stopping the first travel, performs a second travel along a second travel direction opposite to the first travel direction; the controller is used to execute the control method according to any one of claims 1 to 9.

11. The cleaning equipment according to claim 10, characterized in that, In the first state, the bottom end of the scraper that contacts the surface to be cleaned extends toward the cleaning component in a deformable manner.

12. The cleaning equipment according to claim 10 or 11, characterized in that, During the process of the scraper switching from the second state to the first state, the movement trajectory of the bottom end of the scraper is an arc. In the first direction of travel, there is at least a first trajectory point on the arc. The distance between the first trajectory point and the cleaning component is greater than the distance between the bottom end of the scraper and the cleaning component when the scraper is in the second state. or During the process of the scraper switching from the second state to the first state, the movement trajectory of the bottom end of the scraper is a straight line, and the angle between the straight line and the first plane is an acute angle. The first plane is the part of the surface to be cleaned between the scraper and the cleaning component.

13. The cleaning equipment according to claim 10 or 11, characterized in that, The cleaning device also includes a nozzle for spraying cleaning liquid onto the front side of the scraper in the first direction of travel; The controller is used to: when the distance between the cleaning device and the obstacle in front of the first direction of travel is less than or equal to a preset spraying distance, control the nozzle to spray cleaning liquid downwards in the first direction of travel.

Images