Control method for cleaning apparatus

Abstract

Provided in the present application is a control method for a cleaning apparatus, the cleaning apparatus comprising a rolling brush device, a wiping plate device and a squeegee device, the rolling brush device being rotatable so as to clean a surface to be cleaned, the squeegee device being arranged on the front side of the rolling brush device, and the wiping plate device being arranged between the rolling brush device and the squeegee device. The cleaning apparatus has a first cleaning mode and a second cleaning mode. The control method is configured to: in response to a cleaning instruction, cause the cleaning apparatus to enter the first cleaning mode, and acquire a motion state of the cleaning apparatus; on the basis of the motion state of the cleaning apparatus, control the squeegee device to ascend or descend; after a switching instruction is received, cause the cleaning apparatus to switch from the first cleaning mode to the second cleaning mode, and acquire position information of the squeegee device; and, on the basis of the position information of the squeegee device, control the wiping plate device to ascend or descend.

Description

Control methods for cleaning equipment

[0001] This application claims priority to Chinese Patent Application No. 202510121459.5, filed on January 24, 2025, entitled "Control Method for Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] Floor scrubbers and other cleaning equipment have become increasingly popular due to their high mopping efficiency and convenience, which greatly reduces the labor intensity and time spent on housework.

[0004] Most floor scrubbers currently use roller brushes and other cleaning components to clean surfaces. However, when stubborn stains are present, the roller brush, with its soft bristles, often struggles to effectively remove them, impacting cleaning results and user experience. Summary of the Invention

[0005] This application provides a control method for cleaning equipment, which can effectively clean different stains using a scraper device and a wiping plate device, thereby improving the cleaning effect of the cleaning equipment and enhancing the user experience.

[0006] This application provides a control method for a cleaning device, the cleaning device comprising: a housing having a cleaning chamber; a roller brush rotatably disposed in the cleaning chamber for cleaning a surface to be cleaned; a scraper movably disposed in front of the roller brush; and a wiping plate movably disposed in front of the roller brush and located between the scraper and the roller brush; the cleaning device includes a first cleaning mode and a second cleaning mode; the control method is configured to: in response to a cleaning command, the cleaning device enters the first cleaning mode and acquires the movement state of the cleaning device; control the scraper to rise or fall according to the movement state of the cleaning device; upon receiving a switching command, the cleaning device switches from the first cleaning mode to the second cleaning mode and acquires the position information of the scraper; and control the wiping plate to rise or fall according to the position information of the scraper.

[0007] The control method of the cleaning equipment in this embodiment is based on the cleaning equipment being equipped with a scraper device and a wiping plate device for cleaning stubborn stains. The working control logic of the cleaning equipment is set to first respond to a cleaning command and enter a first cleaning mode, where the scraper device works in conjunction with the roller brush device to perform the cleaning task; when encountering stubborn stains, it responds to a switching command and enters a second cleaning mode, ensuring that the wiping plate device moves to the working position in time to loosen the stubborn stains through hard friction, making them easier for the roller brush device to remove. In this way, the cleaning equipment of this application can effectively clean different stains with matching cleaning components, eliminating the need for manual cleaning. In addition, in the first cleaning mode, the scraper device is controlled to rise or fall according to the movement state of the cleaning equipment, which can avoid mutual interference between the scraper device and the roller brush device. In the second cleaning mode, the wiping plate device is controlled to rise or fall according to the position information of the scraper device, which can also avoid mutual interference between the scraper device and the wiping plate device, thereby ensuring the cleaning efficiency of the cleaning equipment.

[0008] In some embodiments, controlling the scraper device to rise or fall according to the movement state of the cleaning equipment includes: if the current movement direction of the cleaning equipment is the direction of the roller brush device towards the wiping plate device or when it is stationary, controlling the scraper device to remain in a suspended position until the movement state of the cleaning equipment switches to the direction of the roller brush device moving away from the wiping plate device, then controlling the scraper device to fall to the working position; if the current movement direction of the cleaning equipment is the direction of the roller brush device moving away from the wiping plate device, controlling the scraper device to fall to the working position.

[0009] This prevents the scraper device from interfering with the cleaning operation of the roller brush device, ensuring the cleaning efficiency of the cleaning equipment.

[0010] In some embodiments, controlling the wiping device to rise or fall according to the position information of the scraper device includes: if the scraper device is in the working position, controlling the scraper device to rise to the suspended position, and then controlling the wiping device to fall to clean the cleaning surface; if the scraper device is in the suspended position, controlling the wiping device to fall to clean the surface to be cleaned.

[0011] This prevents the wiping device and the scraper device from contacting the surface to be cleaned simultaneously, thus avoiding multiple points of support between the cleaning equipment and the surface to be cleaned, which helps to ensure the cleaning effect and efficiency of the wiping device and the scraper device respectively.

[0012] In some embodiments, the control method further includes: in the second cleaning mode, determining the current motion state of the cleaning device, the motion state including: a stationary state and a direction of motion; and controlling the motion of the wiping plate device according to the motion state.

[0013] After receiving the cleaning instruction, the first step is to determine the movement status of the cleaning equipment. Based on the movement status, the movement of the wiping plate device is executed. This helps to avoid interference between the lowering wiping plate device and the operation of other cleaning components, thereby ensuring the cleaning effect and work efficiency of the cleaning equipment.

[0014] In some embodiments, controlling the movement of the wiping device according to the motion state includes: if the current movement direction of the cleaning equipment is the direction in which the roller brush device faces the wiping device or when it is stationary, controlling the wiping device to remain in a suspended position until the movement state of the cleaning equipment switches to the direction in which the roller brush device moves away from the wiping device, then controlling the wiping device to descend to the working position.

[0015] In this embodiment, the triggering timing for the wiping device to descend to the working position is as follows: if the cleaning equipment is currently moving forward, after receiving the cleaning command, the wiping device is first controlled to remain suspended in the air to prevent it from pushing away dirt of a certain volume, such as movable impurity particles, from the surface to be cleaned, thus preventing the roller brush device from effectively cleaning the dirt; until the cleaning equipment has moved forward and completed the cleaning of the planned path, and then adjusted its direction of travel to backward, the wiping device is controlled to descend to the working position, and the wiping device is used to further clean the stubborn stains that the roller brush device has not removed, to ensure thorough cleaning.

[0016] In some embodiments, controlling the movement of the wiping device according to the motion state includes: if the current movement direction of the cleaning equipment is the direction in which the roller brush device faces away from the wiping device, controlling the wiping device to descend to the working position.

[0017] This reduces the waiting time for the wiping device.

[0018] In some embodiments, controlling the wiping device to descend in order to clean the surface to be cleaned includes: controlling the wiping device to rise to a suspended position when the cleaning device moves in the direction of the roller brush device toward the wiping device, and controlling the wiping device to descend to a working position when the cleaning device moves in the direction of the roller brush device away from the wiping device.

[0019] Thus, during the cleaning process, when the cleaning equipment moves forward, the wiping device is raised to a suspended position to prevent it from pushing away dirt or impurities of a certain size on the surface to be cleaned, thus preventing the roller brush device from effectively cleaning the dirt.

[0020] In some embodiments, the wiping device is controlled to descend to clean the surface to be cleaned, including a first cleaning stage and a second cleaning stage; the first cleaning stage involves controlling the wiping device to rise to a suspended position when the cleaning device moves toward the wiping device, and controlling the wiping device to descend to a working position when the cleaning device moves away from the wiping device; the second cleaning stage involves controlling the wiping device to descend to the working position when the cleaning device moves.

[0021] Specifically, when the cleaning equipment moves, controlling the wiping device to descend to the working position means that regardless of whether the cleaning equipment is moving forward or backward to clean the surface to be cleaned, the wiping device is always lowered to the working position to contact the surface to be cleaned and scrape it. Thus, in the first cleaning stage, to avoid pushing away any dirt that may be present on the surface to be cleaned, the wiping device is raised to a suspended position when moving forward and lowered to the working position when moving backward. This prevents the wiping device from pushing away dirt of a certain size, such as impurities or particles, from the surface to be cleaned, thus preventing the roller brush device from effectively cleaning the dirt. In the second cleaning stage, regardless of whether the cleaning equipment is moving forward or backward, the wiping device is controlled to descend to the working position to contact the surface to be cleaned. This is mainly because any dirt that might have been pushed away on the surface to be cleaned has already been cleaned. Therefore, to improve the cleaning efficiency for stubborn stains, the cleaning equipment also lowers the wiping device to the working position when moving forward.

[0022] In some embodiments, the cleaning equipment further includes a foam spraying device for spraying foam onto the surface to be cleaned; the control method further includes controlling the foam spraying device to spray foam onto the surface to be cleaned after receiving the switching command.

[0023] In this way, after the foam dissolves and softens stubborn stains, it can reduce the cleaning difficulty of cleaning components such as roller brush devices, scraper devices, and wiping devices, thereby improving the cleaning effect and cleaning efficiency.

[0024] In some embodiments, controlling the foam spraying device to spray foam onto the surface to be cleaned includes: controlling the foam spraying device to spray foam onto the surface to be cleaned when it is determined that the cleaning equipment is moving in a direction along the roller brush device toward the wiping plate device; and controlling the foam spraying device to stop spraying foam when it is determined that the cleaning equipment is moving in a direction away from the wiping plate device.

[0025] Thus, in scenarios where the scrubbing device lowers when the cleaning equipment moves backward and raises when it moves forward, the foam spraying device sprays foam onto the surface to be cleaned as the cleaning equipment moves forward. The roller brush then cleans the surface after the foam has dissolved and softened, while simultaneously sucking away any remaining foam. As the cleaning equipment moves backward, foam spraying stops, and the scrubbing device scrapes away any remaining stubborn stains. After one foam wash and scrubbing cycle, the surface is free of foam, allowing the user to easily determine if stubborn stains have been removed and whether further cleaning is needed. If, after scrubbing, the user visually judges or the machine automatically identifies that the surface is clean, the user can choose to turn off the second cleaning mode and return to the first cleaning mode. If the cleaning equipment continues to spray foam while moving backward, the surface scraped by the scrubbing device will be sprayed with foam again. This foam coverage makes it difficult for the user to directly judge or for the machine to automatically identify, leading to unnecessary cleaning actions and reduced cleaning efficiency.

[0026] In some embodiments, controlling the foam spraying device to spray foam onto the surface to be cleaned includes: controlling the foam spraying device to spray foam onto the surface to be cleaned when it is determined that the cleaning device is moving in a direction away from the scrubbing plate device along the roller brush device; and controlling the foam spraying device to stop spraying foam when it is determined that the cleaning device is moving in a direction towards the scrubbing plate device along the roller brush device.

[0027] Thus, in some scenarios, such as when the nozzle of a foam spraying device is located inside the housing, and the foam is sprayed onto the surface to be cleaned in front of the roller brush and below the housing, the foam sprayed onto the ground is covered by the housing when the cleaning equipment is stationary. Therefore, if the cleaning equipment sprays foam onto the ground while moving forward, the foam under the housing will be directly sucked into the wastewater tank. Due to the obstruction of the housing, the user cannot perceive whether the cleaning equipment has sprayed foam onto the surface to be cleaned, which does not significantly improve the user experience. This application adopts a method where foam spraying stops when the cleaning equipment moves forward and resumes when the cleaning equipment moves backward. This saves foam and increases the operating time of the foam spraying device without affecting the user experience. On the other hand, during the forward phase of the cleaning equipment, the foam is sprayed onto the ground and quickly cleaned up by the roller brush device, resulting in insufficient time for the foam to dissolve and soften stubborn stains. However, when the equipment is moving backward, the foam is not immediately cleaned up because the roller brush device moves backward, allowing the foam to remain on the surface to be cleaned for a sufficient time to dissolve and soften stubborn stains. This application adopts a method of stopping foam spraying when the cleaning equipment is moving forward and spraying foam when the equipment is moving backward, which ensures cleaning efficiency while saving foam.

[0028] In some embodiments, the cleaning device is further equipped with a cleaning base station, the cleaning base station having a cleaning trough for cleaning the roller brush device, and when the cleaning device moves to the cleaning base station, the wiping plate device is vertically opposite to the cleaning trough. The control method further includes the following step: after the cleaning device is placed in the cleaning base station, controlling the wiping plate device to reciprocate up and down.

[0029] In this way, the cleaning fluid in the cleaning tank can be used to clean the wiping device, eliminating the need for a separate cleaning mechanism for the wiping device and thus simplifying the structure of the cleaning base station. Furthermore, the wiping device's action on the cleaning fluid creates a slapping effect, causing the fluid to surge and enhancing its cleaning effect on the roller brush device.

[0030] In some embodiments, the control method further includes: controlling the roller brush device to rotate within the cleaning tank while controlling the wiping plate device to reciprocate and move up and down, so that the roller brush device is immersed in the cleaning liquid within the cleaning tank.

[0031] In this way, the roller brush device can be fully soaked, and the surge of cleaning liquid formed by the roller brush device when rotating improves the self-cleaning effect of the wiping plate device.

[0032] In some embodiments, controlling the roller brush device to rotate within the cleaning tank includes: controlling the roller brush device to rotate alternately along a first rotation direction and a second rotation direction, wherein the first rotation direction and the second rotation direction are opposite.

[0033] When the roller brush device rotates in different directions, the cleaning force of the surge of cleaning liquid on the surface of the roller brush device is different. By making the roller brush device rotate alternately in the first rotation direction and the second rotation direction, the self-cleaning effect of the roller brush device can be further improved.

[0034] In some embodiments, the downward pressure of the wiping plate device on the surface to be cleaned in the second cleaning mode is greater than the downward pressure of the scraper device on the surface to be cleaned in the first cleaning mode.

[0035] The wiping plate device has a greater downward pressure than the scraper device, which is beneficial for effectively cleaning stubborn stains with greater friction. The scraper device has a smaller downward pressure than the wiping plate device, which helps to reduce energy consumption and wear while ensuring effective removal of easily cleanable stains.

[0036] In some embodiments, the control method further includes: in the second cleaning mode, in response to a stop command, controlling the wiping device to rise, controlling the cleaning device to move forward a preset distance, and then controlling the cleaning device to move backward.

[0037] In some embodiments, the cleaning equipment further includes a steam jetting device for jetting steam onto the surface to be cleaned; the control method further includes controlling the steam jetting device to jet steam onto the surface to be cleaned after receiving the switching command.

[0038] In this way, after the steam dissolves and softens the stubborn stains, the cleaning difficulty of cleaning components such as the roller brush device, scraper device, and wiping plate device can be reduced, thereby improving the cleaning effect and cleaning efficiency.

[0039] In some embodiments, controlling the steam jetting device to spray steam onto the surface to be cleaned includes: controlling the steam jetting device to spray steam onto the surface to be cleaned when it is determined that the cleaning equipment is moving in a direction along the roller brush device toward the wiping plate device; and controlling the steam jetting device to stop spraying steam when it is determined that the cleaning equipment is moving in a direction away from the wiping plate device.

[0040] Thus, in certain scenarios, such as when the wiping device lowers when the cleaning equipment moves backward and raises when it moves forward, the steam jet device sprays steam onto the surface to be cleaned as the cleaning equipment moves forward. The roller brush device then cleans the surface after the steam has dissolved and softened the dirt, while simultaneously sucking away water stains. When the cleaning equipment moves backward, the steam jet stops, and the wiping device scrapes away any remaining stubborn stains. In this way, the surface to be cleaned only undergoes one steam wash and wiping process during the user's push-pull operation. This allows the user to easily determine whether to continue cleaning the surface using the current mode. If, after wiping by the wiping device, the user visually judges or the machine automatically recognizes that the surface is clean, they can choose to turn off the second cleaning mode and return to the first cleaning mode. If the cleaning equipment continues to spray steam while moving backward, even if the surface is clean, water stains will remain due to the steam spray, wasting steam and increasing the difficulty of cleaning water stains, which is detrimental to improving user experience and cleaning efficiency.

[0041] In other embodiments, controlling the steam jetting device to spray steam onto the surface to be cleaned includes: controlling the steam jetting device to spray steam onto the surface to be cleaned when it is determined that the cleaning equipment is moving in a direction away from the wiping plate device along the roller brush device; and controlling the steam jetting device to stop spraying steam when it is determined that the cleaning equipment is moving in a direction towards the wiping plate device along the roller brush device.

[0042] Thus, in some scenarios, such as when the nozzle of the steam jet device is located inside the housing, and the steam is sprayed onto the surface to be cleaned in front of the roller brush device and below the housing, the steam sprayed onto the ground is blocked by the housing when the cleaning device is stationary. Therefore, if the cleaning device sprays steam onto the ground while moving forward, the steam under the housing condenses into water and is directly sucked into the wastewater tank. Due to the obstruction of the housing, the user cannot perceive whether the cleaning device is spraying steam onto the surface to be cleaned, which does not significantly improve the user experience. On the other hand, because the steam jet is close to the roller brush device, the steam is quickly cleaned up by the roller brush device after being sprayed onto the ground during the forward movement of the cleaning device. This results in insufficient time for the steam to dissolve and soften stubborn stains, limiting the improvement in cleaning efficiency. Therefore, this application adopts a method where steam jetting stops when the cleaning device moves forward and stops when the cleaning device moves backward. This not only does not affect the user experience and cleaning efficiency, but also saves steam and increases the operating time of the steam jet device. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0044] Figure 1 is a schematic diagram of the cleaning equipment according to an embodiment of this application, in which both the scraper device and the wiping plate device are in a suspended position;

[0045] Figure 2 is a schematic diagram of the cleaning equipment according to an embodiment of this application when the wiping plate device is in the suspended position and the scraper device is in the working position.

[0046] Figure 3 is a schematic diagram of the cleaning equipment according to an embodiment of this application when the wiping plate device is in the working position and the scraper device is in the suspended position.

[0047] Figure 4 is a control logic diagram of the control method of the cleaning equipment according to an embodiment of this application;

[0048] Figure 5 is a schematic diagram of the structure of the cleaning equipment according to an embodiment of this application;

[0049] Figure 6 is a schematic diagram of the cleaning system according to an embodiment of this application.

[0050] 10- Cleaning equipment;

[0051] 100 - Housing; 200 - Roller brush device; 300 - Scraper device; 400 - Wiping plate device; 500 - Foam spraying device; 600 - Steam spraying device;

[0052] 20 - Clean base station; 30 - Cleaning system;

[0053] A - Suspended position; B - Working position.

[0054] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0055] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0056] Floor scrubbers and other cleaning equipment have become increasingly popular due to their high mopping efficiency and convenience, significantly reducing the labor intensity and time spent on housework. Most floor scrubbers currently use roller brushes or similar cleaning components to clean surfaces. However, when stubborn stains are present, the soft bristles of the roller brush often fail to effectively remove them, requiring manual cleaning by the user, which impacts cleaning efficiency and user experience.

[0057] In view of this, embodiments of this application provide a control method for a cleaning device. Based on the cleaning device being equipped with a wiping plate device for cleaning stubborn stains, the operating control logic of the cleaning device is set to first obtain a cleaning command, and then, based on the obtained cleaning command, control the wiping plate device to descend from a suspended position A to a working position B, and then execute the cleaning task. In this way, when encountering stubborn stains, it can ensure that the wiping plate device moves to the working position B in a timely manner, using hard friction to loosen and remove the stubborn stains from the ground through strong friction with the ground. Then, with the cooperation of a roller brush device or a scraper device, thorough cleaning is performed, achieving efficient cleaning and avoiding human intervention. When no cleaning command is received, the wiping plate device can remain in the suspended position A, reducing wear between the wiping plate device and the surface to be cleaned, which helps extend the service life of the wiping plate device.

[0058] First, referring to Figures 1-3, the cleaning device 10 in this embodiment can be a floor scrubber, a sweeping robot, or other types of cleaning equipment 10. The cleaning device 10 in this embodiment can include: a housing 100, a roller brush device 200, a wiping plate device 400, and a scraper device 300. That is to say, the cleaning device 10 in this embodiment can clean the surface to be cleaned by using various cleaning components such as the roller brush device 200, the wiping plate device 400, and the scraper device 300. The surface to be cleaned can be a floor, a table, or other surfaces to be cleaned.

[0059] The housing 100 includes a cleaning chamber, which can be a closed or semi-closed cleaning environment to protect internal components from external damage and to centrally collect cleaning wastewater. Optionally, the housing 100 can be made of high-strength, corrosion-resistant materials such as stainless steel, aluminum alloy, or special plastics to ensure its durability and stability.

[0060] The roller brush device 200, as a basic cleaning tool, is rotatably mounted in the cleaning chamber. It rotates to contact the surface to be cleaned, removing most of the dirt. Optionally, the roller brush device 200 can be made of wear-resistant and durable materials such as nylon, polyester fiber, or special synthetic materials to ensure cleaning effectiveness and durability. Specifically, the diameter, rotation speed, and bristle density of the roller brush device 200 can be selectively designed according to the power of the floor scrubber and the usage scenario, and are not limited here.

[0061] A scraper device 300 is located at the front of the roller brush device 200 and is movably connected to the housing 100. The scraper device 300 is used to scrape and wash the surface to be cleaned. Specifically, the scraper device 300 scrapes and washes the floor as the floor brush assembly moves. Optionally, for hard-to-clean corner stains such as those in wall corners, the scraper device 300 can quickly remove the stains, thus overcoming the shortcomings of traditional floor brush assemblies in cleaning corner stains.

[0062] Optionally, the squeegee device 300 may include a squeegee frame and squeegee blades mounted on the squeegee frame. The squeegee blades may be made of wear-resistant and scratch-resistant materials such as rubber, silicone, or special synthetic materials to ensure cleaning effectiveness and durability. Specifically, the shape, angle, and hardness of the squeegee blades can be selectively designed according to the usage scenario and floor material, and are not limited here.

[0063] The scrubbing device 400 is located in front of the roller brush device 200, between the scraper device 300 and the roller brush device 200. The scrubbing device 400 is movably connected to the housing 100 and is used to scrub the surface to be cleaned. Specifically, the scrubbing device 400 can further remove stubborn stains through hard scrubbing. Optionally, when cleaning a floor with stubborn stains, the scrubbing device 400 applies strong friction to the floor to remove the stubborn stains. Optionally, the scrubbing device 400 can be made of hard materials such as rubber, plastic, metal, or special synthetic materials to ensure cleaning effectiveness and durability. Optionally, the scrubbing device 400 may include a scrubbing frame and a scrubbing component located at the bottom of the frame. The surface of the scrubbing component may have a certain degree of roughness to increase friction with the floor. Specifically, the shape, size, and hardness of the scrubbing component should be selectively designed according to the usage scenario of the floor scrubber and the floor material, and are not limited here.

[0064] Optionally, the wiping device 400 may also have adjustable wiping intensity and wiping frequency to adapt to different cleaning needs. Optionally, the wiping device 400 may also be designed with protection mechanisms, such as limit switches and pressure sensors, to control the wiping intensity and wiping frequency and prevent the wiping device 400 from causing excessive wear or damage to the floor.

[0065] In some embodiments, both the scraper device 300 and the wiping device 400 are adapted to move up and down between a suspended position A and a working position B. Either the scraper device 300 or the wiping device 400 cleans the surface to be cleaned in the working position B; either the scraper device 300 or the wiping device 400 is separated from the surface to be cleaned in the suspended position A.

[0066] Specifically, when the scraper device 300 is in working position B, the scraper device 300 will adhere to the surface to be cleaned. When the scraper device 300 moves to corners and hard-to-clean corners, it can remove stains and residues in these areas. When the wiping device 400 is in working position B, it can use the principle of hard friction to generate strong friction with the surface to be cleaned, thereby removing stubborn stains.

[0067] When the scraper device 300 and the wiping device 400 are in the suspended position A, they will separate from the surface to be cleaned, thus achieving storage and ensuring the compactness of the floor brush mechanism of the cleaning equipment 10. In addition, it also avoids unnecessary contact between the scraper device 300 and the wiping device 400 and the ground during the movement of the floor scrubber, reducing the energy consumption and wear of the cleaning equipment 10, and ensuring the stability and smoothness of the cleaning equipment 10 during movement.

[0068] By setting the aforementioned wiping device 400, the cleaning device 10 of this embodiment has at least a first cleaning mode and a second cleaning mode. In the first cleaning mode, for example, when the cleaning device 10 moves to a corner that is difficult to clean, or when there are only a few watermarks remaining on the floor, or when the dirt is light dirt such as easily movable solid particles, the scraper device 300 operates, scraping and washing the floor, in conjunction with the rotating suction of the roller brush device 200 to remove most of the stains and dust. Alternatively, when encountering stubborn stains, such as sticky stains, that are difficult to remove by both the roller brush device 200 and the scraper device 300, the second cleaning mode can be switched, i.e., the wiping device 400 is controlled to contact the floor. Through hard friction, stubborn stains are loosened and removed from the ground with strong friction, and then thoroughly cleaned with the help of the roller brush device 200 or the scraper device 300. When the scraper device 300 and the wiping device 400 are not needed, they can be stored away to reduce wear on the scraper device 300 and the wiping device 400. In addition, the cleaning device 10 can also have a third cleaning mode. In the third cleaning mode, the cleaning task can be performed by cleaning components other than the scraper device 300 and the wiping device 400, such as the roller brush device 200, while the scraper device 300 and the wiping device 400 can both rise to their respective suspended positions A, simplifying the cleaning control method and improving the cleaning efficiency.

[0069] Furthermore, referring to Figure 4, the control method for the cleaning device 10 in this embodiment is configured as follows:

[0070] S101, in response to the cleaning command, the cleaning device 10 enters the first cleaning mode and obtains the motion state of the cleaning device 10;

[0071] Specifically, the cleaning command here refers to the command to control the cleaning equipment to perform cleaning tasks. The cleaning command can be issued by the user through the buttons, screen, etc. on the cleaning equipment 10, or through electronic devices that communicate with the cleaning equipment 10, such as mobile phones, remote controls, etc., or through voice commands.

[0072] Upon receiving a cleaning instruction, the cleaning device 10 enters the first cleaning mode, at which point the movement status of the cleaning device 10 is acquired. As mentioned earlier, different cleaning components are typically required for different types of stains. For light stains, the scraper device 300 can work in conjunction with the roller brush device 200 to perform the cleaning task; for stubborn stains, the wiping plate device 400 can work in conjunction with the roller brush device 200 to perform the cleaning task. Considering that light stains occur more frequently than heavy stains in daily life, the cleaning device 10 can be directly controlled to enter the first cleaning mode upon receiving a cleaning instruction, which helps reduce frequent switching of cleaning modes.

[0073] S102, the scraper device 300 is controlled to rise or fall according to the motion state of the cleaning equipment 10;

[0074] Considering that the scraper devices 300 are all located in front of the roller brush device 200, the movement direction of the cleaning device 10 directly affects the order in which the roller brush device 200, scraper device 300, and wiping device 400 come into contact with the dirt, thus affecting the cleaning effect. For example, when cleaning movable dirt such as particles on the surface to be cleaned, and the cleaning device 10 is moving forward, the scraper device 300 descends to working position B, pushing the dirt away, and the roller brush device 200 cannot effectively remove and suck up the dirt. The same applies to the wiping device 400. Therefore, after entering the first cleaning mode, it is necessary to control the raising and lowering of the scraper device 300 according to the movement state of the cleaning device 10. For example, when the cleaning device 10 moves forward, the scraper device 300 is controlled to rise to the suspended position A; when the cleaning device 10 moves backward, the scraper device 300 is controlled to descend directly to working position B to perform the cleaning task.

[0075] S103, after receiving the switching command, the cleaning device 10 switches from the first cleaning mode to the second cleaning mode and obtains the position information of the scraper device 300;

[0076] The switching command here is a cleaning mode switching command. During the operation of the cleaning device 10, when it moves to the area with stubborn stains, in response to the switching command, the cleaning device 10 switches to the second cleaning mode, where the wiping plate device 400, which is more suitable for cleaning stubborn stains, performs the cleaning task. However, considering that when the scraper device 300 and the wiping plate device 400 are both in working position B, the floor brush mechanism of the cleaning device 10 will have multiple fulcrums on the surface to be cleaned, affecting the downward pressure of the wiping plate device 400 and the scraper device 300 on the surface to be cleaned, resulting in poor cleaning effect. To avoid the above problem, after switching to the second cleaning mode, before controlling the wiping plate device 400 to descend to working position B, it is necessary to confirm the position information of the scraper device 300.

[0077] S104, control the wiping plate device 400 to rise or fall according to the position information of the scraper device 300.

[0078] Specifically, if the scraper device 300 is in its working position B and in contact with the surface to be cleaned, the wiping device 400 is controlled to rise to its suspended position A and separate from the surface to be cleaned; if the scraper device 300 is in its suspended position A and separate from the surface to be cleaned, the wiping device 400 is controlled to descend to its working position B to clean the surface to be cleaned.

[0079] The control method of the cleaning device 10 in this embodiment is based on the fact that the cleaning device 10 is equipped with a scraper device 300 and a wiping plate device 400 for cleaning stubborn stains. The working control logic of the cleaning device 10 is set to first respond to a cleaning command and enter a first cleaning mode, in which the scraper device 300 and the roller brush device 200 perform the cleaning task; when encountering stubborn stains, in response to a switching command, it enters a second cleaning mode, ensuring that the wiping plate device 400 moves to the working position B in time, and loosens the stubborn stains by hard friction, so that the roller brush device 200 can remove them. In this way, the cleaning device 10 of this embodiment can effectively clean different stains with matching cleaning components, eliminating the need for manual cleaning. Furthermore, in the first cleaning mode, the scraper device 300 is controlled to rise or fall according to the movement state of the cleaning equipment 10, which can prevent the scraper device 300 and the roller brush device 200 from interfering with each other. In the second cleaning mode, the wiping plate device 400 is controlled to rise or fall according to the position information of the scraper device 300, which can prevent the scraper device 300 and the wiping plate device 400 from interfering with each other, thereby ensuring the cleaning efficiency of the cleaning equipment 10.

[0080] In some embodiments, controlling the scraper device 300 to rise or fall according to the movement state of the cleaning device 10 includes: if the current movement direction of the cleaning device 10 is the direction of the roller brush device 200 toward the wiping plate device 400 or when it is stationary, controlling the scraper device 300 to remain in the suspended position A until the movement state of the cleaning device 10 switches to the direction of the roller brush device 200 moving away from the wiping plate device 400, then controlling the scraper device 300 to fall to the working position B; if the current movement direction of the cleaning device 10 is the direction of the roller brush device 200 moving away from the wiping plate device 400, controlling the scraper device 300 to fall to the working position B.

[0081] It should be noted that since both the scraper device 300 and the wiping plate device 400 are located in front of the roller brush device 200, the direction in which the roller brush device 200 faces the wiping plate device 400 is the forward direction, and the direction in which the roller brush device 200 faces away from the wiping plate device 400 is the rear direction. Taking a floor scrubber as an example, the floor scrubber is operated by the user during operation; therefore, the direction in which the roller brush device 200 faces the wiping plate device 400 is also the direction away from the user, i.e., the forward direction, and the direction in which the roller brush device 200 faces away from the wiping plate device 400 is also the direction in which the roller brush device 200 faces towards the user, i.e., the rear direction.

[0082] In this embodiment, the timing for the scraper device 300 to descend to the working position B is as follows: if the cleaning equipment 10 is currently moving forward or stationary, the scraper device 300 is first controlled to remain suspended in position A to prevent the scraper device 300 from pushing away movable impurity particles on the surface to be cleaned, thus preventing the roller brush device 200 from effectively cleaning the impurity particles; until the cleaning equipment 10 moves forward and has completed cleaning the planned path, and adjusts its direction of travel to backward, the scraper device 300 is controlled to descend to the working position B; if the cleaning equipment 10 is currently moving backward, the scraper device 300 is directly controlled to descend to the working position B for cleaning.

[0083] In this way, the scraper device 300 can be prevented from affecting the cleaning operation of the roller brush device 200, thus ensuring the cleaning efficiency of the cleaning equipment 10.

[0084] In some embodiments, controlling the wiping plate device 400 to rise or fall according to the position information of the scraper device 300 includes: if the scraper device 300 is in working position B, controlling the wiping plate device 400 to rise; if the scraper device 300 is in suspended position A, controlling the wiping plate device 400 to fall, so as to clean the surface to be cleaned.

[0085] In other words, if any one of the cleaning device 10, the wiping plate device 400, and the scraper device 300 in this embodiment is in working position B, then the other is in suspended position A.

[0086] For example, when the scraper device 300 is in its working position B and in contact with the surface to be cleaned, the wiping plate device 400 is controlled to rise to the suspended position A and separate from the surface to be cleaned; when the scraper device 300 rises to the suspended position A, the wiping plate device 400 is controlled to descend to its working position B and contact the surface to be cleaned. This prevents the wiping plate device 400 and the scraper device from simultaneously contacting the surface to be cleaned, thus avoiding multiple points of support between the cleaning device 10 and the surface to be cleaned, and helping to ensure the cleaning effect and efficiency of each of the wiping plate device 400 and the scraper device 300.

[0087] Of course, in addition to the above-mentioned state, the wiping plate device 400 and the scraper device 300 can also be in the suspended position A at the same time, so that when the cleaning equipment 10 is not working or when the wiping plate device 400 and the scraper device 300 are not needed, the wiping plate device 400 and the scraper device 300 can be stored to avoid contact with the ground and cause unnecessary wear.

[0088] In some embodiments, the control method further includes: in a second cleaning mode, determining the current motion state of the cleaning device 10, the motion state including: a stationary state and a direction of motion; and controlling the motion of the wiping plate device 400 according to the motion state.

[0089] As mentioned earlier, different types of stains typically require different cleaning components. Since the wiping plate device 400 and the roller brush device 200 are arranged in a front-to-back direction, the movement direction of the cleaning device 10 directly affects the order in which the roller brush device 200 and the wiping plate device 400 come into contact with the stains, thus affecting the cleaning effect. Furthermore, lowering the wiping plate device 400 when other cleaning components of the cleaning device 10 are in operation may affect the cleaning effect of already working components such as the roller brush device 200 or the brush strip device. Therefore, in this embodiment, after receiving a cleaning command, the movement state of the cleaning device 10 is first determined. This helps to avoid interference between lowering the wiping plate device 400 and the operation of other cleaning components, thereby ensuring the cleaning effect and work efficiency of the cleaning device 10.

[0090] Furthermore, controlling the movement of the wiping device 400 according to the motion state includes: if the current movement direction of the cleaning equipment 10 is the direction in which the roller brush device 200 faces the wiping device 400 or in a static state, controlling the wiping device 400 to remain in the suspended position A until the movement direction of the cleaning equipment 10 changes to the direction in which the roller brush device 200 moves away from the wiping device 400, then controlling the wiping device 400 to descend to the working position B.

[0091] In this embodiment, the timing for the wiping device 400 to descend to the working position B is as follows: if the cleaning device 10 is currently moving forward or stationary, the wiping device 400 is first controlled to remain in the suspended position A to prevent the wiping device 400 from pushing away movable impurity particles on the surface to be cleaned, thus preventing the roller brush device from effectively cleaning the impurity particles; until the cleaning device 10 moves forward until the planned path has been cleaned and the direction of travel is adjusted to backward, the wiping device 400 is controlled to descend to the working position B.

[0092] In some embodiments, controlling the movement of the wiping device 400 according to the motion state may further include: if the current movement direction of the cleaning device 10 is the direction in which the roller brush device 200 is away from the wiping device 400, controlling the wiping device 400 to descend to the working position B.

[0093] In other words, in this embodiment, the triggering timing for the wiping device 400 to descend to working position B to clean stubborn stains is as follows: after receiving the cleaning command, if the current movement direction of the cleaning device 10 is backward, the wiping device 400 can be directly controlled to descend to working position B. This reduces the descent waiting time of the wiping device 400.

[0094] In some embodiments, the cleaning device 10 may further include a foam spraying device 500. Specifically, the foam spraying device 500 is disposed on the side of the wiping plate device 400 facing away from the roller brush device 200. The foam spraying device 500 can be used to spray foam onto the surface to be cleaned. The foam can help dissolve and soften stubborn stains adhering to the surface to be cleaned, so that the roller brush device 200 can remove the dissolved and softened stains.

[0095] To enhance the cleaning effect of the cleaning equipment 10 by utilizing the foam spraying device 500, the control method of this embodiment may further include the following steps: while controlling the wiping plate device 400 to descend for cleaning the surface to be cleaned, controlling the foam spraying device 500 to spray foam onto the surface to be cleaned. Thus, after the foam dissolves and softens stubborn stains, the cleaning difficulty of cleaning components such as the roller brush device 200, scraper device 300, and wiping plate device 400 can be reduced, thereby improving the cleaning effect and efficiency.

[0096] In some embodiments, controlling the foam spraying device 500 to spray foam onto the surface to be cleaned includes: when it is determined that the cleaning device 10 is moving in the direction of the roller brush device 200 toward the wiping plate device 400, controlling the foam spraying device 500 to spray foam onto the surface to be cleaned; and when it is determined that the cleaning device 10 is moving in the direction of the roller brush device 200 away from the wiping plate device 400, controlling the foam spraying device 500 to stop spraying foam.

[0097] Thus, in scenarios such as when the wiping device 400 lowers when the cleaning device 10 moves backward and raises when it moves forward, the foam spraying device 500 sprays foam onto the surface to be cleaned when the cleaning device 10 moves forward. The roller brush device 200 then cleans the ground after the foam has dissolved and softened, while simultaneously sucking away the foam from the surface. When the cleaning device 10 moves backward, the foam spraying stops, and the wiping device 400 scrapes and cleans any remaining stubborn stains. After one foam wash and wiping by the wiping device 400, the surface to be cleaned is free of foam, making it easy for the user to determine whether the stubborn stains have been cleaned and whether it is necessary to continue cleaning the surface using the current mode. For example, after the wiping device 400 has scraped the surface, if the user judges visually or the machine automatically recognizes that the surface has been cleaned, they can choose to turn off the second cleaning mode and return to the first cleaning mode. If the cleaning device 10 continues to spray foam as it moves backward, the surface that has been scraped by the wiping device 400 will be sprayed with foam again. The foam coverage makes it impossible for the user to directly judge and for the machine to automatically identify, thus causing unnecessary cleaning actions and reducing cleaning efficiency.

[0098] In other embodiments, controlling the foam spraying device 500 to spray foam onto the surface to be cleaned may include the following steps: when it is determined that the cleaning device 10 is moving in a direction away from the scrubbing plate device 400 along the roller brush device 200, controlling the foam spraying device 500 to spray foam onto the surface to be cleaned; when it is determined that the cleaning device 10 is moving in a direction towards the scrubbing plate device 400 along the roller brush device 200, controlling the foam spraying device 500 to stop spraying foam.

[0099] Since the foam spraying device 500 is located in front of the wiping plate device 400, in this embodiment, the foam spraying device 500 is controlled to spray foam only when the cleaning device 10 moves backward, so that the sprayed foam is actually behind the wiping plate device 400 along the direction of travel. In this way, the wiping plate device 400 cannot push away the foam, which allows the foam to have sufficient time to dissolve and soften the stains. This allows the roller brush device 200 to better absorb the foam and clean the area softened by the foam when the cleaning device 10 finishes cleaning the preset path backward and turns forward, thus improving the cleaning effect.

[0100] Furthermore, in some scenarios, such as when the nozzle of the foam spraying device 500 is located inside the housing 100, and the foam is sprayed onto the surface to be cleaned in front of the roller brush device 200 and below the housing 100, the foam sprayed onto the ground is covered by the housing 100 when the cleaning device 10 is stationary. Therefore, if the cleaning device 10 sprays foam onto the ground while moving forward, the foam under the housing 100 will be directly sucked into the wastewater tank. Due to the obstruction of the housing 100, the user cannot perceive whether the cleaning device 10 has sprayed foam onto the surface to be cleaned, which does not significantly improve the user experience. This application adopts a method where foam spraying stops when the cleaning device 10 moves forward and resumes when the cleaning device 10 moves backward. This saves foam and increases the battery life of the foam spraying device 500 without affecting the user experience. On the other hand, during the forward movement of the cleaning equipment 10, the foam is sprayed onto the ground and quickly cleaned away by the roller brush device 200, resulting in insufficient time for the foam to dissolve and soften stubborn stains. However, when the cleaning equipment 10 moves backward, the foam is not immediately cleaned up because the roller brush device 200 moves backward, allowing the foam to remain on the surface to be cleaned for a sufficient time to dissolve and soften stubborn stains. This application adopts a method where foam spraying stops when the cleaning equipment 10 moves forward and foam spraying continues when the cleaning equipment 10 moves backward, which ensures cleaning efficiency while saving foam.

[0101] In some embodiments, the foam spraying device 500 is disposed between the wiping plate device 400 and the scraping strip device 300.

[0102] In this way, the foam spraying device 500 can fill the gap between the wiping plate device 400 and the scraper device 300, making efficient use of the space of the housing 100. On the other hand, the inner surfaces of the scraper device 300 and the wiping plate device 400 are usually cleaning dead corners. By placing the foam spraying device 500 in this location, it can also clean the sides of both the scraper device 300 and the wiping plate device 400.

[0103] In some possible embodiments, the process of controlling the wiping device 400 to descend in order to clean the surface to be cleaned may specifically include the following steps: when the cleaning device 10 moves along the direction of the roller brush device 200 toward the wiping device 400, the wiping device 400 is controlled to rise to the suspended position A; when the cleaning device 10 moves along the direction of the roller brush device 200 away from the wiping device 400, the wiping device 400 is controlled to descend to the working position B.

[0104] In other words, after the first control of the wiping device 400 to descend to the working position B, whether to immediately begin cleaning stubborn stains requires further determination of the direction of travel of the cleaning equipment 10. If the cleaning equipment 10 moves forward, the wiping device 400 is controlled to rise to the suspended position A to prevent the wiping device 400 from pushing away movable impurity particles on the surface to be cleaned, thus preventing the roller brush from effectively cleaning the impurity particles; if the cleaning equipment 10 moves backward, the wiping device 400 is controlled to descend to the working position B to begin cleaning, using the wiping device 400 to further clean stubborn stains that the roller brush device 200 cannot effectively remove, to ensure thorough cleaning.

[0105] In this way, the wiping plate device 400 can be prevented from affecting the cleaning work of the roller brush device 200.

[0106] In some other embodiments, controlling the wiping device 400 to descend in order to clean the surface to be cleaned may include a first cleaning stage and a second cleaning stage. The first cleaning stage involves controlling the wiping device 400 to rise to a suspended position A when the cleaning device 10 moves along the direction of the roller brush device 200 toward the wiping device 400, and controlling the wiping device 400 to descend to a working position B when the cleaning device 10 moves along the direction of the roller brush device 200 away from the wiping device 400. The second cleaning stage involves controlling the wiping device 400 to descend to the working position B when the cleaning device 10 moves.

[0107] In other words, the cleaning of stubborn stains in this embodiment is divided into at least two stages: a first cleaning stage and a second cleaning stage. In the first cleaning stage, the wiping device 400 is controlled to descend to the working position B to clean the stubborn stains only when the cleaning device 10 moves backward. When the cleaning device 10 moves forward, the wiping device 400 is controlled to rise to the suspended position A. In this way, in the first cleaning stage, the wiping device 400 will not affect the operation of the roller brush device 200, ensuring that the roller brush device 200 can clean most of the easily cleanable stains (i.e., easy-to-clean stains other than stubborn stains). In the second cleaning stage, the wiping device 400 is controlled to contact the surface to be cleaned regardless of whether the cleaning device 10 moves forward or backward, so that the stubborn stains are repeatedly wiped away by the wiping device 400 in the second cleaning stage. Thus, by cooperating with each other in different cleaning stages, the cleaning effect of stubborn stains on the surface to be cleaned can be improved, while the cleaning efficiency of the cleaning equipment 10 on the entire surface to be cleaned can be improved.

[0108] In some embodiments, considering that the roller brush device 200 is prone to accumulating dirt after the cleaning device 10 completes its cleaning task, it needs to be cleaned. Therefore, the cleaning device 10 in this embodiment may be equipped with a cleaning base station 20, which has a cleaning tank for cleaning the roller brush device 200. For example, the cleaning base station 20 may have a working chamber, the bottom wall of which has an upward-facing cleaning tank. When the cleaning device 10 moves to the cleaning base station 20 for self-cleaning, the roller brush device 200 is located in the cleaning tank, which may contain cleaning fluid to clean the roller brush device 200.

[0109] Meanwhile, to achieve more uses for the same cleaning tank, when the cleaning equipment 10 moves to the cleaning base station 20, the wiping device 400 can also be vertically opposite the cleaning tank. In this way, the cleaning liquid in the cleaning tank can also be used to clean the wiping device 400, and it can also save the need to configure a separate cleaning mechanism for the wiping device 400, which helps to simplify the structure of the cleaning base station 20.

[0110] Specifically, the control method of this embodiment further includes the following steps: after the cleaning device 10 is placed on the cleaning base station 20, the wiping plate device 400 is controlled to reciprocate up and down. In this way, when the wiping plate device 400 reciprocates up and down, it can repeatedly come into contact with and separate from the cleaning liquid, thereby using the cleaning liquid in the cleaning tank to clean the wiping plate device 400 to a certain extent; and, the wiping plate device 400 has a slapping effect on the cleaning liquid, which can cause the cleaning liquid to form a surge, which is beneficial to promoting the cleaning effect of the cleaning liquid on the roller brush device 200.

[0111] Furthermore, when controlling the wiping device 400 to perform reciprocating lifting and lowering motion, the control method may also include: controlling the roller brush device 200 to rotate within the cleaning tank, so that the roller brush device 200 is immersed in the cleaning liquid within the cleaning tank. This allows the roller brush device 200 to be fully immersed, and the surge of cleaning liquid created by the rotating roller brush device 200 enhances the self-cleaning effect of the wiping device 400. In other words, the wiping device 400 and the roller brush device 200 mutually promote each other's self-cleaning effect.

[0112] In some embodiments, controlling the roller brush device 200 to rotate within the cleaning tank may include controlling the roller brush device 200 to rotate alternately along a first rotation direction and a second rotation direction, wherein the first rotation direction and the second rotation direction are opposite. For example, the first rotation direction is clockwise and the second rotation direction is counterclockwise; or, the second rotation direction is clockwise and the first rotation direction is counterclockwise. When the roller brush device 200 rotates in different directions, the cleaning force exerted by the surge of cleaning fluid on the surface of the roller brush device 200 is different. By causing the roller brush device 200 to rotate alternately along the first rotation direction and the second rotation direction, the self-cleaning effect of the roller brush device 200 can be further improved.

[0113] In some embodiments, the downward pressure of the wiping device 400 on the surface to be cleaned in the second cleaning mode is greater than the downward pressure of the scraper device 300 on the surface to be cleaned in the first cleaning mode. Since the wiping device 400 needs to remove stubborn stains adhering to the surface to be cleaned through hard friction, while the scraper device 300 mainly scrapes and gathers relatively easy-to-clean particles and liquids on the surface to be cleaned, the scraper device 300 only needs to maintain good contact with the surface to be cleaned, preventing dirt from leaking through the gap between the scraper device 300 and the surface to be cleaned. Therefore, the downward pressure of the wiping device 400 is greater than that of the scraper device 300, which is beneficial for effectively cleaning stubborn stains with greater friction. The downward pressure of the scraper device 300 is smaller than that of the wiping device 400, which helps to reduce energy consumption and wear while ensuring effective removal of easily cleanable stains.

[0114] In some embodiments, the control method of this embodiment may further include the following steps: in the second cleaning mode, in response to a stop command, the wiping plate device 400 is controlled to rise, the cleaning device 10 is controlled to move forward a preset distance, and then the cleaning device 10 is controlled to move backward.

[0115] Since water stains or dirt may remain between the wiping plate device 400 and the roller brush device 200, and between the wiping plate device 400 and the scraper device 300 after the cleaning equipment 10 stops operating, after receiving the stop command, the cleaning equipment 10 first moves forward a preset distance, and then moves backward a certain preset distance, so as to clean the aforementioned residual water stains or dirt.

[0116] In some embodiments, the cleaning device 10 may further include a steam jetting device 600. Specifically, the steam jetting device 600 is disposed on the side of the wiping plate device 400 facing away from the roller brush device 200. The steam jetting device 600 can be used to spray steam onto the surface to be cleaned. The steam can help dissolve and soften stubborn stains adhering to the surface to be cleaned, so that the roller brush device 200 can remove the dissolved and softened stains.

[0117] To enhance the cleaning effect of the cleaning equipment 10 by utilizing the steam jet device 600, the control method of this embodiment may further include the following steps: while controlling the wiping plate device 400 to descend for cleaning the surface to be cleaned, controlling the steam jet device 600 to spray steam onto the surface to be cleaned. In this way, after the steam dissolves and softens stubborn stains, the cleaning difficulty of cleaning components such as the roller brush device 200, scraper device 300, and wiping plate device 400 can be reduced, thereby improving the cleaning effect and efficiency.

[0118] In some embodiments, controlling the steam jetting device 600 to spray steam onto the surface to be cleaned includes: when it is determined that the cleaning device 10 is moving in the direction of the roller brush device 200 toward the wiping plate device 400, controlling the steam jetting device 600 to spray steam onto the surface to be cleaned; and when it is determined that the cleaning device 10 is moving in the direction of the roller brush device 200 away from the wiping plate device 400, controlling the steam jetting device 600 to stop spraying steam.

[0119] Thus, in certain scenarios, such as when the wiping device 400 lowers when the cleaning device 10 moves backward and raises when it moves forward, the steam jet device 600 sprays steam onto the surface to be cleaned when the cleaning device 10 moves forward, and the roller brush device 200 cleans the ground after the steam has dissolved and softened it, while simultaneously sucking away water stains on the surface to be cleaned. When the cleaning device 10 moves backward, the steam jet stops, and the wiping device 400 scrapes and cleans the remaining stubborn stains. In this way, the surface to be cleaned only undergoes one steam wash and wiping by the wiping device 400 during the user's push and pull process, making it convenient for the user to determine whether to continue cleaning the surface using the current mode. For example, after the wiping device 400 has scraped the surface, if the user judges visually or the machine automatically recognizes that the surface to be cleaned has been cleaned, they can choose to turn off the second cleaning mode and return to the first cleaning mode. If the cleaning device 10 continues to spray steam while moving backward, even if the surface to be cleaned is clean, water stains will remain on the surface due to the sprayed steam. This wastes steam and increases the difficulty of cleaning water stains, which is not conducive to improving user experience and cleaning efficiency.

[0120] In other embodiments, controlling the steam jetting device 600 to spray steam onto the surface to be cleaned may include the following steps: when it is determined that the cleaning device 10 is moving in a direction away from the wiping plate device 400 along the roller brush device 200, controlling the steam jetting device 600 to spray steam onto the surface to be cleaned; when it is determined that the cleaning device 10 is moving in a direction towards the wiping plate device 400 along the roller brush device 200, controlling the steam jetting device 600 to stop spraying steam.

[0121] Thus, in certain scenarios, such as when the nozzle of the steam jet device 600 is located inside the housing 100, and the steam is sprayed onto the surface to be cleaned in front of the roller brush device 200 and below the housing 100, the steam sprayed onto the ground is covered by the housing 100 when the cleaning device 10 is stationary. Therefore, if the cleaning device 10 sprays steam onto the ground while moving forward, the steam under the housing 100 will condense into water and be directly sucked into the wastewater tank. Due to the obstruction of the housing 100, the user cannot perceive whether the cleaning device 10 has sprayed steam onto the surface to be cleaned, which does not significantly improve the user experience. On the other hand, because the steam jet position is close to the roller brush device 200, the steam is quickly cleaned away by the roller brush device 200 after being sprayed onto the ground during the forward movement of the cleaning device 10. This results in insufficient time for the steam to dissolve and soften stubborn stains, which also limits the improvement of cleaning efficiency. Therefore, this application adopts the method of stopping steam injection when the cleaning device 10 moves forward and stopping steam injection when the cleaning device 10 moves backward, which not only does not affect the user experience and cleaning efficiency, but also saves steam and increases the operating time of the steam injection device 600.

[0122] In addition, since the steam jet device 600 is located in front of the wiping plate device 400, in this embodiment, the steam jet device 600 is controlled to spray steam only when the cleaning device 10 moves backward, so that the sprayed steam is actually behind the wiping plate device 400 along the direction of travel. In this way, the wiping plate device 400 cannot push away the steam, which allows the steam to have sufficient time to dissolve and soften the stains. This allows the roller brush device 200 to better absorb the steam and clean the area softened by the steam when the cleaning device 10 finishes cleaning the preset path backward and turns forward, thus improving the cleaning effect.

[0123] In some embodiments, the steam jet device 600 may be disposed between the wiping plate device 400 and the scraper device 300. Thus, the steam jet device 600, disposed between the wiping plate device 400 and the scraper device 300, can fill the gap between them, efficiently utilizing the space of the housing 100. Furthermore, the inner surfaces of the scraper device 300 and the wiping plate device 400 are often cleaning dead zones; placing the steam jet device 600 there can also clean the sides of both the scraper device 300 and the wiping plate device 400.

[0124] The cleaning system 30 of this embodiment is described below.

[0125] Specifically, referring to FIG5, the cleaning system 30 of this embodiment may include: a cleaning base station 20 and the cleaning device 10 in the above embodiment. The cleaning base station 20 is at least configured to clean the roller brush device 200 and the wiping plate device 400 of the cleaning device 10.

[0126] The cleaning system 30 of this embodiment, having the cleaning device 10 of the above embodiment, is beneficial to improving the cleaning effect and enhancing the user experience.

[0127] Finally, it should be noted that other embodiments of this application will readily conceive of by those skilled in the art upon consideration of the specification and practice of the solutions disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A control method for a cleaning device (10), wherein, The cleaning equipment (10) includes: A housing (100) having a cleaning chamber; A roller brush device (200) is rotatably disposed in the cleaning chamber for cleaning the surface to be cleaned; A scraper device (300) is movably disposed on the front side of the roller brush device (200); A wiping plate device (400) is movably disposed on the front side of the roller brush device (200) and located between the scraper device (300) and the roller brush device (200); The cleaning device (10) includes a first cleaning mode and a second cleaning mode; The control method is configured as follows: In response to a cleaning command, the cleaning device (10) enters a first cleaning mode and the motion state of the cleaning device (10) is obtained; The scraper device (300) is controlled to rise or fall according to the motion state of the cleaning equipment (10); Upon receiving the switching instruction, the cleaning device (10) switches from the first cleaning mode to the second cleaning mode and obtains the position information of the scraper device (300); The wiping plate device (400) is controlled to rise or fall according to the position information of the scraper device (300).

2. The control method for the cleaning equipment (10) according to claim 1, wherein, The step of controlling the scraper device (300) to rise or fall according to the motion state of the cleaning equipment (10) includes: If the current movement direction of the cleaning device (10) is the direction in which the roller brush device (200) faces the wiping plate device (400) or is stationary, the scraper device (300) is controlled to remain in the suspended position (A) until the movement state of the cleaning device (10) switches to the direction in which the roller brush device (200) moves away from the wiping plate device (400), then the scraper device (300) is controlled to descend to the working position (B). If the current direction of movement of the cleaning device (10) is the direction in which the roller brush device (200) is away from the wiping plate device (400), control the scraper device (300) to descend to the working position (B).

3. The control method for the cleaning equipment (10) according to claim 1, wherein, The step of controlling the wiping plate device (400) to rise or fall based on the position information of the scraper device (300) includes: If the scraper device (300) is in the working position (B), control the scraper device (300) to rise to the suspended position (A), and then control the wiping plate device (400) to descend, so as to clean the cleaning surface; If the scraper device (300) is in the suspended position (A), the wiping plate device (400) is controlled to descend in order to clean the surface to be cleaned.

4. The control method for the cleaning equipment (10) according to claim 1, wherein, Also includes: In the second cleaning mode, the current motion state of the cleaning device (10) is determined, the motion state including: stationary state and direction of motion; The movement of the wiping plate device (400) is controlled according to the motion state.

5. The control method for the cleaning equipment (10) according to claim 4, wherein, The control of the movement of the wiping plate device (400) according to the motion state includes: If the current movement direction of the cleaning device (10) is the direction in which the roller brush device (200) faces the wiping plate device (400) or is stationary, the wiping plate device (400) is controlled to remain in the suspended position (A) until the movement state of the cleaning device (10) switches to the direction in which the roller brush device (200) moves away from the wiping plate device (400), then the wiping plate device (400) is controlled to descend to the working position (B).

6. The control method for the cleaning equipment (10) according to claim 4, wherein, The control of the movement of the wiping plate device (400) according to the motion state includes: If the current direction of movement of the cleaning device (10) is the direction in which the roller brush device (200) is away from the wiping plate device (400), control the wiping plate device (400) to descend to the working position (B).

7. The control method for the cleaning equipment (10) according to claim 3, wherein, When controlling the wiping plate device (400) to descend in order to clean the surface to be cleaned, the following are included: When the cleaning device (10) moves along the roller brush device (200) toward the wiping plate device (400), the wiping plate device (400) is controlled to rise to the suspended position (A). When the cleaning device (10) moves along the roller brush device (200) away from the wiping plate device (400), the wiping plate device (400) is controlled to fall to the working position (B).

8. The control method of the cleaning apparatus (10) according to claim 3, wherein The wiping device (400) is controlled to descend in order to clean the surface to be cleaned, including a first cleaning stage and a second cleaning stage. The first cleaning stage is as follows: when the cleaning device (10) moves along the direction of the roller brush device (200) toward the wiping plate device (400), the wiping plate device (400) is controlled to rise to the suspended position (A); when the cleaning device (10) moves along the direction of the roller brush device (200) away from the wiping plate device (400), the wiping plate device (400) is controlled to fall to the working position (B). The second cleaning stage is to control the wiping device (400) to descend to the working position (B) while the cleaning equipment (10) is moving.

9. The control method of a cleaning apparatus (10) according to any one of claims 1-8, wherein, The cleaning equipment (10) further includes a foam spraying device (500) for spraying foam onto the surface to be cleaned; The control method further includes: Upon receiving the switching command, the foam spraying device (500) is controlled to spray foam onto the surface to be cleaned.

10. The control method of a cleaning device (10) according to claim 9, wherein, The control of the foam spraying device (500) to spray foam onto the surface to be cleaned includes: When it is determined that the cleaning device (10) is moving along the direction of the roller brush device (200) toward the wiping plate device (400), the foam spraying device (500) is controlled to spray foam onto the surface to be cleaned; When it is determined that the cleaning device (10) is moving in the direction away from the wiping plate device (400) along the roller brush device (200), the foam spraying device (500) is controlled to stop spraying foam.

11. The control method of a cleaning apparatus (10) according to claim 9, wherein The control of the foam spraying device (500) to spray foam onto the surface to be cleaned includes: When it is determined that the cleaning device (10) is moving in the direction away from the wiping plate device (400) along the roller brush device (200), the foam spraying device (500) is controlled to spray foam onto the surface to be cleaned; When it is determined that the cleaning device (10) is moving along the roller brush device (200) toward the wiping plate device (400), the foam spraying device (500) is controlled to stop spraying foam.

12. The control method for the cleaning equipment (10) according to any one of claims 1-11, wherein, The cleaning device (10) is also equipped with a cleaning base station (20), which has a cleaning trough for cleaning the roller brush device (200). When the cleaning device (10) moves to the cleaning base station (20), the wiping plate device (400) is vertically opposite to the cleaning trough. The control method further includes the following steps: After the cleaning equipment (10) is placed on the cleaning base station (20), the wiping plate device (400) is controlled to reciprocate up and down.

13. The control method of a cleaning device (10) according to claim 12, wherein, The control method further includes: when controlling the wiping plate device (400) to reciprocate up and down, controlling the roller brush device (200) to rotate in the cleaning tank so that the roller brush device (200) is immersed in the cleaning liquid in the cleaning tank.

14. The control method of a cleaning apparatus (10) according to claim 13, wherein, Controlling the rotation of the roller brush device (200) within the cleaning tank includes: The roller brush device (200) is controlled to rotate alternately along a first rotation direction and a second rotation direction, wherein the first rotation direction and the second rotation direction are opposite.

15. The control method of the cleaning device (10) according to any one of claims 1-14, wherein, The wiping device (400) applies greater downward pressure to the surface to be cleaned in the second cleaning mode than the scraper device (300) applies in the first cleaning mode.

16. The control method of the cleaning device (10) according to any one of claims 1-15, wherein, Also includes: In the second cleaning mode, in response to the stop command, the wiping device (400) is controlled to rise, the cleaning device (10) is controlled to move forward a preset distance, and then the cleaning device (10) is controlled to move backward.

17. The control method of the cleaning device (10) according to any one of claims 1-16, wherein, The cleaning equipment (10) further includes a steam jetting device (600) for jetting steam onto the surface to be cleaned; The control method further includes: Upon receiving the switching command, the steam jetting device (600) is controlled to spray steam onto the surface to be cleaned.

18. The control method of a cleaning apparatus (10) according to claim 17, wherein, The control of the steam injection device (600) to inject steam onto the surface to be cleaned includes: When it is determined that the cleaning device (10) is moving along the direction of the roller brush device (200) toward the wiping plate device (400), the steam jet device (600) is controlled to spray steam onto the surface to be cleaned; When it is determined that the cleaning device (10) is moving in the direction away from the wiping plate device (400) along the roller brush device (200), the steam injection device (600) is controlled to stop injecting steam.

19. The control method of the cleaning apparatus (10) according to claim 17, wherein, The control of the steam injection device (600) to inject steam onto the surface to be cleaned includes: When it is determined that the cleaning device (10) is moving in the direction away from the wiping plate device (400) along the roller brush device (200), the steam jet device (600) is controlled to spray steam onto the surface to be cleaned; When it is determined that the cleaning device (10) is moving along the roller brush device (200) toward the wiping plate device (400), the steam jet device (600) is controlled to stop jetting steam.

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