Control method and control unit for cleaning device, and cleaning device

Abstract

Provided in the embodiments of the present application are a control method and control unit for a cleaning device, and a cleaning device. The cleaning device comprises a roller brush motor, the roller brush motor being used for controlling a roller brush to rotate so as to execute a cleaning task. The control method for the cleaning device comprises: when a cleaning mode switching condition is met, controlling the roller brush motor to rotate in reverse for a first duration, and then controlling the roller brush motor to rotate forward, wherein the first duration is determined on the basis of a target range in a suction port area, and the suction port area is determined on the basis of the contact positions of the roller brush with a scraping strip and with a surface to be cleaned; after the roller brush motor has rotated forward for a second duration, controlling the roller brush motor to drive the roller brush to rotate in reverse, and executing a cleaning task in a target cleaning mode. By means of phased reverse cleaning, the bristles of the roller brush become fluffy, increasing the friction between the roller brush and the surface to be cleaned, and thereby improving the cleaning effect of the cleaning device and effectively preventing dirt from being brought out again, thus avoiding repeated cleaning of the area to be cleaned.

Description

Control methods and control units for cleaning equipment, cleaning equipment

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202510494799.2, filed on April 18, 2025, entitled "Control Method and Control Unit for Cleaning Equipment, Cleaning Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of cleaning equipment technology, and in particular to a control method for cleaning equipment, a control unit, and the cleaning equipment. Background Technology

[0004] With the development of technology and the improvement of living standards, the use of cleaning equipment for cleaning activities has become increasingly common.

[0005] Currently, cleaning equipment with roller brushes, such as floor scrubbers or robot vacuums, is not ideal for cleaning stubborn stains during routine cleaning processes. It cannot completely remove the stains and requires manual secondary cleaning after the cleaning equipment has finished cleaning.

[0006] Manual secondary cleaning is not only time-consuming and labor-intensive, impacting the cleaning experience for cleaning staff, but can also lead to additional labor costs in some commercial settings. Therefore, there is an urgent need for a control method for cleaning equipment that can achieve better cleaning results. Summary of the Invention

[0007] In view of this, embodiments of this application provide a control method for a cleaning device. One or more embodiments of this application relate to another control method for a cleaning device, a control unit for a cleaning device, another control unit for a cleaning device, and a cleaning device, to address the technical deficiencies existing in the prior art.

[0008] According to a first aspect of the embodiments of this application, a control method for a cleaning device is provided. The cleaning device includes a roller brush motor, the roller brush motor being used to control the rotation of the roller brush to perform a cleaning task. The method includes:

[0009] When the conditions for switching cleaning modes are met, control the roller brush motor to reverse.

[0010] After the roller brush motor reverses for a period of time until the first duration is reached, the roller brush motor is controlled to rotate forward. The first duration is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0011] After the second duration of forward rotation of the roller brush motor, the roller brush motor is controlled to reverse so that the roller brush can perform the cleaning task in the target cleaning mode.

[0012] According to a second aspect of the embodiments of this application, another method for controlling a cleaning device is provided. The cleaning device includes a roller brush, the roller brush being rotated to perform a cleaning task. The method includes:

[0013] When the conditions for switching cleaning modes are met, control the roller brush to reverse.

[0014] After the roller brush reaches the first angle of reverse rotation, the roller brush is controlled to rotate forward. The first angle is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0015] After the roller brush reaches the second angle of forward rotation, control the roller brush to perform the cleaning task in the target cleaning mode.

[0016] According to a third aspect of the embodiments of this application, a control unit for a cleaning device is provided, comprising:

[0017] The first reverse control module is configured to control the roller brush motor to reverse when the cleaning mode switching conditions are met.

[0018] The first forward rotation control module is configured to control the roller brush motor to rotate forward after the roller brush motor has rotated in reverse for a first duration. The first duration is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0019] The second reverse control module is configured to control the roller brush motor to reverse after the roller brush motor has rotated forward for a second duration, so as to control the roller brush to perform cleaning tasks in the target cleaning mode.

[0020] According to a fourth aspect of the embodiments of this application, a control unit for a cleaning device is provided, comprising:

[0021] The third reverse control module is configured to control the roller brush to reverse when the cleaning mode switching conditions are met.

[0022] The second forward rotation control module is configured to control the roller brush to rotate forward after the roller brush reverses to the first angle. The first angle is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0023] The fourth reverse control module is configured to control the roller brush to perform cleaning tasks in the target cleaning mode after the roller brush reaches the second angle of forward rotation.

[0024] According to a fifth aspect of the embodiments of this application, a cleaning device is provided, which is configured with a roller brush motor and a roller brush; the roller brush motor is used to control the rotation of the roller brush to perform a cleaning task.

[0025] Furthermore, the cleaning equipment is also equipped with a memory and a processor;

[0026] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the steps of the control method for the cleaning equipment described above.

[0027] One embodiment of this application implements a cleaning equipment control method. The cleaning equipment includes a roller brush motor, which controls the roller brush to rotate and perform a cleaning task. The method includes: controlling the roller brush motor to reverse when a cleaning mode switching condition is met; controlling the roller brush motor to rotate forward after the roller brush motor has been rotating in reverse for a first duration, wherein the first duration is determined based on a target range in the suction port area, the suction port area is an area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned, and the target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction; and controlling the roller brush motor to reverse after the roller brush motor has been rotating forward for a second duration, so as to control the roller brush to perform a cleaning task in the target cleaning mode.

[0028] By reversing the roller brush, the bristles become fluffy, increasing the friction between the roller brush and the surface to be cleaned, thereby improving the cleaning effect on stubborn dirt. Furthermore, when switching to the target cleaning mode, the roller brush motor is stopped reversing after the first duration. This prevents dirt adhering to the suction port that has not yet been sucked in from being carried out of the suction area due to the reversal. Then, the roller brush motor is controlled to rotate forward for a second duration to re-suck the dirt brought from the suction port during the first duration of reversal back into the cleaning device. This avoids the dirt being carried out of the suction port and back to the surface to be cleaned during continuous reversal cleaning, significantly improving the cleaning efficiency of the cleaning device for stubborn dirt while effectively preventing dirt from being carried out again due to the roller brush reversal. This enhances the cleaning effect of the cleaning device and avoids repeated cleaning of the area to be cleaned. Attached Figure Description

[0029] Figure 1 is a schematic diagram of the overall execution process of a control method for a cleaning device provided in an embodiment of this application;

[0030] Figure 2 is a flowchart of a control method for a cleaning device according to an embodiment of this application;

[0031] Figure 3 is a schematic diagram of the overall execution process of a control method for another cleaning device provided in an embodiment of this application;

[0032] Figure 4 is a partial structural schematic diagram of a handheld floor scrubber provided in one embodiment of this application;

[0033] Figure 5 is a schematic diagram of the execution process of a control method for a handheld floor scrubber provided in an embodiment of this application;

[0034] Figure 6 is a process flow diagram of a control method for a cleaning device provided in an embodiment of this application;

[0035] Figure 7 is a schematic diagram of the structure of a control unit of a cleaning device provided in an embodiment of this application;

[0036] Figure 8 is a schematic diagram of the control unit of another cleaning device provided in one embodiment of this application;

[0037] Figure 9 is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application. Detailed Implementation

[0038] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0039] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of one or more embodiments of this application. The singular forms “a,” “said,” and “the” as used in one or more embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0040] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this application, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0041] Furthermore, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this application are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0042] With the development of technology and the improvement of living standards, the use of cleaning equipment for cleaning activities has become increasingly common.

[0043] Currently, cleaning equipment with roller brushes, such as floor scrubbers or robotic vacuum cleaners, is not ideal for cleaning stubborn stains during routine cleaning processes. It cannot completely remove stains and requires manual secondary cleaning after the equipment's initial cleaning. This manual secondary cleaning is not only time-consuming and labor-intensive, affecting the cleaning experience for cleaning staff, but can also lead to additional labor costs in some commercial settings.

[0044] When cleaning equipment uses a roller brush, it removes dirt by generating friction between the brush and the surface. To address the aforementioned issue, increasing the friction between the brush and the surface can improve cleaning effectiveness. Further improvements could be made by increasing the number of brushes or using brushes made of a more friction-enhancing material. However, this would require a complete redesign of the cleaning equipment or frequent brush replacements, leading to additional R&D or material costs.

[0045] Based on this, considering that in addition to scraping away the dirt adsorbed by the roller brush, the scraper can also fluff up the bristles by rubbing them in the opposite direction, the roller brush can be reversed and rotated through the scraper in the opposite direction. This will make the bristles that are compressed during normal rotation of the roller brush fluff up, thereby increasing the friction with the surface to be cleaned and thus enhancing the cleaning effect.

[0046] However, after multiple experiments based on the above concept, it was found that when the roller brush is reversed, the dirt that has not yet been sucked up and is attached to the suction port of the cleaning device is brought back to the cleaning surface, resulting in an increase in the amount of dirt that needs to be cleaned. This not only affects the cleaning effect, but also causes additional energy consumption.

[0047] To address this issue, a common approach is to increase the suction power of the cleaning equipment. This would allow the dirt carried down by the reversing brush during the reverse rotation to be sucked up promptly, preventing it from being carried back to the surface to be cleaned. However, simply increasing the suction power doesn't effectively solve the problem of dirt being carried back. This is because the change in the brush's rotation direction causes the dirt to move in the opposite direction to the suction. Some of the ejected dirt may be located in front of the brush's contact point with the surface. Due to the barrier at this contact point, even with increased suction, the ejected dirt is unlikely to pass through the brush section in contact with the surface and be re-sucked up. Furthermore, the reversing brush bristles may fling the dirt even further away.

[0048] Alternatively, increasing the suction power to suck up the dirt attached to the nozzle will take extra time. The bristles of the roller brush, which become fluffy due to the reverse rotation, will be compressed again during the continuous reverse rotation process, causing the friction between the roller brush and the surface to be cleaned to decrease again or even return to the lower friction before the reverse rotation, thus reducing the cleaning effect of the reverse rotation.

[0049] Based on this, in this application, at the initial stage of the roller brush's reverse rotation, the reverse rotation is controlled for a certain period of time to prevent dirt adhering to the suction port from being carried out of the suction port area of ​​the cleaning device. Then, the roller brush is rotated clockwise for a certain period to quickly suck in the dirt adhering to the suction port. Then, the continuous reverse rotation continues, making the brush bristles fluffy while preventing the dirt adhering to the suction port from being carried back to the surface to be cleaned. This control method effectively improves the cleaning effect of the cleaning device on the surface to be cleaned, while avoiding the problem of bringing dirt back to the surface to be cleaned.

[0050] In view of this, in one or more embodiments of this application, a control method for a cleaning device is provided. Referring to Figure 1, Figure 1 shows a schematic diagram of the overall execution process of a control method for a cleaning device provided in one embodiment of this application, as shown in Figure 1.

[0051] In its initial state, the cleaning device operates in the initial cleaning mode. In this mode, the roller brush motor rotates forward, the main motor generates suction at its second power, and the water pump delivers water at its second flow rate. When the conditions for switching cleaning modes are met, the device switches to the target cleaning mode. In this mode, the roller brush motor first reverses for a first duration to clean the suction area, while the main motor's suction power is adjusted to its first power, and the water pump's flow rate is adjusted to its first flow rate. After the first reverse rotation, the roller brush motor rotates forward for a second duration, maintaining both the first power and the first flow rate. After the second forward rotation, the roller brush motor reverses for a third duration, returning the main motor to its second power, which is less than the first power, while the water pump maintains its first flow rate. After the third reverse rotation, the target cleaning mode ends, and the cleaning device returns to the initial cleaning mode.

[0052] The control method of this cleaning equipment, by controlling the cleaning equipment, adopts a target mode with better cleaning effect to perform the cleaning task when cleaning stubborn dirt on the surface to be cleaned.

[0053] Specifically, the control method of this cleaning equipment involves switching the equipment to a target cleaning mode when a better cleaning effect is required. In this target cleaning mode, the roller brush motor is controlled to reverse, and then stops reversing after a first duration to prevent dirt adhering to the suction port from being carried out of the suction port area, i.e., it is brought back to the surface to be cleaned. After the first reversal duration, the roller brush motor is controlled to rotate forward for a second duration. After the second duration of forward rotation, the dirt adhering to the suction port is sucked in. Subsequently, the roller brush motor is controlled to drive the roller brush to continuously reverse, and the scraper strips scrape the brush bristles in the opposite direction, making them fluffy. This increases the friction on the surface to be cleaned, thereby achieving a better cleaning effect.

[0054] Correspondingly, this application provides a control method for a cleaning device. One or more embodiments of this application also relate to another control method for a cleaning device, a control unit for a cleaning device, another control unit for a cleaning device, and a cleaning device, which will be described in detail in the following embodiments.

[0055] Referring to Figure 2, which shows a flowchart of a control method for a cleaning device according to an embodiment of this application, the cleaning device includes a roller brush motor, which controls the rotation of the roller brush to perform a cleaning task. The method specifically includes the following steps.

[0056] Step 202: When the conditions for switching cleaning modes are met, control the roller brush motor to reverse.

[0057] The control method for cleaning equipment provided in this application is applicable to various types of cleaning equipment, including but not limited to: handheld floor scrubbers, automatic sweeping robots, large-scale floor cleaning equipment, wall cleaning equipment, and glass exterior wall cleaning equipment. For example, in daily household cleaning scenarios, users can use handheld floor scrubbers to clean household floors; in public place cleaning scenarios, large-scale floor cleaning equipment can be used to clean large public areas; and in special application scenarios, such as glass exterior wall cleaning, glass exterior wall cleaning equipment can be used to clean the glass exterior walls of buildings.

[0058] Cleaning equipment is a device that achieves automated or semi-automated cleaning through mechanical structures, sensors, and control systems. Different cleaning equipment can effectively clean various surfaces by integrating different sensors, motors, and control systems, according to preset programs or user instructions.

[0059] The roller brush motor is the core component that drives the rotation of the roller brush in cleaning equipment. It controls the direction of rotation, such as forward and reverse rotation, as well as rotational parameters such as speed, thus controlling the rotation of the roller brush to complete the cleaning task. The roller brush motor provides power to the roller brush, enabling it to effectively remove dust, stains, and other dirt from the surface to be cleaned. The performance of the roller brush motor directly affects the cleaning efficiency and effect. Different cleaning equipment can be equipped with roller brush motors of different power and rated speed to meet various cleaning needs.

[0060] A roller brush is a component mounted on a cleaning device that directly contacts and physically rubs against the surface to be cleaned. Roller brushes can be rotating cleaning parts made of bristles (such as nylon, polyester fibers, etc.) or filaments, possessing a certain degree of elasticity and flexibility. Roller brushes loosen and remove stains and dirt from the floor through high-speed rotation. Roller brushes can be designed in various ways, including bristle brushes and cloth strips, allowing selection based on the specific cleaning scenario.

[0061] Cleaning modes are the operating methods set by cleaning equipment according to different cleaning needs, such as normal cleaning mode (suitable for daily light cleaning) and powerful cleaning mode (for stubborn stains or heavily polluted environments). In different cleaning modes, various operating parameters of the cleaning equipment, such as the rotation direction and speed of the roller brush and the suction power, can be adjusted to achieve the best cleaning effect.

[0062] Cleaning mode switching conditions are the specific conditions that trigger a cleaning device to switch from one cleaning mode to another. These conditions can be detected by built-in sensors or determined manually by the user.

[0063] Optionally, the pressure change between the roller brush and the ground can be detected by a pressure sensor mounted on the cleaning equipment, or the image sensor can identify the image of the surface to be cleaned by a preset image algorithm. For example, a pressure sensor is installed on the roller brush shaft of the cleaning equipment. The pressure sensor detects the pressure between the roller brush and the surface to be cleaned by the force on the roller brush shaft. If the pressure sensor detects a pressure change that exceeds a preset threshold, it indicates that there is uneven dirt attached to the surface to be cleaned. Therefore, the target cleaning mode can be switched to perform the cleaning task on the dirt.

[0064] Alternatively, users can determine the mode by pressing the corresponding button or sending a switching command via a wireless device. For example, when cleaning the floor with a handheld floor scrubber, if there are dirt stains that cannot be thoroughly cleaned in the initial cleaning mode, users can press the cleaning mode switching button on the control panel of the handheld floor scrubber to switch to the target cleaning mode to perform the cleaning task.

[0065] It can also be determined based on preset location information. For example, during the cleaning process, an automated robot vacuum cleaner can use its position sensor to determine that it is currently running in the set kitchen area, and then automatically switch to the target cleaning mode to perform cleaning tasks on stubborn dirt such as oil stains in the kitchen area.

[0066] That is, the detection methods for cleaning mode switching conditions include, but are not limited to: acquiring detection data through sensors such as pressure sensors, optical sensors, infrared sensors, and laser rangefinders, and analyzing the data through a built-in analysis module.

[0067] Reversal refers to the direction in which the roller brush rotates, driven by the roller brush motor, is opposite to the direction of rotation of the roller brush in the current cleaning mode. During the reverse rotation of the roller brush driven by the roller brush motor, the brush bristles pass through the scraper bar that contacts the roller brush. Under the action of the scraper bar, the brush bristles change from a state of being in contact with the roller brush surface to a fluffy state that is perpendicular to the roller brush surface or at a large angle. This increases the friction between the roller brush and the surface to be cleaned, thereby enhancing the cleaning effect on the surface to be cleaned.

[0068] In practical applications, the cleaning mode of the cleaning equipment can be switched when the conditions for switching cleaning modes are met. For example, taking a user cleaning a household floor with a handheld floor scrubber as an example, if there are still condiment and oil stains on the floor that cannot be completely cleaned during the normal cleaning mode of the handheld floor scrubber, the user can manually press the powerful cleaning mode button on the control panel of the handheld floor scrubber to switch to the powerful cleaning mode (i.e., the target cleaning mode) to improve the cleaning effect of the handheld floor scrubber. In the powerful cleaning mode, the roller brush motor is controlled to drive the roller brush to reverse in order to clean the condiment and oil stains.

[0069] Optionally, controlling the reverse rotation of the roller brush motor can be achieved by sending a control signal to the control motor. Specifically, this control signal can be automatically generated by the cleaning equipment's built-in control unit, such as a microprocessor or embedded chip, or it can be received by the cleaning equipment from external control devices or the cloud.

[0070] In this step, the cleaning mode of the cleaning equipment is switched when the conditions for switching the cleaning mode are met. The roller brush motor is reversed to drive the roller brush to rotate in the opposite direction for a stronger cleaning effect. At the same time, the reverse rotation is stopped after the first time in the subsequent steps to avoid the dirt attached to the suction port being brought back to the surface to be cleaned or re-contaminating the cleaned surface due to the roller brush reversing cleaning.

[0071] Step 204: After the roller brush motor has reversed for a period of time, control the roller brush motor to rotate forward. The first period of time is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0072] The suction port is the component of the cleaning equipment that sucks up dirt brought in by the roller brush. Generally, the opening size of the suction port is similar to or the same as the roller brush, and it is located behind the roller brush. A scraper can be installed along the upper edge of the suction port, which contacts the rear of the roller brush. A sealing strip can be installed along the lower edge of the suction port to improve the seal between the suction port and the surface to be cleaned, thereby enhancing the suction effect and also scraping and collecting light dirt and water stains.

[0073] A scraper is a rigid component (such as metal, hard rubber, or plastic) installed inside the suction port of a cleaning device, contacting the back of the roller brush. It scrapes away dirt and water stains adhering to the brush bristles and also improves the seal of the suction port by contacting the brush, thus enhancing suction effectiveness. When the roller brush rotates in one direction (e.g., clockwise), the scraper straightens and compresses the bristles in that direction. When the roller brush switches from the current direction of rotation (e.g., clockwise) to the opposite direction (e.g., counter-clockwise), the bristles that were straightened and compressed during the current rotation (e.g., clockwise) become fluffy and open under the action of the scraper, perpendicular to or at a large angle to the brush surface. This allows the scraper to scrub the surface during the switch in the new direction of rotation (e.g., counter-clockwise), increasing friction and improving cleaning efficiency.

[0074] The suction area is the contact area between the roller brush, squeegee, and the surface to be cleaned (such as the floor or wall). Specifically, it's the area formed relative to the center by the contact points between the roller brush, squeegee, and the surface. It can be understood as the closed or semi-closed space formed by the roller brush, squeegee, and surface when the roller brush rotates.

[0075] Optionally, the suction area can be determined based on the different shapes of the roller brush. When the roller brush is elliptical and track-like, it can be an area centered on the focal point of the side cross-section of the roller brush and the contact points of the roller brush with the scraper and the surface to be cleaned relative to the center. When the roller brush is circular, it can be an area centered on the center of the side cross-section of the roller brush and the contact points of the roller brush with the scraper and the surface to be cleaned relative to the center.

[0076] Optionally, the suction port area can be defined by a first straight line from the contact point between the scraper and the roller brush to the center or focus of the side cross-section of the roller brush, a second straight line from the contact point between the roller brush and the surface to be cleaned to the center or focus of the side cross-section of the roller brush, and the first straight line, the second straight line, and the center or focus of the side cross-section of the roller brush as vertices.

[0077] Alternatively, the shape of the suction port area can be approximated as a fan-shaped area centered on the center or focal point of the cross-section of the roller brush side. A certain negative pressure is created through the suction port area, drawing dirt into the cleaning equipment.

[0078] The target range is a defined area, either equal to or smaller than the suction nozzle area. The starting reference for the target range coincides with the scraper side of the suction nozzle area; that is, the target range is defined based on the direction of the contact point between the roller brush and the scraper relative to the center. The target range ensures that the roller brush does not carry dirt adhering near the suction nozzle to the surface to be cleaned during its initial reverse rotation. Specifically, in practical applications, the surface to be cleaned is not necessarily flat; it can be uneven. Therefore, during the reverse rotation of the roller brush motor, the angle of the suction nozzle area cannot be used as a direct constraint, as gaps in the contact between the roller brush and the surface to be cleaned could cause dirt to be carried out of the suction nozzle area. Therefore, a target range, which is smaller than or equal to the suction nozzle area, needs to be defined within the suction nozzle area.

[0079] Alternatively, the target range can be approximated as a fan-shaped area centered on the side center of the roller brush. This fan-shaped area coincides with the scraper side of the fan-shaped area of ​​the suction port area, and the angle between them is less than or equal to the angle of the fan-shaped area of ​​the suction port area. The target range is used to define the range of the roller brush during the first stage of reversal to prevent dirt adhering to the suction port from being reversed and carried out of the suction port area. For example, if the suction port area is 102°, the target range can be set to a range from the scraper to a specific angle (such as 80°), which is smaller than the suction port area.

[0080] The side center is the geometric center of the side cross-section of the roller brush, and it is also the point through which the axis of rotation of the roller brush passes. The side center can be used to determine the suction area and target range, that is, as a reference point for measuring the angle between the roller brush and the scraper and the surface to be cleaned.

[0081] The first duration is the specific time for the reverse rotation of the roller brush motor. This first duration can be calculated based on the target range within the suction port area, ensuring that excessively long reverse rotation times do not cause dirt adhering to the suction port to be carried out of the suction port area by the roller brush. For example, if the suction port area is 102°, the target range can be 102°, or it can be an angle less than 102°, such as 80°. After determining the target range, the first duration can be further determined. Optionally, it can be calculated based on the current rotation speed of the roller brush driven by the roller brush motor. For example, with a target range of 102° and a roller brush motor speed of 450 r / min (2700° / s), the first duration of the roller brush motor's reverse rotation can be calculated as 102 / 2700 ≈ 0.04 s.

[0082] Optionally, in practical applications, since the generation and transmission of control signals, as well as the response process of the roller brush motor, all require a certain amount of time, the first duration may include not only the reversal time of the roller brush motor calculated based on the suction area, but also the response time of the roller brush motor. Specifically, the response time of the roller brush motor will vary depending on the type of cleaning equipment and the type of motor.

[0083] Forward rotation refers to the roller brush motor driving the roller brush to rotate in the normal cleaning direction (i.e., opposite to the reverse direction). The purpose of forward rotation is to suck the dirt cleaned from the suction area during the first reverse cleaning cycle into the cleaning equipment, preventing the dirt from being carried out during subsequent reverse cleaning cycles.

[0084] The surface to be cleaned is the surface of an object that needs cleaning, such as floors, walls, glass curtain walls, carpets, etc. Different materials and shapes of the surfaces to be cleaned will affect the formation of the suction port area and the cleaning effect. For example, the suction port on a smooth ceramic tile surface has better sealing properties than that on a carpet, making it easier to form effective negative pressure.

[0085] Specifically, after the roller brush motor has reversed for the first duration—meaning the roller brush has completed cleaning the entire suction area without excessively carrying dirt out of the suction area—the roller brush motor can be controlled to stop reversing and start rotating forward. By rotating the roller brush motor forward, the cleaning device can suck in the dirt cleaned during the reversal process from the suction area. This ensures that during subsequent reversal cleaning, no dirt is carried out of the suction area by the reversing bristles, preventing it from being continuously carried to the surface to be cleaned and affecting the cleaning effect.

[0086] Optionally, since the roller brush motor needs to go through a process of deceleration in reverse, stopping rotation, and acceleration in forward rotation when switching from reverse to forward rotation, a certain response time is required. Therefore, in actual use, there is a certain interval time during the process of the roller brush motor switching from reverse to forward rotation. To protect the safe operation of the roller brush motor, a longer interval time can be set, such as 0.2 seconds.

[0087] In this step, after the roller brush motor reverses to reach the first time calculated based on the suction port area, it switches to forward rotation to suck in the residual dirt brought from the suction port to the suction port area by the roller brush during the reverse rotation phase into the cleaning device, thus preventing the dirt from being carried out of the suction port area due to continuous reverse cleaning in the future.

[0088] Step 206: After the second duration of forward rotation of the roller brush motor, control the roller brush motor to reverse so as to control the roller brush to perform the cleaning task in the target cleaning mode.

[0089] The second duration is the specific time required for the forward rotation of the roller brush motor. This second duration can be calculated based on factors such as the dirt recovery efficiency of the suction area, the rotation speed of the roller brush motor, and the cleaning suction power of the suction port. This ensures that the forward rotation of the roller brush lasts long enough to completely suck up the dirt cleaned during the reverse rotation of the first duration, while avoiding excessive energy or time consumption due to prolonged forward rotation. The dirt recovery efficiency is the amount of dirt sucked up by the suction area per unit time, which can be determined through historical cleaning records. For example, if the cleaning suction power generated by the suction port is 1200 Pa and the roller brush rotation speed is 450 r / min, the second duration can be initially set to 0.5 seconds, and forward rotation can be initiated. Subsequently, the system will use sensors to detect whether there is still dirt remaining in the suction area. If residue is detected, the second duration is extended to 0.6 seconds based on the actual suction effect and re-verified until there is no residual dirt in the suction area. This determines the target value for the second duration that can completely recover dirt without consuming additional time. By continuously adjusting the second duration and verifying the cleaning results of forward rotation, we ensure that the second duration can flexibly match the high cleaning performance under the current cleaning conditions.

[0090] The target cleaning mode is a specific operating mode after the cleaning equipment switches modes. The target cleaning mode can enhance the cleaning effect on stubborn stains by adjusting parameters such as the rotation direction of the roller brush, the duration, and the cleaning suction power. For example, when the target cleaning mode is the strong cleaning mode, the roller brush can switch from forward rotation to continuous reverse rotation to increase friction by using fluffy bristles.

[0091] The cleaning task is the specific operation performed by the cleaning equipment in the target cleaning mode, such as removing stubborn stains, deep cleaning, and carpet cleaning. For example, for stubborn stains such as glue stains and condiment oil stains, the target cleaning mode continuously reverses the brush bristles to fluff and scrub, and uses the negative pressure of the suction port to enhance the cleaning effect to remove stubborn stains.

[0092] After the first period of reverse rotation and the second period of forward rotation, the cleaning of the suction port area and the dirt attached to the roller brush itself is completed. The roller brush can then be continuously reversed, and the scraper will deform the brush bristles, making them fluffy to increase the friction on the surface to be cleaned, thereby improving the cleaning effect in the target mode and completing the cleaning task.

[0093] Optionally, at the beginning of the reverse cleaning process, the bristles, which were straightened and pressed during forward rotation, become fluffy and relaxed under the action of the scraper, thereby increasing the friction on the surface to be cleaned and improving the cleaning effect. However, as the reverse rotation continues, the fluffy bristles are straightened and pressed again by the scraper from the opposite direction of rotation, thereby reducing the friction on the surface to be cleaned. Therefore, the reverse cleaning process is not continuous, but has a certain duration. After the reverse cleaning process exceeds a certain duration, the cleaning effect is the same as the cleaning effect before the reverse cleaning.

[0094] Correspondingly, after the roller brush motor has rotated forward for a second duration, it is controlled to reverse, thus controlling the roller brush to perform the cleaning task in the target cleaning mode. This includes: after the roller brush motor has rotated forward for a second duration, controlling it to reverse for a target duration, thus controlling the roller brush to perform the cleaning task for the target duration in the target cleaning mode. The target duration refers to the duration of the roller brush motor's reverse rotation, that is, the duration during which the brush bristles remain fluffy during the reverse rotation. By setting the target duration, the dynamic changes in bristle fluffiness and cleaning effect are precisely captured. When the brush bristles are compressed again due to continuous reverse rotation, reducing the cleaning effect, the target cleaning mode is exited. This ensures efficient cleaning of stubborn stains while avoiding energy waste caused by continuing to reverse after the cleaning effect has decreased.

[0095] In this embodiment, the brush bristles are fluffed up by reversing the roller brush, thereby increasing the friction between the roller brush and the surface to be cleaned, and thus improving the cleaning effect of the cleaning device on stubborn dirt. Furthermore, when switching to the target cleaning mode, the roller brush motor is stopped reversing after a first duration, preventing dirt adhering to the suction port that has not yet been sucked in from being carried out of the suction port area due to the reversal. Then, the roller brush motor is controlled to rotate forward for a second duration to re-suck the dirt brought from the suction port area during the first duration of reversal back into the cleaning device. This avoids the dirt being carried out of the suction port area and back to the surface to be cleaned during continuous reversal cleaning, significantly improving the cleaning efficiency of the cleaning device on stubborn dirt while effectively preventing dirt from being carried out again due to the roller brush reversal, thus improving the cleaning effect of the cleaning device and avoiding repeated cleaning of the area to be cleaned.

[0096] To prevent dirt adhering to the suction nozzle from being carried out of the suction area during the roller brush's reverse rotation, the reverse rotation time of the roller brush motor needs to be controlled to a first duration, meaning the first duration is determined based on the suction nozzle area. However, in practical applications, the target area of ​​the suction nozzle will vary depending on the model of the cleaning equipment or the shape and size of the suction nozzle. Therefore, a uniform first duration cannot be simply set; it needs to be determined based on the actual target area of ​​the suction nozzle.

[0097] In order to accurately determine the first duration based on the target range of the suction port area, in an optional embodiment of this application, after the duration of the roller brush motor reversing reaches the first duration, the roller brush motor is controlled to rotate forward, including:

[0098] The angle to be reversed for the roller brush motor is determined based on the target range of the suction area;

[0099] The first duration is determined based on the rotational speed of the roller brush motor and the angle to be reversed.

[0100] At the first interval, control the roller brush motor to rotate forward.

[0101] The angle to be reversed is the angle swept by the roller brush as it rotates in the reverse direction during the reverse rotation process driven by the roller brush motor; that is, the angle of the target range of the suction port area. Specifically, to avoid carrying dirt out of the suction port area during the reverse rotation process, the angle to be reversed of the roller brush should be set to the target range of the suction port area, that is, less than or equal to the angle of the suction port area. For example, if the target range of the suction port area is 80°, then the angle to be reversed is also 80°.

[0102] Optionally, in practical applications, the target range is determined based on the suction port area, i.e., the angle to be reversed is determined, which can be set according to the degree of dirtiness in the suction port area. That is, determining the angle to be reversed of the roller brush motor based on the target range of the suction port area includes: determining the target range based on the degree of dirtiness in the suction port area, and determining the angle to be reversed of the roller brush motor based on the target range.

[0103] Specifically, when the suction area is heavily soiled or the type of soiling is easily adhered (such as liquids like seasoning oil stains), the soiling is more likely to be carried out by the roller brush in reverse. Therefore, the target range can be set to be smaller than the suction area to reduce the possibility of the soiling being carried out of the suction area in the first stage of reversal. For example, if the angle of the suction area is 102°, the target range can be determined to be 80°, and the angle to be reversed can be set to 80°.

[0104] Optionally, the target range should not be set too small, otherwise the dirt attached to the suction port may not be completely recovered and could be carried out again during subsequent continuous reverse cleaning. Therefore, a minimum value for the target range can be set. Specifically, this minimum value can be set based on historical experience or based on the structure of the cleaning equipment. Optionally, the minimum target range can be defined by the center or focal point of the side cross-section of the roller brush, the contact points between the roller brush and the scraper, and the adjacent positions of the sealing strip relative to the center. This ensures that the reverse rotation of the roller brush completely sweeps over the entire suction port, thus preventing dirt from remaining inside the suction port and being carried out during subsequent continuous reverse cleaning.

[0105] Taking a handheld floor scrubber as an example, referring to Figure 4, Figure 4 shows a partial structural schematic diagram of a handheld floor scrubber provided in an embodiment of this application. As shown in Figure 4, the angle between the contact position of the squeegee 401 and the roller brush and the contact position of the roller brush and the ground 402 is 102°, that is, the angle of the suction port area is 102°. Therefore, the target range can be set to 80°, which is smaller than the suction port area. The sealing strip 403 is set at the lower edge of the suction port. The sealing strip is adjacent to the squeegee 401 and the roller brush, and forms a 52° angle with the contact position of the squeegee and the roller brush. Therefore, the minimum value of the target range can be set to 52°. That is, the target range can be set to 52° to 80° with the direction of the contact position of the roller brush and the squeegee relative to the center as the reference direction. Therefore, the angle to be reversed can be 52° to 80°.

[0106] Optionally, the level of dirt in the suction port area can be automatically determined by sensors mounted on the cleaning device, or the user can input the corresponding level of dirt through the input panel of the cleaning device. For example, an image sensor mounted inside the suction port area can acquire an image of the dirt in the suction port area and determine the level of dirt based on a preset image processing algorithm; alternatively, other sensors such as infrared sensors can be used to detect the level of dirt in the suction port area.

[0107] By determining the rotation angle of the roller brush motor based on the level of dirt in the suction area and the target range of the suction area, the rotation angle can be flexibly adjusted under different dirt conditions. This ensures that the rotation process of the roller brush motor does not carry out dirt from the suction area, while also guaranteeing the cleaning effect of the dirt in the suction area, thus providing a guarantee for the cleaning effect of the subsequent rotation cleaning process.

[0108] Optionally, the type of roller brush motor can include brushed motors and brushless motors. Brushed motors achieve rotation through brushes and commutators, resulting in lower control precision and a speed that is greatly affected by the load. Brushless motors, on the other hand, achieve precise control through electronic commutation, can directly receive commands for the target angle and position themselves at the designated location, and their rotation time is negligible.

[0109] Therefore, in practical applications, when the roller brush motor is a brushed motor, the reversal time needs to be calculated based on the roller brush motor's rotational speed and the angle to be reversed. Simultaneously, the generation and transmission of the reversal signal, as well as the roller brush motor's response delay, must be considered. The determined first duration includes both the response time and the reversal time. For example, when the angle to be reversed is 102° and the roller brush motor's rotational speed is 450 r / min, the reversal signal generation and response time is 0.16s, and the reversal time is 0.04s. Correspondingly, the first duration can be 0.2s. When the roller brush motor is a brushless motor, since a brushless motor can be considered a servo motor and can precisely control the rotation angle, the reversal time can be very small or negligible. Furthermore, the response time of a brushless motor is shorter than that of a brushed motor. Therefore, when the angle to be reversed is 102°, the reversal signal generation and response time is 0.14s, and the reversal time is 0.01s. Correspondingly, the first duration can be 0.15s.

[0110] Specifically, when the angle to be reversed of the roller brush motor is determined based on the target range of the suction port area, the first duration can be determined based on the rotational speed of the roller brush motor and the angle to be reversed.

[0111] Optionally, in practical applications, since the angle to be reversed can be set according to the actual situation, the corresponding first duration can also be adjusted. Specifically, when the angle to be reversed is large, the first duration is longer; when the angle to be reversed is small, the first duration is shorter.

[0112] Optionally, in practical applications, the rotation speed of the roller brush motor can be adjusted for different cleaning modes, and the initial cleaning time can also be adjusted in real time according to the rotation speed of the roller brush motor. For example, when the target cleaning mode is a powerful cleaning mode, this powerful cleaning mode can be further divided into a heavy scrubbing cleaning mode and a light scrubbing cleaning mode. In the heavy scrubbing cleaning mode, the rotation speed of the roller brush motor is higher, so the initial cleaning time is shorter; in the light scrubbing cleaning mode, the rotation speed of the roller brush motor is lower, so the initial cleaning time is longer.

[0113] Once the first duration is determined, the roller brush motor can be controlled to rotate forward after the first duration of reverse rotation has been reached.

[0114] In this embodiment, by determining the angle to be reversed of the roller brush motor according to the target range of the suction port area, and dynamically calculating the first duration in combination with the rotation speed of the roller brush motor, precise time control of the reversal process is achieved, ensuring that the roller brush can completely cover the suction port area during reversal to thoroughly clean residual dirt, while avoiding dirt being thrown out of the suction port area due to excessive reversal time.

[0115] To re-suction any dirt that may have been brought out during the first reverse rotation, a second forward rotation of the roller brush motor is needed. This ensures thorough suction of the dirt from the suction nozzle while avoiding excessive forward rotation to prevent unnecessary energy consumption. In practical applications, different cleaning devices produce varying suction power and have different roller brush motor speeds, resulting in varying cleaning efficiencies. Therefore, a uniform second rotation duration cannot be set; it must be determined based on the actual suction power and motor speed.

[0116] In order to accurately determine the second duration based on the actual cleaning suction power and rotation speed, in an optional embodiment of this application, after the duration of forward rotation of the roller brush motor reaches the second duration, the roller brush motor is controlled to reverse, including:

[0117] Based on the cleaning suction of the cleaning equipment and the rotation speed of the roller brush motor when it is rotating forward, the second cleaning time required by the cleaning equipment is estimated.

[0118] At the second interval, the control roller brush motor reverses.

[0119] Cleaning suction power is the negative pressure intensity generated in the suction port area of ​​a cleaning device, usually measured in Pascals (Pa). It is used to draw dirt from the suction port area into the built-in dust collection box or wastewater tank of the cleaning device. The stronger the cleaning suction power, the faster the dirt is sucked in and recovered. For example, the suction power is 800 Pa in normal cleaning mode and can reach 1500 Pa in powerful cleaning mode.

[0120] The second duration is the specific time required for the roller brush motor to rotate forward. Its value is calculated based on the current cleaning suction and the rotation speed of the roller brush motor to ensure that the cleaning is completely sucked into the cleaning device during the forward rotation, while avoiding additional energy or time consumption due to excessive forward rotation.

[0121] When using a roller brush motor to drive the roller brush in reverse to clean dirt in the lower suction area, the roller brush motor can also drive the roller brush in forward rotation to suck the cleaned dirt into the cleaning device. Specifically, the second cleaning time can be estimated by obtaining the cleaning suction power of the cleaning device and the rotation speed of the roller brush motor.

[0122] Optionally, the second cleaning time can be estimated based on historical cleaning data, specifically by acquiring historical cleaning data and determining the correspondence between cleaning suction power, rotation speed, and the resulting cleaning effect. This correspondence can store the optimal cleaning time for different cleaning suction power-rotation speed combinations. For example, with a cleaning suction power of 1000Pa and a rotation speed of 400r / min, a second cleaning time of 0.6 seconds produces a good cleaning effect. Once this correspondence is obtained, the second cleaning time can be estimated based on the dirt cleaned during the first stage of reverse cleaning, using the cleaning suction power and rotation speed.

[0123] Optionally, the second duration can also be dynamically adjusted. Specifically, the image sensor or infrared sensor mounted on the cleaning device can be used to determine whether the dirt attached to the suction port has been completely sucked in.

[0124] Specifically, during the forward rotation of the roller brush motor, a sensor can be used in real time to determine whether there is still dirt in the current suction port area. If there is, the roller brush motor is controlled to continue rotating forward, that is, the second duration is continuously extended. When the sensor detects that there is no dirt in the current suction port area, the forward rotation of the roller brush motor can be stopped, that is, the second duration is stopped. Alternatively, after obtaining the corresponding relationship and determining the second duration, the sensor can be used to detect the dirt status in the current suction port area in real time. When the initially determined second duration is reached, if there is still dirt in the current suction port area, the second duration is extended until the sensor determines that there is no dirt in the current suction port area, at which point the extension of the second duration is stopped, completing the forward rotation stage of the roller brush motor, that is, completing the cleaning of the dirt in the suction port area cleaned under the first reverse rotation stage.

[0125] In this embodiment, by estimating the second duration based on the cleaning suction power and the rotation speed of the roller brush motor, and stopping the roller brush motor from rotating forward after the second duration (i.e., after the second duration interval), precise control is achieved in the process of recovering and sucking up dirt attached to the suction port. This ensures that the second duration of the roller brush motor's forward rotation can thoroughly recover the dirt attached to the suction port, avoiding residue or secondary pollution, and that the forward rotation duration can be flexibly adjusted according to the cleaning suction power and rotation speed, avoiding inefficiency or energy waste caused by a fixed duration, thereby improving cleaning efficiency and adaptability.

[0126] To increase the friction between the roller brush and the surface to be cleaned, reverse cleaning causes the brush bristles to fluff up under the action of the scraper, thus increasing friction and improving cleaning effectiveness. However, as reverse cleaning continues, the fluffed bristles are straightened and pressed back down by the scraper from the opposite direction of rotation, reducing friction. As reverse cleaning continues, the pressure on the bristles also continues, eventually reducing them to the same state as before the reverse rotation began, meaning the cleaning effect also decreases to the initial cleaning mode. Simultaneously, continuous reverse cleaning increases bristle wear, reducing lifespan. Therefore, to avoid the extra time and energy consumption caused by indefinite reverse cleaning and to reduce bristle lifespan loss, the duration of the reverse cleaning process under the target cleaning mode can be limited.

[0127] To reasonably control the duration of the target cleaning mode, in one optional embodiment of this application, after the roller brush motor has rotated forward for a second duration and the roller brush motor is controlled to rotate in reverse, the following further step is taken:

[0128] Based on the brush bristle adhesion, the third time required for the cleaning equipment to perform the cleaning task in the target cleaning mode is estimated.

[0129] After a third time interval, the cleaning equipment is controlled to resume the initial cleaning mode.

[0130] Bristle adhesion is a measure of how well the bristles adhere to the roller brush surface during the reversal process. During reversal, the bristles are fluffed up by the scraper, changing from being close to the brush surface to being more upright and thus becoming more agile. Bristle adhesion reflects the cleaning ability of the bristles. When the roller brush is switched from clockwise to counterclockwise rotation, the scraper causes the bristles to become less close to the brush surface; the larger the angle between the bristles and the brush surface, the fluffier the bristles.

[0131] The third duration is the effective time for the roller brush to perform the cleaning task by reversing its rotation during the target cleaning mode (such as the powerful cleaning mode). The third duration can be determined based on the bristle adhesion state. Optionally, it can be calculated based on the change curve of the bristle adhesion state to ensure that the cleaning task is completed within the stage of improved cleaning effect. For example, if historical cleaning data shows that the bristle adhesion begins to increase 5 seconds after the start of reverse cleaning, and becomes highly adherent to the roller brush at 15 seconds, that is, similar to or the same as the bristle adhesion state during the forward rotation stage before the start of reverse cleaning, then the third duration can be set to 14 seconds.

[0132] The initial cleaning mode is the cleaning mode used by the cleaning equipment before switching to another cleaning mode, such as the normal cleaning mode. In the initial cleaning mode, the roller brush motor continuously drives the roller brush to rotate forward, and the brush bristles are straightened and compacted. The initial cleaning mode can complete basic cleaning while protecting the lifespan of the bristles. Because the bristles are in a compacted state, the friction is low, and the cleaning effect is also lower than that of the stronger cleaning mode.

[0133] In practical applications, the bristle adhesion status can be obtained through sensors mounted on the cleaning equipment. For example, the bristle adhesion status can be determined by detecting the angle between the bristles and the surface of the roller brush using an optical sensor; alternatively, the scraping force of the fluffy bristles on the scraper can be detected by a force sensor that detects the force on the scraper. In one optional embodiment of this application, the scraper can be a floating structure that can float via a torsion spring or elastic element, thereby maintaining constant contact with the surface of the roller brush and avoiding the scraper failing to adhere to the roller brush due to bristle wear. The fluffiness of the bristles can be detected by detecting changes in the force on the torsion spring or elastic element.

[0134] Once the brush bristle adhesion state is obtained, the third time required for the cleaning device to perform the cleaning task in the target cleaning mode can be estimated based on the brush bristle adhesion state. Optionally, the cleaning effect of reverse cleaning in the target cleaning mode can be determined based on the brush bristle adhesion state, and this cleaning effect is greater than the cleaning effect of the initial cleaning mode. The change in the cleaning effect of the target cleaning mode is determined based on the change in the brush bristle adhesion state. When the cleaning effect of the target cleaning mode decreases to the same or similar to the cleaning effect of the initial cleaning mode, the reverse cleaning in the target cleaning mode can be terminated, i.e., the third time is estimated.

[0135] After the cleaning equipment reverses its rotation to the target cleaning mode, a third time interval is elapsed before the cleaning equipment returns to the initial cleaning mode, i.e., the roller brush motor resumes forward rotation.

[0136] In this embodiment, by estimating the third cleaning time based on the bristle adhesion state, and controlling the cleaning device to return to the initial cleaning mode when the third cleaning time is reached, the problem of resource waste caused by continuous reversal is avoided. This ensures that the cleaning device only executes the target cleaning mode when the reversal cleaning effect is greater than the initial cleaning mode. By precisely controlling the third cleaning time of the reversal, the high friction advantage of the fluffy bristles is maximized, thereby improving cleaning efficiency and reducing the need for repeated cleaning, ultimately achieving a balance between resource optimization and cleaning effect.

[0137] To avoid the problem of insufficient cleaning efficiency caused by spending too much time sucking up dirt adhering to the suction port during the actual cleaning process, thus preventing the formal reverse cleaning process from starting in time, it is necessary to clean the dirt adhering to the suction port more quickly. Specifically, this can be achieved by adjusting the power of the main motor to enhance the cleaning suction and thus speed up the cleaning process.

[0138] To precisely control the power of the main motor, in one optional embodiment of this application, the cleaning device further includes a main motor; and when the cleaning mode switching conditions are met, the method further includes:

[0139] Adjust the power of the main motor from the second power in the initial cleaning mode to the first power, where the first power is greater than the second power.

[0140] The main motor is the core motor in a cleaning device, responsible for generating cleaning suction. Normally, the main motor creates negative pressure by driving a fan or impeller, which is the direct source of suction power in the suction area. When the main motor's power is increased, the fan speed increases, and the suction strength is significantly enhanced. For example, if the main motor's power is increased from 90W to 120W, the suction power increases from 800Pa to 1500Pa.

[0141] The power of the main motor is its output energy, measured in watts (W), which directly affects the cleaning suction strength. For example, in normal cleaning mode, the main motor power can be 90W, while in powerful cleaning mode it can increase to 120W or 150W.

[0142] The first power is the target power value of the main motor in the target cleaning mode (such as the powerful cleaning mode), which is higher than the power in the initial cleaning mode, and is used to enhance the cleaning suction during the first reverse phase.

[0143] The second power is the default power value of the main motor in the initial cleaning mode, which is usually lower than the first power. For example, the second power can be 90W, while the first power can be 120W or 150W. The second power value corresponds to the suction strength of the initial cleaning mode and is used again after the forward rotation phase is completed to reduce energy consumption.

[0144] When the conditions for switching cleaning modes are met, the cleaning device will switch from the initial cleaning mode to the target cleaning mode. In the target cleaning mode, the roller brush motor drives the roller brush to rotate in reverse for a first duration to clean the dirt in the suction port area. Furthermore, when switching to the target cleaning mode, the power of the main motor can be increased to enhance the cleaning suction of the cleaning device, thereby improving the cleaning effect of the reverse rotation process on the dirt in the suction port area.

[0145] Specifically, when the conditions for switching cleaning modes are met, the power of the main motor is adjusted from the second power in the initial cleaning mode to the first power. Optionally, the control system of the cleaning equipment can send a power adjustment command to the main motor to adjust its power from the second power to the first power.

[0146] When the main motor power is adjusted to the highest level, the main motor drives the fan or impeller to rotate at a higher speed, which significantly increases the negative pressure in the suction area, thus improving the cleaning suction and enhancing the cleaning effect on dirt in the suction area.

[0147] Specifically, the adjustment of the first power can be synchronized with the reverse rotation of the roller brush motor to facilitate unified control of the control system and reduce data processing load; it can also be adjusted after the roller brush motor has started to reverse for a period of time to save energy consumption of the main motor; or it can be adjusted before the roller brush motor reverses to enhance the cleaning effect on the suction port area. The specific adjustment sequence can be flexibly adjusted according to actual needs, and this application embodiment does not make specific limitations on it.

[0148] In this embodiment, by dynamically adjusting the main motor power to a first power level when the cleaning mode switching conditions are met, the cleaning suction of the cleaning equipment is enhanced, thereby improving the cleaning efficiency of the suction port area during the reverse rotation phase. This ensures that while the roller brush is reversing to remove dirt from the suction port area, the enhanced suction draws in some or all of the dirt, reducing the time spent on the subsequent forward rotation phase for drawing in the cleaned dirt. This results in more efficient dirt recovery, optimizing energy utilization and overall cleaning effectiveness.

[0149] To prevent the reverse cleaning process in target mode from carrying away dirt from the suction port area, it is necessary to thoroughly clean and suck up the dirt adhering to the suction port beforehand. Since this process takes place before the formal reverse cleaning, specifically controlling the roller brush motor to reverse for the first duration and rotate forward for the second duration, both involve sucking up and cleaning the dirt adhering to the suction port. Therefore, optionally, during the first duration of reverse rotation and the second duration of forward rotation of the roller brush motor, the power of the main motor can be increased to enhance the cleaning suction, thereby completing the cleaning process of dirt in the suction port area more quickly, reducing the cleaning time in the suction port area, and thus starting the formal reverse cleaning process more quickly to perform the cleaning task.

[0150] After cleaning the suction area, when entering the actual reverse cleaning process, the amount of dirt or stains removed during reverse cleaning is not large. Therefore, it is not necessary to maintain a strong cleaning suction. The suction power generated by the main motor at the second power setting of the initial cleaning mode is sufficient to complete the reverse cleaning process. By restoring the main motor's power from the first power setting to the second power setting, energy consumption of the main motor is saved.

[0151] In order to precisely adjust the power of the main motor after cleaning the dirt attached to the suction port, in an optional embodiment of this application, after the roller brush motor has rotated forward for a second duration, the method further includes:

[0152] Adjust the power of the main motor from the first power to the second power.

[0153] In practical applications, specifically, once the roller brush motor has rotated for a second duration, signifying the completion of cleaning the suction area, the main motor's power can be adjusted from the first power to the second power to restore the initial cleaning suction. Optionally, power adjustment can be achieved by sending a power recovery control command to the main motor. Upon receiving the command, the main motor responds by adjusting from the first power to the second power. With the main motor power adjusted to the second power, the speed of the fan or impeller driven by the main motor decreases, reducing the negative pressure generated in the suction area, thus reducing the cleaning suction and completing the adjustment process to restore the initial cleaning suction.

[0154] In this embodiment, after the roller brush motor rotates forward for a second duration, the main motor power is restored from the first power to the second power, thereby restoring the cleaning suction to the initial cleaning mode. This achieves the goal of reducing the main motor's energy consumption in a timely manner after cleaning the dirt in the suction port area. It ensures that during the subsequent reverse cleaning process of the target cleaning mode, only the initial cleaning suction is used to maintain the necessary dirt suction, avoiding damage to the main motor's lifespan and energy waste caused by continuous high-power operation. At the same time, it takes into account the dual needs of efficient cleaning of the suction port area and energy-saving operation of reverse cleaning, thereby optimizing the energy efficiency ratio and battery life of the cleaning equipment.

[0155] In the initial cleaning mode (such as normal cleaning mode), when the roller brush motor drives the roller brush to rotate forward, the water pump will deliver more liquid to clean the surface to be cleaned. After the delivered liquid assists in cleaning the surface to be cleaned, it will be carried back into the suction area by the forward rotation of the roller brush and sucked into the cleaning device. At the same time, when the roller brush passes the scraper, the scraper will further scrape the liquid attached to the roller brush into the suction area, avoiding bringing the liquid back to the surface to be cleaned.

[0156] However, during the reverse cleaning process in the target cleaning mode, because the roller brush rotates in reverse, it cannot directly bring the liquid into the suction area for recycling. Therefore, if the water pump's output is still too high, the liquid will be squeezed out of the suction area as the scraper rotates and the bristles fluff up. This causes wastewater to flow out of the suction area and be carried to the surface to be cleaned, resulting in poor cleaning performance. Therefore, in the target cleaning mode, it is necessary to reduce the water pump's output to avoid the above problems.

[0157] To precisely adjust the water pump's output, in one optional embodiment of this application, the cleaning device further includes a water pump; and when the cleaning mode switching conditions are met, the method further includes:

[0158] The water pump is controlled to deliver water at a first water delivery rate, which is less than the second water delivery rate in the initial cleaning mode.

[0159] A water pump is a mechanical device that converts mechanical energy into liquid kinetic energy to achieve liquid transport. In cleaning equipment, the water pump is responsible for evenly delivering cleaning fluid, such as water or detergent, to the spray plate, allowing the cleaning fluid to be sprayed onto the roller brush or the surface to be cleaned, assisting the roller brush in removing dirt through friction. There are various types of water pumps, such as screw pumps, gear pumps, and peristaltic pumps. Among them, a peristaltic pump is a pump that delivers liquid by squeezing the inner wall of a hose or pipe, and is often used for precise control of liquid flow. In practical applications, the appropriate type of water pump can be selected according to the usage scenario requirements of the cleaning equipment and the type of liquid being transported; this application embodiment does not make specific limitations in this regard.

[0160] The first water delivery rate is the controlled water volume delivered by the pump under the target cleaning mode (such as the powerful cleaning mode). The first water delivery rate is usually small (e.g., 20 ml / min) and less than the second water delivery rate under the initial cleaning mode to reduce the risk of liquid residue during the reversal process.

[0161] The second water supply is the default water supply of the cleaning equipment in the initial cleaning mode (such as normal cleaning mode), which is usually larger (such as 50ml / min) and is used to wet the ground or enhance the cleaning effect of the roller brush friction.

[0162] Specifically, when the conditions for switching cleaning modes are met, the cleaning equipment switches from the initial cleaning mode to the target cleaning mode, requiring the water pump to be controlled to deliver water at a first flow rate. Optionally, this can be adjusted by sending a flow rate control command to the water pump; upon receiving the flow rate control command, the water pump can switch the flow rate from a second flow rate value to the first flow rate. For example, the second flow rate can be 50 ml / min, and the first flow rate can be 20 ml / min.

[0163] In this embodiment, by controlling the water pump to deliver water at a first water delivery rate less than the second water delivery rate under the target cleaning mode, the water delivery rate during the reverse cleaning process is reduced. This prevents the roller brush from squeezing the liquid out of the suction port area during the reverse process, thus avoiding the inability to suck in the liquid in time and causing sewage to overflow from the suction port area. While ensuring that the surface to be cleaned is cleaned, this effectively solves the problem of reduced cleaning effect caused by liquid residue or overflow, thereby improving the cleaning reliability under the target cleaning mode, reducing the risk of secondary pollution, and achieving a precise match between liquid usage and cleaning mode requirements.

[0164] Before switching to the target cleaning mode to perform a cleaning task, the cleaning equipment can already be running in the initial cleaning mode, performing routine cleaning work, and then switching modes only when a cleaning task with better cleaning results is required. By performing routine cleaning tasks in the initial cleaning mode and only switching to the target cleaning mode when a cleaning task with better results is needed, resource waste and unnecessary bristle wear caused by always running in the target cleaning mode can be avoided, while ensuring the efficiency and reliability of the cleaning process.

[0165] In response to this, in an optional embodiment of this application, before controlling the roller brush motor to reverse direction when the cleaning mode switching conditions are met, the following steps are further included:

[0166] Upon receiving a start command from the cleaning equipment, control the cleaning equipment to perform the cleaning task in the initial cleaning mode.

[0167] A start command is a control command triggered or sent by a user, the built-in system, or an external system to instruct the cleaning equipment to begin performing cleaning tasks. Examples include a user pressing a start button, user control via voice commands or an application, or remote control via a cloud-based central control system. The start command instructs the cleaning equipment to switch from standby mode to initial cleaning mode and begin performing basic cleaning tasks.

[0168] In its initial state, the cleaning equipment can be in standby or off mode.

[0169] Upon receiving a start command from the cleaning equipment, the cleaning equipment switches from standby mode to running mode and performs cleaning tasks based on the default initial cleaning mode (such as normal cleaning mode). In the initial cleaning mode, the cleaning equipment's roller brush motor rotates forward, the main motor operates at a secondary power (such as 90W), and the water pump delivers water at a secondary flow rate (such as 50ml / min), forming basic cleaning capabilities.

[0170] In the initial cleaning mode, as the roller brush motor drives the roller brush to rotate forward, the brush bristles are pressed together by the scraper to ensure stable contact with the surface to be cleaned and to initially remove easily cleanable dirt.

[0171] Optionally, during the initial mode operation, the cleaning equipment can continuously detect whether the target mode switching conditions are met, so as to be ready to switch cleaning modes at any time.

[0172] In this embodiment, upon receiving a start command for the cleaning equipment, the system controls the cleaning equipment to start and perform routine cleaning tasks in the initial cleaning mode, reducing energy consumption and brush wear and ensuring basic cleaning needs are met. Simultaneously, when a stronger cleaning effect is detected, the system switches to the target cleaning mode, ensuring the cleaning effect of the cleaning equipment. This achieves a dynamic balance between resource utilization and cleaning effect, avoiding resource waste caused by continuously performing cleaning tasks in the target cleaning mode.

[0173] In one optional embodiment of this application, controlling the roller brush motor to reverse direction when the cleaning mode switching conditions are met includes:

[0174] When the conditions for switching cleaning modes are met, the roller brush motor is controlled to reverse so that the first side rotates to a position not exceeding the contact position between the roller brush and the surface to be cleaned. The first side is the edge on the roller brush that is in contact with the scraper before the roller brush motor reverses.

[0175] The first edge is the side of the roller brush that contacts the scraper before the roller brush motor reverses. During the forward rotation of the roller brush, the brush contacts the scraper, which combs the brush bristles. Before the roller brush motor drives it to reverse, this first edge, located on the brush, moves with the brush's rotation. During the reverse rotation, the first edge moves from one side of the suction area until it reaches a point where it does not exceed the maximum angle between the brush and the surface to be cleaned (i.e., the suction area), to avoid carrying dirt out of the suction area.

[0176] Specifically, when the conditions for switching cleaning modes are met, the cleaning equipment switches to the target cleaning mode and controls the roller brush motor to reverse, causing the roller brush to reverse. Specifically, during the process of reversing the roller brush, the contact edge between the roller brush and the scraper is taken as the first side, and the reversal is limited by the first side not exceeding the contact position between the roller brush and the surface to be cleaned, that is, the reversal is limited by the angle of the suction area.

[0177] In this embodiment, by controlling the rotation range of the first edge of the side of the roller brush that contacts the scraper during the reverse rotation of the roller brush motor, it is ensured that the rotation range does not exceed the contact position between the roller brush and the surface to be cleaned, i.e., does not exceed the suction port area. This avoids carrying the dirt attached to the suction port out of the suction port area, effectively preventing secondary pollution and improving cleaning efficiency.

[0178] In one optional embodiment of this application, controlling the roller brush motor to reverse so as to drive the first side to rotate to a position not exceeding the contact position between the roller brush and the surface to be cleaned includes:

[0179] Control the roller brush motor to reverse so that the first side rotates to a position no more than the distance between the roller brush and the sealing strip.

[0180] A sealing strip is a component installed along the lower edge of the suction port of a cleaning device. It enhances the device's seal and aids in cleaning the surface, preventing dust and liquid from leaking from the port edge during cleaning. Sealing strips are typically made of soft, durable materials to ensure a tight fit to the surface and improve suction power.

[0181] The lower edge of the suction port is the bottom edge of the suction port section of the cleaning device, usually near the ground. A sealing strip is installed along the lower edge of the suction port.

[0182] The "adjacent position" is the point where the first edge of the roller brush is close to the sealing strip when the roller brush reverses direction. Since the roller brush and sealing strip do not always contact each other in practical applications, this position is used as the "adjacent position." The adjacent position is close to but does not exceed the position of the sealing strip. Specifically, the adjacent position is defined based on the specific position of the sealing strip relative to the roller brush axis to ensure that the first edge of the roller brush does not exceed this limit during reverse rotation, thus preventing dirt from being carried out of the suction area or damaging the sealing strip.

[0183] Specifically, during the reverse rotation of the roller brush, the limitation can be based on the suction port area or a target range within the suction port area. The target range can be set based on the structure of the cleaning equipment. For example, it can be limited by the sealing strip on the cleaning equipment; that is, the target range is the angle between the adjacent position of the sealing strip and the scraper, thus controlling the first side of the roller brush to not exceed the adjacent position of the sealing strip during the reverse rotation.

[0184] In this embodiment, by controlling the rotation range of the first side during the reverse rotation of the roller brush motor to not exceed the adjacent position of the sealing strip, the angle of the roller brush reversal is reduced, thereby further ensuring that the dirt is carried out of the suction port area during the reverse rotation of the roller brush motor, effectively preventing secondary pollution and improving cleaning efficiency.

[0185] During cleaning operations, a roller brush motor drives the brush to rub against the surface to be cleaned. Therefore, the cleaning equipment may be displaced back and forth by the rotation of the brush. Furthermore, when a stronger cleaning effect is required, the roller brush motor will drive the brush at a higher speed, causing the cleaning equipment to move at a higher speed, thus moving away from the area of ​​the surface to be cleaned and reducing the cleaning effect. Therefore, methods are needed to counteract the traction force generated by the rotating brush. For example, this can be achieved by increasing the weight of the cleaning equipment or by adopting a special chassis design.

[0186] Optionally, to accommodate both situations where the cleaning equipment's roller brush is not rotating or is rotating at a low speed, and situations where the cleaning equipment itself needs to be displaced, an assist wheel can be installed on the cleaning equipment. Specifically, when the cleaning equipment needs to be displaced, the assist wheel can rotate in the same direction as the roller brush; when the cleaning equipment needs to continuously clean a specific area of ​​the surface to be cleaned in the target cleaning mode, the assist wheel can rotate in the opposite direction to the roller brush to counteract the traction force generated by the roller brush's rotation. In fact, during the actual execution of a cleaning task, the traction force will change due to the roller brush's rotation speed or other factors. Therefore, it is necessary to dynamically adjust the rotation of the assist wheel according to the roller brush's rotation to achieve continuous cleaning of a specific area of ​​the surface to be cleaned in the target cleaning mode.

[0187] Optionally, in scenarios where users participate in cleaning tasks using cleaning equipment, such as when a user operates a handheld floor scrubber, the roller brush continuously reverses to clean the floor when the target cleaning mode is switched on. Since the target cleaning mode involves both the process of collecting and sucking in dirt attached to the suction nozzle and the continuous reversing cleaning process, it is necessary to provide clear signals to the user so that they can intuitively perceive the operation of each process. This can be achieved by differentially adjusting the duty cycle of the assist wheel.

[0188] To precisely and flexibly adjust the duty cycle of the assist wheel based on the rotation of the roller brush and the operation of the target cleaning mode, in an optional embodiment of this application, the cleaning device further includes an assist wheel; when the cleaning mode switching conditions are met, the method further includes:

[0189] Control the power steering wheel to rotate forward according to the first duty cycle;

[0190] After the first duration of reverse rotation of the roller brush motor has been reached, the method also includes:

[0191] Control the power steering wheel to reverse according to the first duty cycle;

[0192] After the second duration of forward rotation of the roller brush motor has elapsed, the method further includes:

[0193] The power steering wheel is controlled to rotate in the forward direction according to the second duty cycle, where the second duty cycle is less than the first duty cycle.

[0194] The booster wheel is an auxiliary drive wheel installed on the cleaning equipment. By controlling the duty cycle of the booster wheel, the rotation of the booster wheel, such as the speed or torque, can be adjusted to enhance or counteract the traction force generated by the rotation of the roller brush on the cleaning equipment, ensuring that the cleaning equipment moves continuously, slowly, or remains stationary in a specific cleaning mode.

[0195] Duty cycle is the proportion of a cycle in the drive signal of a power steering wheel motor that is high (i.e., in the working state). The larger the duty cycle, the greater the rotational speed or output torque of the power steering wheel.

[0196] The first duty cycle is the duty cycle of the assist wheel during the first reverse rotation period and the second forward rotation period of the roller brush. That is, during the first reverse rotation period and the second forward rotation period driven by the roller brush motor, the assist wheel rotates forward and reverse with the first duty cycle.

[0197] The second duty cycle is the duty cycle of the assist wheel during the reverse cleaning process of the roller brush. That is, while the roller brush motor drives the roller brush to rotate continuously to clean the surface to be cleaned with fluffy bristles, the assist wheel rotates forward with the second duty cycle.

[0198] Specifically, when users are cleaning floors with a handheld floor scrubber, they can use the handle of the handheld floor scrubber for auxiliary control. In target cleaning mode, to recycle and suck up dirt adhering to the suction nozzle, the roller brush motor drives the roller brush to rotate in reverse for a first duration and in forward rotation for a second duration. Because the first and second durations are relatively short and the roller brush's rotation direction changes abruptly, a higher duty cycle is needed to ensure the assist wheel provides targeted and strong traction to counteract this. This prevents the handheld scrubber from suddenly shifting and becoming unstable, thus avoiding potential hazards. Once the dirt from the suction nozzle is collected, the roller brush motor can begin continuous reverse cleaning. At this point, a clear cleaning signal needs to be given to the user, allowing for fine-tuning of the handheld scrubber's position for better floor cleaning. To achieve this, the duty cycle of the assist wheel can be reduced, allowing more traction from the roller brush to be transmitted to the user through the handle. This provides a clearer control feel and more precise control of the handheld scrubber's movement, enabling more targeted cleaning of the areas on the floor.

[0199] In this embodiment, by dynamically adjusting the duty cycle of the assist wheel, during the first reverse rotation period and the second forward rotation period, the assist wheel is controlled to rotate forward or reverse at a higher first duty cycle to counteract the strong traction force generated by the roller brush, ensuring the cleaning device remains stable and preventing instability caused by sudden displacement of the device when held by the user. During the continuous reverse cleaning phase of the roller brush, the assist wheel switches to a lower second duty cycle for forward rotation, appropriately reducing the counteracting of the traction force. This allows the user to feel the feedback of the traction force generated by the roller brush through the handle. This allows for precise control of the device position for targeted cleaning of stubborn stains while reducing energy consumption. It ensures cleaning accuracy and user control feel while achieving high operational safety and energy efficiency optimization.

[0200] Referring to Figure 3, which shows a flowchart of a control method for another cleaning device according to an embodiment of the present application, the cleaning device includes a roller brush for rotating to perform a cleaning task, and the method specifically includes the following steps.

[0201] Step 302: When the conditions for switching cleaning modes are met, control the roller brush to reverse.

[0202] Step 304: After the roller brush reaches the first angle of reverse rotation, control the roller brush to rotate forward. The first angle is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0203] Step 306: After the roller brush reaches the second angle of forward rotation, control the roller brush to perform the cleaning task in the target cleaning mode.

[0204] The first angle is the angle swept by the roller brush as it rotates in the opposite direction during reverse rotation. The first angle is determined based on the target area in the suction port region to ensure that dirt attached to the suction port is not carried out of the suction port region during the reverse rotation process. For example, if the suction port region is 102°, the first angle can be set to a value less than 102°, such as 80°, based on the target area.

[0205] The second angle is the angle swept by the roller brush when it rotates clockwise. This angle ensures that dirt in the suction area is sucked into the cleaning device during the roller brush's clockwise rotation, and avoids unnecessary energy consumption or repeated cleaning due to an excessively large clockwise angle. For example, the second angle can be set to 720° or 1080°, which is equivalent to three or four clockwise rotations of the roller brush.

[0206] Regarding the specific method and steps for controlling the roller brush to reverse in step 302 when the cleaning mode switching conditions are met, please refer to the description of step 202 in the above embodiments, which will not be repeated here.

[0207] After the roller brush is reversed to the first angle, it is then controlled to rotate forward. This allows the dirt in the suction port area to be drawn into the cleaning device during the first reverse rotation, thus preventing the dirt attached to the suction port from being carried out of the suction port area during subsequent reverse rotations and causing secondary pollution.

[0208] Specifically, the first angle can be determined based on the suction area, that is, the angle of the suction area is used as the first angle; or it can be determined based on the target range in the suction area, that is, if the target range is determined, the angle of the target range is used as the first angle.

[0209] After controlling the roller brush to rotate to the second angle, the rinsing and suction of dirt adhering to the suction port is completed, and the roller brush can then be controlled to perform the cleaning task in the target cleaning mode. Specifically, the roller brush can perform the cleaning task in the target cleaning mode by using a continuously reverse cleaning mode, i.e., a continuously reverse scrubbing mode; it can also use an alternating forward and reverse cleaning mode, i.e., an alternating scrubbing mode; or other rotation methods can be used to flexibly perform the cleaning task in different target cleaning modes.

[0210] In this embodiment, by controlling the roller brush to reverse at a first angle and then rotate forward at a second angle, the roller brush is then controlled to continue reversing to perform a cleaning task in the target cleaning mode. The first angle is set based on the target range in the suction port area, so that the roller brush can avoid bringing dirt out of the suction port area when it reverses. The forward rotation at the second angle ensures that the dirt in the suction port area can be thoroughly sucked in, reducing ineffective or repetitive cleaning actions. This ensures that dirt attached to the suction port is not brought out of the suction port area during the cleaning process, thereby effectively preventing secondary pollution and improving cleaning efficiency.

[0211] The above is an illustrative scheme of another control method for cleaning equipment in this embodiment. It should be noted that the technical solution of this control method for cleaning equipment belongs to the same concept as the technical solution of the control method for cleaning equipment described above. For details not described in detail in the technical solution of the control method for cleaning equipment described above, please refer to the description of the technical solution of the control method for cleaning equipment described above.

[0212] In an optional embodiment of this application, controlling the roller brush to reverse direction when the cleaning mode switching conditions are met includes:

[0213] When the conditions for switching cleaning modes are met, the roller brush is controlled to reverse so that the first side rotates to a position where it does not exceed the contact position between the roller brush and the surface to be cleaned. The first side is the edge on the roller brush that is in contact with the scraper before the roller brush reverses.

[0214] The first edge is the side of the roller brush that contacts the scraper before the roller brush reverses direction. During clockwise rotation, the roller brush contacts the scraper, which combs the brush bristles. Before reversing, this first edge, located on the roller brush, moves with its rotation. During reversal, the first edge moves from one side of the suction area until it reaches a point where it does not exceed the maximum angle between the roller brush and the surface to be cleaned (i.e., the maximum angle of the suction area), to avoid carrying dirt out of the suction area.

[0215] Specifically, when the conditions for switching cleaning modes are met, the cleaning device switches to the target cleaning mode and controls the roller brush to reverse. Specifically, during the reversal process, the roller brush reverses with the contact edge between the roller brush and the scraper as the first side, and the reversal is limited by the first side not exceeding the contact position between the roller brush and the surface to be cleaned, that is, the reversal is limited by the angle of the suction area.

[0216] In this embodiment, by controlling the rotation range of the first edge of the side of the roller brush that contacts the scraper during the reverse rotation of the roller brush, it is ensured that it does not exceed the contact position between the roller brush and the surface to be cleaned, that is, it does not exceed the suction port area, thereby avoiding the removal of dirt attached to the suction port area, effectively preventing secondary pollution and improving cleaning efficiency.

[0217] In one optional embodiment of this application, controlling the roller brush to reverse so that the first side rotates to a position not exceeding the contact position between the roller brush and the surface to be cleaned includes:

[0218] Control the roller brush to reverse so that the first side rotates to a position no more than the distance between the roller brush and the sealing strip.

[0219] A sealing strip is a component installed along the lower edge of the suction port of a cleaning device. It enhances the device's seal and aids in cleaning the surface, preventing dust and liquid from leaking from the port edge during cleaning. Sealing strips are typically made of soft, durable materials to ensure a tight fit to the surface and improve suction power.

[0220] The lower edge of the suction port is the bottom edge of the suction port section of the cleaning device, usually near the ground. A sealing strip is installed along the lower edge of the suction port.

[0221] The "adjacent position" is the point where the first edge of the roller brush is close to the sealing strip when the roller brush reverses direction. Since the roller brush and sealing strip do not always contact each other in practical applications, this position is used as the "adjacent position." The adjacent position is close to but does not exceed the position of the sealing strip. Specifically, the adjacent position is defined based on the specific position of the sealing strip relative to the roller brush axis to ensure that the first edge of the roller brush does not exceed this limit during reverse rotation, thus preventing dirt from being carried out of the suction area or damaging the sealing strip.

[0222] Specifically, during the reverse rotation of the roller brush, the limitation can be based on the suction port area or a target range within the suction port area. The target range can be set based on the structure of the cleaning equipment. For example, it can be limited by the sealing strip on the cleaning equipment; that is, the target range is the angle between the adjacent position of the sealing strip and the scraper, thus controlling the first side of the roller brush to not exceed the adjacent position of the sealing strip during the reverse rotation.

[0223] In this embodiment, by controlling the rotation range of the first side during the reverse rotation of the roller brush motor to not exceed the adjacent position of the sealing strip, the angle of the roller brush reversal is reduced, thereby further ensuring that the dirt is carried out of the suction port area during the reverse rotation of the roller brush motor, effectively preventing secondary pollution and improving cleaning efficiency.

[0224] The following description, in conjunction with Figures 4-6, uses the application of the control method for the cleaning equipment provided in this application in a handheld floor scrubber as an example to further illustrate the control method for the cleaning equipment.

[0225] Figure 4 shows a partial structural schematic diagram of a handheld floor scrubber provided in one embodiment of this application; Figure 5 shows a schematic diagram of the execution process of a control method for a handheld floor scrubber provided in one embodiment of this application; Figure 6 shows a flowchart of the processing process of a control method for a cleaning device provided in one embodiment of this application.

[0226] As shown in Figure 4.

[0227] The angle between the contact point between the squeegee 401 and the roller brush and the contact point between the roller brush and the floor 402 is 102°, meaning the angle of the suction area is 102°. Therefore, the target range can be set to 80°, which is smaller than the suction area. The sealing strip 404 is located at the lower edge of the suction port. The sealing strip is adjacent to the squeegee 401 and the roller brush, and forms a 52° angle with the contact point between the squeegee and the roller brush. Therefore, the minimum value of the target range can be set to 52°. In other words, the target range can be set to 52° to 80° with the direction of the contact point between the roller brush and the squeegee relative to the center as the reference direction. The angle to be reversed can be 52° to 80°.

[0228] As shown in Figure 5.

[0229] Initially, the handheld floor scrubber is in normal cleaning mode. When the conditions for switching cleaning modes are met, in response to the cleaning mode switching command, the roller brush motor pauses for time t1, and the cleaning mode is switched to powerful cleaning mode. In powerful cleaning mode, the roller brush motor reverses for a first duration t1 to clean dirt from the suction area, with a rotation speed of r1, main motor power adjusted to p1, water pump output adjusted to k1, and the booster wheel rotating forward with a duty cycle of s1. After the roller brush motor reverses for the first duration t1, in response to the forward rotation command, the roller brush motor pauses for time t1. The rear roller brush motor rotates forward for a second duration t2, with a speed of r1, the main motor power remains at p1, the water pump output remains at k1, and the assist wheel rotates in reverse with a duty cycle of s2. After the roller brush motor rotates forward for the second duration t2, in response to the reverse command, the roller brush motor pauses for a duration t1. Subsequently, the roller brush motor rotates in reverse for a third duration t3, with a speed of r1, the main motor returns to p2, the water pump remains at k1, and the assist wheel rotates forward with a duty cycle of s3. After the roller brush motor rotates in reverse for the third duration t3, in response to the cleaning mode recovery command, the powerful cleaning mode ends, the roller brush motor pauses for a duration t1, and the handheld floor scrubber returns to the normal cleaning mode.

[0230] As shown in Figure 6.

[0231] The control method for the cleaning equipment, which is a handheld floor scrubber, includes a roller brush motor, a main motor, and a water pump. The roller brush motor is used to control the rotation of the roller brush to perform cleaning tasks. The control method for the handheld floor scrubber specifically includes the following steps.

[0232] Step 602: When the conditions for switching cleaning modes are met, control the roller brush motor to reverse and adjust the power of the main motor from the second power in the initial cleaning mode to the first power. At the same time, control the water pump to deliver water at the first water delivery rate, wherein the first power is greater than the second power and the first water delivery rate is less than the second water delivery rate in the normal cleaning mode.

[0233] Step 604: Determine the rotation angle of the roller brush motor based on the target range of the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0234] Step 606: Determine the first duration based on the rotational speed of the roller brush motor and the angle to be reversed.

[0235] Step 608: After the first time interval, control the roller brush motor to rotate forward.

[0236] Step 610: Based on the cleaning suction of the handheld floor scrubber and the rotation speed of the roller brush motor when the roller brush motor is rotating forward, estimate the second cleaning time required for the current cleaning by the handheld floor scrubber.

[0237] Step 612: After a second time interval, control the roller brush motor to reverse and adjust the power of the main motor from the first power to the second power.

[0238] Step 614: Based on the brush bristle adhesion, estimate the third time required for the handheld floor scrubber to perform the cleaning task in the powerful cleaning mode.

[0239] Step 616: After a third time interval, control the handheld floor scrubber to resume normal cleaning mode.

[0240] In this embodiment, when the cleaning mode switching conditions are met, the roller brush motor is simultaneously controlled to reverse, the main motor power is increased to a first power to enhance suction, and the water pump's water delivery is reduced to a first water delivery volume, which is less than the second water delivery volume in normal mode. This allows for the enhanced cleaning suction to quickly suck up dirt from the suction port area at the beginning of the roller brush's reverse rotation, reducing the cleaning time during the forward rotation phase. Simultaneously, the reduced water delivery volume prevents liquid overflow and contamination of the surface to be cleaned due to the brush bristles becoming loose and compressed during the reverse rotation. A first duration is dynamically calculated based on the suction port area range and the roller brush speed to ensure that the reverse rotation covers the entire suction port area. Precise control is achieved by combining the forward rotation phase with real-time suction power and speed to estimate the second duration, further improving the efficiency of dirt recovery. After completing the forward rotation, the main motor power is promptly restored to the second power to reduce energy consumption. By monitoring the brush bristle adhesion status to estimate the third duration, the reverse cleaning ends and the normal mode is restored when the cleaning effect decreases. This achieves precise and coordinated control of the handheld floor scrubber in the stubborn stain cleaning stage. While improving the ability to clean stubborn stains on the floor, it effectively inhibits resource waste, secondary pollution and brush bristle wear, ultimately achieving comprehensive optimization of cleaning efficiency, equipment life and user experience.

[0241] Corresponding to the above method embodiments, this application also provides an embodiment of a control unit for a cleaning device. Figure 7 shows a schematic diagram of the structure of a control unit for a cleaning device according to an embodiment of this application. As shown in Figure 7, the control unit includes:

[0242] The first reverse control module 702 is configured to control the roller brush motor to reverse when the cleaning mode switching conditions are met.

[0243] The first forward rotation control module 704 is configured to control the roller brush motor to rotate forward after the roller brush motor has rotated in reverse for a first duration. The first duration is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0244] The second reverse control module 706 is configured to control the roller brush motor to reverse after the roller brush motor has rotated forward for a second duration, so as to control the roller brush to perform cleaning tasks in the target cleaning mode.

[0245] Optionally, the first forward rotation control module 704 is further configured to: determine the angle to be reversed of the roller brush motor based on the target range of the suction area; determine a first time interval based on the rotational speed of the roller brush motor and the angle to be reversed; and control the roller brush motor to rotate forward at intervals of the first time interval.

[0246] Optionally, the second reverse control module 706 is further configured to: estimate the second cleaning time required by the cleaning equipment based on the cleaning suction of the cleaning equipment and the rotation speed of the roller brush motor when the roller brush motor rotates forward; and control the roller brush motor to reverse at intervals of the second time.

[0247] Optionally, the second reversal control module 706 is further configured to: estimate the third time required for the cleaning device to perform the cleaning task in the target cleaning mode based on the brush bristle adhesion state; and control the cleaning device to return to the initial cleaning mode after the third time interval.

[0248] Optionally, the control unit of the cleaning equipment further includes a power control module configured to adjust the power of the main motor from the second power in the initial cleaning mode to the first power when the cleaning mode switching conditions are met, wherein the first power is greater than the second power.

[0249] Optionally, the power control module is further configured to control the power of the main motor from the first power to the second power after the brush motor has rotated forward for a second duration.

[0250] Optionally, the control unit of the cleaning device further includes a water delivery module configured to: control the water pump to deliver water at a first water delivery rate when the cleaning mode switching conditions are met, wherein the first water delivery rate is less than the second water delivery rate in the initial cleaning mode.

[0251] Optionally, the first reversal control module 702 is further configured to: control the roller brush motor to reverse when the cleaning mode switching conditions are met, so as to drive the first side to rotate to a position not exceeding the contact position between the roller brush and the surface to be cleaned, wherein the first side is the edge on the roller brush that is in contact with the scraper before the roller brush motor reverses.

[0252] Optionally, the first reversal control module 702 is further configured to control the roller brush motor to reverse so as to drive the first side to rotate to a position not exceeding the proximity of the roller brush and the sealing strip.

[0253] Optionally, the control unit of the cleaning equipment further includes a booster wheel control module, configured to: control the booster wheel to rotate forward according to a first duty cycle; after the duration of the roller brush motor rotating in reverse reaches a first duration, the method further includes: controlling the booster wheel to rotate in reverse according to the first duty cycle; after the duration of the roller brush motor rotating forward reaches a second duration, the method further includes: controlling the booster wheel to rotate forward according to a second duty cycle, wherein the second duty cycle is less than the first duty cycle.

[0254] The above is a schematic scheme of a control unit for a cleaning device according to this embodiment. It should be noted that the technical solution of the control unit of this cleaning device and the technical solution of the control method of the cleaning device described above belong to the same concept. For details not described in detail in the technical solution of the control unit of the cleaning device, please refer to the description of the technical solution of the control method of the cleaning device described above.

[0255] Corresponding to the above method embodiments, this application also provides an embodiment of a control unit for a cleaning device. Figure 8 shows a schematic diagram of the structure of a control unit for a cleaning device according to another embodiment of this application. As shown in Figure 8, the control unit includes:

[0256] The third reversal control module 802 is configured to control the reversal when the cleaning mode switching conditions are met;

[0257] The second forward rotation control module 804 is configured to control the roller brush to rotate forward after the roller brush reverses to the first angle. The first angle is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush and the scraper as the reference direction.

[0258] The fourth reversal control module 806 is configured to control the roller brush to perform a cleaning task in the target cleaning mode after the roller brush reaches the second angle of forward rotation.

[0259] Optionally, the third reversal control module 802 is further configured to: control the roller brush to reverse when the cleaning mode switching conditions are met, so that the first side rotates to a position not exceeding the contact position between the roller brush and the surface to be cleaned, wherein the first side is the edge on the roller brush that is in contact with the scraper before the roller brush reverses.

[0260] Optionally, the third reversal control module 802 is further configured to control the roller brush to reverse, so that the first side rotates to a position not exceeding the proximity of the roller brush and the sealing strip.

[0261] The above is an illustrative scheme of another control unit for a cleaning device in this embodiment. It should be noted that the technical solution for the control unit of this cleaning device belongs to the same concept as the technical solution for the control method of the cleaning device described above. Details not described in detail in the technical solution for the control unit of the cleaning device can be found in the description of the technical solution for the control method of the cleaning device described above.

[0262] Corresponding to the above method embodiments, this application also provides a cleaning device embodiment. Figure 9 shows a schematic diagram of a cleaning device provided in one embodiment of this application. As shown in Figure 9, the cleaning device 900 is equipped with a roller brush motor 902 and a roller brush 904; the roller brush motor 902 is used to control the rotation of the roller brush 904 to perform cleaning tasks;

[0263] Furthermore, the cleaning device 900 is also equipped with a memory 906 and a processor 908;

[0264] The memory 906 is used to store computer-executable instructions, and the processor 908 is used to execute the computer-executable instructions to implement the steps of the control method for the cleaning equipment described above.

[0265] The above is an illustrative scheme of a cleaning device according to this embodiment. It should be noted that the technical solution of this cleaning device and the technical solution of the control method of the cleaning device described above belong to the same concept. For details not described in detail in the technical solution of the cleaning device, please refer to the description of the technical solution of the control method of the cleaning device described above.

[0266] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0267] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments of this application.

[0268] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0269] The preferred embodiments disclosed above are merely illustrative of this application. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the embodiments of this application. These embodiments are selected and specifically described in this application to better explain the principles and practical applications of the embodiments of this application, thereby enabling those skilled in the art to better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a roller brush motor, which controls the rotation of the roller brush to perform a cleaning task. The method includes: When the conditions for switching cleaning modes are met, the roller brush motor is controlled to reverse. After the roller brush motor reverses for a first duration, the roller brush motor is controlled to rotate forward. The first duration is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper of the cleaning device and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush with the scraper as the reference direction. After the roller brush motor rotates forward for a second duration, the roller brush motor is controlled to rotate in reverse to control the roller brush to perform the cleaning task in the target cleaning mode.

2. The control method for the cleaning equipment according to claim 1, characterized in that, After the duration of the reverse rotation of the roller brush motor reaches a first duration, controlling the roller brush motor to rotate forward includes: The angle to be reversed of the roller brush motor is determined based on the target range of the suction port area; The first duration is determined based on the rotational speed of the roller brush motor and the angle to be reversed. During the first time interval, the roller brush motor is controlled to rotate forward.

3. The control method for the cleaning equipment according to claim 1, characterized in that, The step of controlling the roller brush motor to reverse direction after the forward rotation time of the roller brush motor reaches the second time duration includes: Based on the cleaning suction of the cleaning device and the rotational speed of the roller brush motor when the roller brush motor is rotating forward, the second cleaning time required by the cleaning device for the current cleaning is estimated; During the second time interval, the roller brush motor is controlled to reverse.

4. The control method for the cleaning equipment according to claim 1, characterized in that, After the second duration of forward rotation of the roller brush motor is reached, and the roller brush motor is controlled to reverse, the following steps are also included: Based on the brush bristle adhesion state, the third duration required by the cleaning device in the target cleaning mode is estimated. After the third time interval, the cleaning equipment is controlled to resume the initial cleaning mode.

5. The control method for the cleaning equipment according to any one of claims 1-4, characterized in that, The cleaning equipment also includes a main motor; and when the cleaning mode switching conditions are met, the method further includes: The power of the main motor is adjusted from the second power in the initial cleaning mode to the first power, wherein the first power is greater than the second power.

6. The control method for the cleaning equipment according to claim 5, characterized in that, After the duration of forward rotation of the roller brush motor reaches the second duration, the method further includes: The power of the main motor is adjusted from the first power to the second power.

7. The control method for the cleaning equipment according to any one of claims 1-4, characterized in that, The cleaning equipment also includes a water pump; and when the conditions for switching cleaning modes are met, the method further includes: The water pump is controlled to deliver water at a first water delivery rate, wherein the first water delivery rate is less than the second water delivery rate in the initial cleaning mode.

8. The control method for the cleaning equipment according to claim 1, characterized in that, Before controlling the roller brush motor to reverse in the event that the cleaning mode switching conditions are met, the method further includes: Upon receiving a start command from the cleaning device, control the cleaning device to perform a cleaning task in the initial cleaning mode.

9. The control method for the cleaning equipment according to claim 1, characterized in that, The step of controlling the roller brush motor to reverse in the event that the cleaning mode switching conditions are met includes: When the cleaning mode switching conditions are met, the roller brush motor is controlled to reverse so that the first side rotates to a position not exceeding the contact position between the roller brush and the surface to be cleaned. The first side is the edge on the roller brush that is in contact with the scraper before the roller brush motor reverses.

10. The control method for the cleaning equipment according to claim 9, characterized in that, The step of controlling the roller brush motor to reverse so as to drive the first side to rotate to a position not exceeding the contact position between the roller brush and the surface to be cleaned includes: The roller brush motor is controlled to reverse so that the first side rotates to a position not exceeding the proximity of the roller brush and the sealing strip.

11. The control method for the cleaning equipment according to claim 1, characterized in that, The cleaning equipment also includes power-assisted wheels; and when the conditions for switching cleaning modes are met, the method further includes: Control the power steering wheel to rotate forward according to the first duty cycle; After the duration of the reverse rotation of the roller brush motor reaches a first duration, the method further includes: Control the booster wheel to reverse according to the first duty cycle; After the duration of forward rotation of the roller brush motor reaches the second duration, the method further includes: The power steering wheel is controlled to rotate forward at a second duty cycle, wherein the second duty cycle is less than the first duty cycle.

12. A control method for cleaning equipment, characterized in that, The cleaning device includes a roller brush for rotating to perform a cleaning task, and the method includes: When the conditions for switching cleaning modes are met, the roller brush is controlled to reverse. After the roller brush reverses to the first angle, it is controlled to rotate forward. The first angle is determined based on the target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper of the cleaning device and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush with the scraper as the reference direction. After the roller brush reaches the second angle of forward rotation, the roller brush is controlled to perform the cleaning task in the target cleaning mode.

13. The control method for the cleaning equipment according to claim 12, characterized in that, The step of controlling the roller brush to reverse direction when the cleaning mode switching conditions are met includes: When the cleaning mode switching conditions are met, the roller brush is controlled to reverse so that the first side rotates to a position not exceeding the contact position between the roller brush and the surface to be cleaned, wherein the first side is the edge on the roller brush that is in contact with the scraper before the roller brush reverses.

14. The control method for the cleaning equipment according to claim 12, characterized in that, The control of the roller brush to reverse so that the first side rotates to a position not exceeding the contact position between the roller brush and the surface to be cleaned includes: Control the roller brush to reverse so that the first side rotates to a position no more than the proximity of the roller brush and the sealing strip.

15. A control unit for a cleaning device, characterized in that, include: The first reverse control module is configured to control the roller brush motor to reverse when the cleaning mode switching conditions are met. The first forward rotation control module is configured to control the roller brush motor to rotate forward after the roller brush motor has rotated in reverse for a first duration. The first duration is determined based on a target range in the suction port area. The suction port area is an area formed by the contact positions of the roller brush with the scraper of the cleaning device and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush with the scraper as the reference direction. The second reverse control module is configured to control the roller brush motor to reverse after the roller brush motor has rotated forward for a second duration, so as to control the roller brush to perform cleaning tasks in the target cleaning mode.

16. A control unit for a cleaning device, characterized in that, include: The third reversal control module is configured to control the roller brush to reverse when the cleaning mode switching conditions are met; The second forward rotation control module is configured to control the roller brush to rotate forward after the roller brush reverses to a first angle. The first angle is determined based on a target range in the suction port area. The suction port area is the area formed by the contact positions of the roller brush with the scraper of the cleaning device and the surface to be cleaned, respectively. The target range is determined within the suction port area with the contact position of the roller brush with the scraper as the reference direction. The fourth reversal control module is configured to control the roller brush to perform a cleaning task in the target cleaning mode after the roller brush reaches the second angle of forward rotation.

17. A cleaning device, characterized in that, The cleaning equipment is equipped with a roller brush motor and a roller brush; the roller brush motor is used to control the rotation of the roller brush to perform the cleaning task. Furthermore, the cleaning device is also equipped with a memory and a processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the steps of the control method for the cleaning equipment according to any one of claims 1-14.

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