CN116058737A - Control method and device of cleaning equipment and cleaning equipment - Google Patents

Control method and device of cleaning equipment and cleaning equipment Download PDF

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Publication number
CN116058737A
CN116058737A CN202111274031.2A CN202111274031A CN116058737A CN 116058737 A CN116058737 A CN 116058737A CN 202111274031 A CN202111274031 A CN 202111274031A CN 116058737 A CN116058737 A CN 116058737A
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CN
China
Prior art keywords
rolling brush
relative position
cleaning
scraping strip
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111274031.2A
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Chinese (zh)
Inventor
丁亚
董国龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dreame Innovation Technology Suzhou Co Ltd
Original Assignee
Dreame Innovation Technology Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dreame Innovation Technology Suzhou Co Ltd filed Critical Dreame Innovation Technology Suzhou Co Ltd
Priority to CN202111274031.2A priority Critical patent/CN116058737A/en
Priority to PCT/CN2022/117217 priority patent/WO2023071537A1/en
Publication of CN116058737A publication Critical patent/CN116058737A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B17/00—Accessories for brushes
    • A46B17/06—Devices for cleaning brushes after use
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/30—Brushes for cleaning or polishing
    • A46B2200/3033—Household brush, i.e. brushes for cleaning in the house or dishes
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Landscapes

  • Cleaning In General (AREA)

Abstract

The invention discloses a control method of cleaning equipment, a control device and the cleaning equipment, wherein the cleaning equipment comprises a rolling brush and a scraping strip, and the control method comprises the following steps: in response to receiving the control instruction, determining a target working mode corresponding to the cleaning equipment according to the control instruction; determining a preset relative position corresponding to the target working mode according to the corresponding relation between the preset working mode and the preset relative position, wherein the preset relative position is used for describing the relative position relation between the rolling brush and the scraping strip; and controlling the rolling brush to execute the corresponding work task according to the target working mode, and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the corresponding relative position. According to the control method of the cleaning equipment, the scraping strips can be controlled to move radially relative to the rolling brush according to different working modes of the cleaning equipment, so that the interference between the scraping strips and the rolling brush is increased or reduced, different working tasks can be executed by the rolling brush according to the different working modes, and the self-cleaning efficiency of the rolling brush is improved.

Description

Control method and device of cleaning equipment and cleaning equipment
Technical Field
The present invention relates to the field of cleaning devices, and more particularly, to a control method and apparatus for a cleaning device, and a cleaning device.
Background
At present, the wiper strip of the floor washing machine on the market is fixed on the base, and the mode has some defects, such as when self-cleaning begins, the wiper strip and the rolling brush have a certain interference, so that the absorption of the rolling brush to clean water is influenced, and in the self-cleaning process, the wiper strip is not thoroughly extruded to sewage due to the lower interference of the wiper strip and the rolling brush, so that the self-cleaning efficiency is low, and the use feeling of a user is influenced.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a control method and device of cleaning equipment and the cleaning equipment, which can control a rolling brush to execute corresponding work tasks according to a target working mode of the cleaning equipment and control a scraping strip to displace so that the rolling brush and the scraping strip meet corresponding relative positions (increase or decrease interference of the scraping strip and the rolling brush), thereby realizing that the rolling brush fully absorbs clean water or fully releases sewage during self-cleaning and improving self-cleaning efficiency.
To achieve the above object, an embodiment of the present invention provides a control method of a cleaning apparatus including a rolling brush and a wiper strip, the control method of the cleaning apparatus including:
in response to receiving a control instruction, determining a target working mode corresponding to the cleaning equipment according to the control instruction;
determining a preset relative position corresponding to the target working mode according to the corresponding relation between the preset working mode and the preset relative position, wherein the preset relative position is used for describing the relative position relation between the rolling brush and the scraping strip;
and controlling the rolling brush to execute a corresponding work task according to the target working mode, and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the corresponding relative position.
In one or more embodiments of the present invention, the target working mode includes a self-cleaning mode, the working tasks corresponding to the self-cleaning mode include a water absorbing subtask and a sewage draining subtask, the preset relative positions include a first relative position and a second relative position, the controlling the rolling brush to execute the corresponding working tasks according to the target working mode, and controlling the scraping bar to displace so that the rolling brush and the scraping bar meet the corresponding relative positions includes:
when the target working mode is a self-cleaning mode, controlling the rolling brush to execute a water absorption subtask, and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the first relative position, wherein the first relative position comprises that the scraping strip is contacted with the rolling brush or the scraping strip is far away from the rolling brush;
and responding to the detection that the rolling brush meets a preset condition or responding to the received user instruction, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position, wherein the second relative position comprises interference fit between the rolling brush and the scraping strip and the interference between the rolling brush and the scraping strip meets the first interference.
In one or more embodiments of the present invention, the target working mode further includes a floor washing mode, the preset relative position includes a third relative position, the controlling the rolling brush to execute a corresponding working task according to the target working mode, and controlling the scraping bar to displace so that the rolling brush and the scraping bar satisfy the corresponding relative position includes:
when the target working mode is a floor washing mode, the rolling brush is controlled to execute a floor washing task, the scraping strip is controlled to displace so that the rolling brush and the scraping strip meet the third relative position, the third relative position comprises interference fit between the rolling brush and the scraping strip and interference fit between the rolling brush and the scraping strip meets the second interference fit, and the second interference fit is smaller than the first interference fit.
In one or more embodiments of the present invention, the first interference range is 1-1.4mm, and the second interference range is 0.5-0.7mm.
In one or more embodiments of the present invention, the controlling the rolling brush to perform a sewage draining subtask and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position in response to detecting that the rolling brush meets a preset condition includes:
in response to detecting that the duration of time for the rolling brush to execute the water absorption subtask meets a preset water absorption time threshold, controlling the rolling brush to execute a sewage draining subtask and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position; and/or
In response to detecting that the water absorption of the rolling brush meets a preset water amount threshold, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position; and/or
In response to detecting that the continuous cleaning time of the rolling brush meets a preset cleaning time threshold, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position; and/or
And in response to detecting that the cleaning degree of the rolling brush meets a preset cleaning condition, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position.
In one or more embodiments of the present invention, the cleaning device is provided with an image capturing and processing mechanism and/or an induction mechanism, and the controlling the rolling brush to perform a sewage draining subtask and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position in response to detecting that the rolling brush meets a preset condition includes:
acquiring and judging the cleaning state of the rolling brush through the image acquisition and processing mechanism, and determining whether the rolling brush meets the preset condition according to the cleaning state of the rolling brush; and/or the number of the groups of groups,
and sensing the weight condition of the rolling brush through the sensing mechanism, and determining whether the rolling brush meets the preset condition according to the weight condition of the rolling brush.
In one or more embodiments of the present invention, the cleaning device is provided with a timing device, which is used for recording the duration of time for the rolling brush to execute the water absorbing subtask and/or recording the duration of time for the rolling brush to clean, and the controlling the rolling brush to execute the sewage draining subtask and controlling the scraping bar to displace so that the rolling brush and the scraping bar meet the second relative position in response to detecting that the rolling brush meets the preset condition includes:
and determining whether the rolling brush meets the preset condition or not according to the obtained duration time of the rolling brush executing the water absorbing subtask and/or the obtained duration cleaning time of the rolling brush, which are recorded by the timing device.
A further embodiment of the present invention provides a control device applied to a cleaning apparatus including a roll brush and a wiper strip, the control device including:
the receiving and identifying module is used for receiving a control instruction and identifying a target working mode of the cleaning equipment corresponding to the control instruction;
the determining module is used for determining the preset relative position corresponding to the target working mode according to the corresponding relation between the preset working mode and the preset relative position, and the preset relative position is used for describing the relative position relation between the rolling brush and the scraping strip;
and the control module is used for controlling the rolling brush to execute a corresponding work task according to the target working mode and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the corresponding relative position, thereby executing cleaning operation.
In one or more embodiments of the present invention, an image collecting and processing mechanism and/or an induction mechanism and/or a timing device are provided on the cleaning apparatus, and the control module controls the rolling brush to execute a corresponding work task and controls the scraping bar to displace so that the rolling brush and the scraping bar meet the corresponding relative positions according to the cleaning state of the rolling brush acquired by the image collecting and processing mechanism, and/or the induction mechanism senses the weight condition of the rolling brush, and/or the duration of the water absorbing subtask executed by the rolling brush or the duration of the cleaning time of the rolling brush recorded by the timing device, thereby controlling the cleaning apparatus to execute a cleaning operation.
Still another embodiment of the present invention provides a cleaning apparatus including a roll brush, a wiper strip, and a control device.
The distance between the scraping strip and the rolling brush is adjustable.
The control device is used for:
in response to receiving a control instruction, determining a target working mode corresponding to the cleaning equipment according to the control instruction;
determining a preset relative position corresponding to the target working mode according to the corresponding relation between the preset working mode and the preset relative position, wherein the preset relative position is used for describing the relative position relation between the rolling brush and the scraping strip;
and controlling the rolling brush to execute a corresponding work task according to the target working mode, and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the corresponding relative position.
Compared with the prior art, the control method, the control device and the cleaning equipment of the embodiment of the invention can control the rolling brush to execute corresponding work tasks (water absorption subtask/pollution discharge subtask/floor washing task) according to the target work mode (self-cleaning mode/floor washing mode) of the cleaning equipment, and control the scraping strip to displace so that the rolling brush and the scraping strip meet the corresponding relative positions (increase or decrease the interference between the scraping strip and the rolling brush), thereby realizing that the rolling brush fully absorbs clean water or fully releases sewage during self-cleaning and improving the self-cleaning efficiency.
Drawings
FIG. 1 is a flow chart of a control method of a cleaning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a structure of a rolling brush for performing a water absorbing sub-task according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a configuration of a roller brush according to an embodiment of the present invention to perform a sewage sub-task;
FIG. 4 is a schematic view of a structure of a roller brush according to an embodiment of the present invention for performing a floor washing task;
FIG. 5 is a schematic diagram of a control device according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a cleaning apparatus according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
In order to solve the problems of poor self-cleaning capability of a rolling brush, low cleaning efficiency of cleaning equipment and the like in the related art, the embodiment of the invention provides a control method and a device of the cleaning equipment, and the cleaning equipment.
Fig. 1 is a schematic flow chart of a control method of a cleaning apparatus according to an embodiment of the present invention. The present embodiment is exemplified in a control method of a cleaning apparatus configured as a control device of the cleaning apparatus.
The cleaning device can be any device such as a floor washing machine with the cleaning capability for cleaning the surface to be cleaned, and comprises a rolling brush for cleaning the surface to be cleaned on the floor and a scraping strip for cleaning the rolling brush. The scraping strip can be in interference fit with the rolling brush when the rolling brush is cleaned, and can scrape solid stains on the whole rolling brush and extrude water absorbed in the rolling brush along with the rotation of the rolling brush.
The control method of the cleaning apparatus in the present embodiment may be configured in the control device of the cleaning apparatus, and the control device of the cleaning apparatus may be provided in the server, or may be provided in the cleaning apparatus, to which the embodiment of the present invention is not limited.
The present embodiment takes an example in which the control method of the cleaning apparatus is configured in the cleaning apparatus.
The execution body of the embodiment of the present invention may be, for example, a central processing unit (Central Processing Unit, CPU) of a server or a cleaning device in hardware, or a related background service of a server or a cleaning device in software, which is not limited thereto.
As shown in fig. 1, the control method of the cleaning apparatus includes:
s1: and in response to receiving the control instruction, determining a target working mode corresponding to the cleaning equipment according to the control instruction.
Wherein, the control instruction can be sent by a user by pressing a corresponding function button on the cleaning equipment; the user may also issue the message through a device having network communication capability, such as a mobile terminal, etc., which is not limited in this application.
Target modes of operation of the cleaning device include, but are not limited to, self-cleaning mode and floor scrubbing mode.
S2: and determining the preset relative position corresponding to the target working mode according to the corresponding relation between the preset working mode and the preset relative position.
The preset relative position is used for describing a relative position relation between the rolling brush and the scraping strip, the preset relative position comprises a first relative position, a second relative position and a third relative position, the first relative position comprises the scraping strip contacted with the rolling brush or the scraping strip far away from the rolling brush, and the drawing is referred to as fig. 2; the second relative position includes an interference fit between the rolling brush and the scraping strip, and the interference between the rolling brush and the scraping strip meets the first interference, as shown in reference to fig. 3; the third relative position includes an interference fit between the roller brush and the wiper strip and an interference between the roller brush and the wiper strip meets a second interference that is less than the first interference, as shown with reference to fig. 4.
Preferably, in order to ensure the scraping effect of the sewage and the stains during self-cleaning, the value range of the first interference magnitude can be 1-1.4mm; meanwhile, in order to ensure that the rolling brush has enough water absorption capacity to ensure the cleaning effect during the floor washing, the value of the second interference magnitude should be smaller than that of the first interference magnitude, for example, the value range of the second interference magnitude can be 0.5-0.7mm.
The corresponding relation between the preset working mode and the preset relative position comprises that if the cleaning equipment is in the self-cleaning mode, the preset relative position corresponding to the self-cleaning mode comprises a first relative position and a second relative position; if the cleaning device is in the floor washing mode, the preset relative position corresponding to the floor washing mode is a third relative position.
S3: and controlling the rolling brush to execute the corresponding work task according to the target working mode, and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the corresponding relative position.
The work tasks of the rolling brush comprise a water absorption subtask, a pollution discharge subtask and a floor washing task. When the cleaning equipment is in a self-cleaning mode, the work task of the rolling brush comprises a water absorption subtask and a pollution discharge subtask, and when the rolling brush is in the water absorption subtask, the relative position between the scraping strip and the rolling brush meets the first relative position; when the rolling brush is in the sewage discharging subtask, the relative position between the scraping strip and the rolling brush meets the second relative position. When the cleaning device is in the floor washing mode, the work task of the rolling brush comprises a floor washing task, and the relative position between the scraping strip and the rolling brush meets the second relative position.
The cleaning equipment can be in a corresponding working mode according to the received control instruction, and the rolling brush executes a water absorption subtask when the cleaning equipment is in a self-cleaning mode; and executing the sewage discharging subtask by the rolling brush in response to detecting that the rolling brush meets a preset condition or in response to receiving a user control instruction.
The preset conditions met by the rolling brush can comprise:
1. the duration of the execution of the water-absorbing subtask by the roller brush meets a preset water-absorbing time threshold. The preset water absorption time threshold may be 2s, 3s or 5s, and after the duration of executing the water absorption subtask by the rolling brush exceeds the water absorption time threshold, the rolling brush switches to execute the sewage draining subtask mode. In particular, the cleaning device may be provided with a timing device for recording the duration of time for which the roller brush performs the water-absorbing subtasks. And detecting whether the duration of executing the water absorbing subtask meets the preset water absorbing time threshold or not by acquiring the duration of executing the water absorbing subtask of the rolling brush recorded by the timing device and comparing the duration with the water absorbing time threshold. By switching the rolling brush to execute the sewage draining subtask after the duration of executing the water absorbing subtask by the rolling brush meets the preset water absorbing time threshold, the phenomenon that the rolling brush uses excessive water to clean the rolling brush, the water quantity of the floor washer is insufficient and the follow-up cleaning is influenced can be avoided.
2. The water absorption capacity of the rolling brush meets the preset water capacity threshold. The preset water quantity threshold value can be set according to the size of the rolling brush and the water storage quantity of the rolling brush. And after the water absorption capacity of the rolling brush exceeds a preset water absorption capacity threshold, the rolling brush is switched to execute a sewage draining sub-mode. In particular, a weight sensing mechanism may be provided on the cleaning device (on the roller brush) for sensing the weight of the roller brush. The weight of the rolling brush is indirectly converted into the water absorption capacity of the rolling brush, and the water absorption capacity is compared with a preset water amount threshold value to detect whether the water absorption capacity of the rolling brush meets the preset water amount threshold value. By switching the rolling brush to execute the sewage discharging subtask after the water absorption of the rolling brush meets the preset water amount threshold, the phenomenon that the water absorption of the rolling brush is too much due to the fact that the rolling brush is self-cleaned after the rolling brush absorbs excessive water and drops on the surface to be cleaned during self-cleaning can be avoided, and the actual cleaning effect of the surface to be cleaned is affected.
3. The continuous cleaning time of the roller brush satisfies a preset cleaning time threshold. The preset cleaning time threshold may be 10min, 20 mm, 30min, etc. Similar to the preset condition that the duration of the execution of the water absorption subtask by the rolling brush meets the preset water absorption time threshold, the continuous cleaning time of the rolling brush recorded by the timing device is obtained and compared with the preset cleaning time threshold to detect whether the continuous cleaning execution time of the rolling brush meets the preset cleaning time threshold. Through in the round brush water absorption process, the continuous cleaning time of round brush satisfies and presets behind the clean time threshold value of predetermineeing, switches the round brush and carries out blowdown subtask, can avoid the round brush to use excessive moisture to carry out self-cleaning, influences the water tank duration, also can avoid the user to wait for the self-cleaning process of round brush for a long time, lead to influencing cleaning efficiency.
4. The cleaning degree of the rolling brush meets the preset cleaning condition. The preset cleaning condition may be a specific value of the cleanliness of the surface of the roll brush, and may be determined in such a manner that, for example, the concentration of dust contained per cubic decimeter, the ratio of the amount of dirt and hair stains per cubic decimeter, and the like. Specifically, the cleaning device may be provided with an image acquisition and processing mechanism or a detection mechanism, for acquiring and judging the cleaning state of the rolling brush. The image acquisition and processing mechanism comprises: the device comprises a rotating device, a camera, an image sensor, a digital signal processing chip and a power supply. In a specific implementation process, the rotating device drives the camera to rotate, the camera shoots images of a plurality of groups of rolling brushes, the image sensor transmits analog signals obtained through shooting to the digital signal processing chip, the digital signal processing chip converts the analog signals obtained through image sensor transmission into digital signals, and the digital signal processing chip compares the digital signals with preset cleaning conditions to detect whether the rolling brushes meet the cleaning degree and meet the preset cleaning conditions. The cleaning degree of the rolling brush meets the preset cleaning condition, and then the rolling brush is switched to execute the sewage discharging subtask, so that the self-cleaning effect of the rolling brush can be ensured, and the influence on the subsequent cleaning effect of the surface to be cleaned caused by the fact that the rolling brush is not cleaned is avoided.
In another embodiment, the image of the roller brush may be acquired by positioning a plurality of cameras in different positions.
Fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention. The control device 100 includes:
a receiving and identifying module 101, configured to receive a control instruction and identify a target working mode of the cleaning device corresponding to the control instruction;
the determining module 102 is configured to determine, according to a correspondence between a preset operation mode and a preset relative position, the preset relative position corresponding to the target operation mode, where the preset relative position is used to describe a relative positional relationship between the rolling brush and the wiper strip;
the control module 103 controls the rolling brush to execute a corresponding work task according to the target working mode, and controls the scraping strip to displace so that the rolling brush and the scraping strip meet the corresponding relative positions, thereby executing cleaning operation.
Preferably, the target working mode includes a self-cleaning mode, the working tasks corresponding to the self-cleaning mode include a water absorbing subtask and a sewage draining subtask, the preset relative positions include a first relative position and a second relative position, and the control module 103 is further configured to control the rolling brush to execute the water absorbing subtask and control the scraping strip to displace so that the rolling brush and the scraping strip meet the first relative position when the target working mode is the self-cleaning mode, and the first relative position includes that the scraping strip contacts with the rolling brush or that the scraping strip is far away from the rolling brush; and responding to the detection that the rolling brush meets a preset condition or responding to the received user instruction, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position, wherein the second relative position comprises interference fit between the rolling brush and the scraping strip and the interference between the rolling brush and the scraping strip meets the first interference.
Preferably, the target working mode further includes a floor washing mode, the preset relative position includes a third relative position, and when the target working mode is the floor washing mode, the control module 103 is further configured to control the rolling brush to perform a floor washing task, and control the scraping strip to displace so that the rolling brush and the scraping strip meet the third relative position, the third relative position includes interference fit between the rolling brush and the scraping strip, and interference between the rolling brush and the scraping strip meets a second interference, and the second interference is smaller than the first interference.
Preferably, the value range of the first interference is 1-1.4mm, and the value range of the second interference is 0.5-0.7mm.
Preferably, the control module 103 is further configured to control the rolling brush to perform a sewage draining sub-task and control the scraping strip to displace so that the rolling brush and the scraping strip satisfy the second relative position in response to detecting that the duration of time for the rolling brush to perform the water absorbing sub-task satisfies a preset water absorbing time threshold; and/or in response to detecting that the water absorption of the rolling brush meets a preset water amount threshold, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position; and/or in response to detecting that the continuous cleaning time of the rolling brush meets a preset cleaning time threshold, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position; and/or in response to detecting that the cleaning degree of the rolling brush meets a preset cleaning condition, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position.
Preferably, the cleaning device is provided with an image acquisition and processing mechanism and/or an induction mechanism, and the control module 103 is further configured to acquire and determine a cleaning state of the rolling brush through the image acquisition and processing mechanism, and determine whether the rolling brush meets the preset condition according to the cleaning state of the rolling brush; and/or sensing the weight condition of the rolling brush through the sensing mechanism, and determining whether the rolling brush meets the preset condition according to the weight condition of the rolling brush.
Preferably, the cleaning device is provided with a timing device, which is used for recording the duration of the execution of the water absorbing subtask by the rolling brush and/or recording the duration of the cleaning by the rolling brush, and the control module 103 is further used for determining whether the rolling brush meets the preset condition through the obtained duration of the execution of the water absorbing subtask by the rolling brush and/or the duration of the cleaning by the rolling brush, which are recorded by the timing device.
It should be noted that the explanation of the embodiment of the control method of the cleaning apparatus of fig. 1 is also applicable to the control device provided in this embodiment, and the implementation principle is similar, which is not repeated herein.
Fig. 6 is a schematic structural view of a cleaning apparatus according to an embodiment of the present invention.
As shown in fig. 6 and fig. 2 to 4, the cleaning apparatus includes a roller brush a, a wiper B extending in an axial direction of the roller brush a and parallel to an axis of the roller brush a, and a control device 100. The distance between the scraping strip B and the rolling brush A can be adjusted.
The relative positions of the scraping strip B and the rolling brush A are different, so that the rolling brush A can execute different subtasks in a targeted manner.
As shown in fig. 2, the roll brush a may perform a water absorbing sub-task when the wiper B is disposed tangentially to the roll brush a circumferential surface (the wiper B is located at the 3 position of the roll brush a) or the wiper B is disposed away from the roll brush a circumferential surface.
As shown in fig. 3, when the scraping bar B and the rolling brush a are disposed in an interference fit, and the scraping bar B and the rolling brush a reach a first interference magnitude (the scraping bar B is located at the 1 position of the rolling brush a), the rolling brush a can perform a sewage draining subtask.
As shown in fig. 4, when the scraping bar B and the rolling brush a are disposed in the same interference fit, and the scraping bar B and the rolling brush a reach the second interference magnitude (the scraping bar B is located at the 2 position of the rolling brush a), the rolling brush a can perform the floor washing task. Wherein the second interference is smaller than the first interference.
According to different relative positions between the scraping strip B and the rolling brush A, the rolling brush A can pertinently execute different subtasks, and the different subtasks respectively correspond to a plurality of working modes of the cleaning equipment.
When the roller brush a performs a floor washing task, i.e. the wiper strip B is located at position 2 of the roller brush a, as shown in fig. 4, the cleaning device is in floor washing mode.
When the rolling brush A executes the water absorption subtask, namely the scraping strip B is positioned at the 3 position of the rolling brush A, as shown in figure 2; or when the rolling brush A performs the sewage discharging subtask, namely the scraping strip B is positioned at the 1 position of the rolling brush A, as shown in figure 3; the cleaning device is in a self-cleaning mode.
In a specific execution process, when a target working mode of the cleaning device is a self-cleaning mode, the control device 100 controls the rolling brush A to execute a water absorbing subtask and controls the scraping strip B to displace so that the rolling brush A and the scraping strip B meet a first relative position, wherein the first relative position comprises that the scraping strip B is contacted (tangent) with the rolling brush A or the scraping strip B is far away from the rolling brush A;
after detecting that the rolling brush a meets a preset condition or after receiving a user instruction, the control device 100 controls the rolling brush a to execute a sewage draining subtask and controls the scraping strip B to displace so that the rolling brush a and the scraping strip B meet a second relative position, wherein the second relative position comprises interference fit between the rolling brush a and the scraping strip B and the interference fit between the rolling brush a and the scraping strip B meets a first interference fit.
When the target working mode of the cleaning device is the floor washing mode, the control device 100 controls the rolling brush A to execute the floor washing task, and controls the scraping strip B to displace so that the rolling brush A and the scraping strip B meet a third relative position, wherein the third relative position comprises interference fit between the rolling brush A and the scraping strip B and interference fit between the rolling brush A and the scraping strip B meets a second interference fit, and the second interference fit is smaller than the first interference fit. The value range of the first interference is 1-1.4mm, and the value range of the second interference is 0.5-0.7mm.
In a specific implementation process, the control device 100 controls the rolling brush a to perform a sewage draining subtask when detecting that the rolling brush a meets a preset condition, and controls the scraping bar B to displace so that the rolling brush a and the scraping bar B meet a second relative position, including:
the control device 100 detects that the duration of the execution of the water absorbing subtask by the rolling brush a meets a preset water absorbing time threshold, and/or detects that the water absorbing capacity of the rolling brush a meets a preset water absorbing capacity threshold, and/or detects that the continuous cleaning time of the rolling brush a meets a preset cleaning time threshold, and/or detects that the cleaning degree of the rolling brush a meets a preset cleaning condition.
Further, the cleaning device is further provided with an image collecting and processing mechanism and/or an induction mechanism and/or a timing device, and the control device 100 in the cleaning device controls the rolling brush to execute a corresponding work task and controls the scraping bar to displace so that the rolling brush and the scraping bar meet the corresponding relative positions according to the cleaning state of the rolling brush acquired by the image collecting and processing mechanism and/or the weight condition of the rolling brush is induced by the induction mechanism and/or the duration of the water absorbing subtask or the duration of the cleaning time of the rolling brush recorded by the timing device, thereby controlling the cleaning device to execute the cleaning operation.
It should be noted that the explanation of the control method embodiment of the cleaning apparatus of fig. 1 is also applicable to the cleaning apparatus provided in this embodiment, and the implementation principle is similar, which is not repeated herein.
The positions of the scraping strips a and B shown in fig. 4 are the common relative positions of the scraping strips and the rolling brush of the cleaning device (floor washer) in the market at present, and the relative positions can enable the scraping strips at the positions to effectively scrape stains from the rolling brush when the floor washer works.
The position of fig. 2 is a position where the scraping strip B just does not contact the rolling brush a, and when the self-cleaning mode of the cleaning device is started, the scraping strip B can be positioned at the position, so that the rolling brush a can fully absorb clean water; the position of fig. 3 is compared with fig. 4, the interference between the scraping strip B and the rolling brush a is increased, and when the cleaning rolling brush a runs at a high speed, the scraping strip B can be made to extrude the sewage and the dirt on the rolling brush a more efficiently.
The control method of the cleaning equipment of the invention designs a controllable scraping strip which stretches and contracts relative to the rolling brush according to different working modes of the cleaning equipment, and when the cleaning equipment (floor washer) is used for mopping the floor (the cleaning equipment is in the floor washing mode) at ordinary times, the scraping strip is controlled to be at a position 2 shown in figure 4; when self-cleaning is started (the cleaning equipment is in a self-cleaning mode, the rolling brush executes a water absorbing subtask), the scraping strip is controlled to retract to a position 3 shown in fig. 2, and the rolling brush is guaranteed to fully absorb water; when the self-cleaning rolling brush rotates (the cleaning equipment is in a self-cleaning mode, the rolling brush performs a sewage discharging subtask), the scraping strip is controlled to move to a position 1 shown in fig. 3, the interference is increased, and the cleaning efficiency of the rolling brush is improved.
Compared with the prior art, the control method, the control device and the cleaning equipment of the embodiment of the invention can control the rolling brush to execute corresponding work tasks (water absorption subtask/pollution discharge subtask/floor washing task) according to the target work mode (self-cleaning mode/floor washing mode) of the cleaning equipment, and control the scraping strip to displace so that the rolling brush and the scraping strip meet the corresponding relative positions (increase or decrease the interference between the scraping strip and the rolling brush), thereby realizing that the rolling brush fully absorbs clean water or fully releases sewage during self-cleaning and improving the self-cleaning efficiency.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.

Claims (10)

1. A control method of a cleaning apparatus including a rolling brush and a wiper strip, characterized by comprising:
in response to receiving a control instruction, determining a target working mode corresponding to the cleaning equipment according to the control instruction;
determining a preset relative position corresponding to the target working mode according to the corresponding relation between the preset working mode and the preset relative position, wherein the preset relative position is used for describing the relative position relation between the rolling brush and the scraping strip;
and controlling the rolling brush to execute a corresponding work task according to the target working mode, and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the corresponding relative position.
2. The control method of a cleaning apparatus according to claim 1, wherein the target operation mode includes a self-cleaning mode, the operation tasks corresponding to the self-cleaning mode include a water suction sub-task and a sewage discharge sub-task, the preset relative positions include a first relative position and a second relative position, the controlling the roller brush to execute the corresponding operation tasks according to the target operation mode, and the controlling the wiper strip to displace so that the roller brush and the wiper strip satisfy the corresponding relative positions includes:
when the target working mode is a self-cleaning mode, controlling the rolling brush to execute a water absorption subtask, and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the first relative position, wherein the first relative position comprises that the scraping strip is contacted with the rolling brush or the scraping strip is far away from the rolling brush;
and responding to the detection that the rolling brush meets a preset condition or responding to the received user instruction, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position, wherein the second relative position comprises interference fit between the rolling brush and the scraping strip and the interference between the rolling brush and the scraping strip meets the first interference.
3. The control method of a cleaning apparatus according to claim 2, wherein the target operation mode further includes a floor washing mode, the preset relative position includes a third relative position, the controlling the roller brush to perform a corresponding operation task according to the target operation mode, and controlling the wiper to displace so that the roller brush and the wiper satisfy the corresponding relative positions include:
when the target working mode is a floor washing mode, the rolling brush is controlled to execute a floor washing task, the scraping strip is controlled to displace so that the rolling brush and the scraping strip meet the third relative position, the third relative position comprises interference fit between the rolling brush and the scraping strip and interference fit between the rolling brush and the scraping strip meets the second interference fit, and the second interference fit is smaller than the first interference fit.
4. A control method of a cleaning apparatus according to claim 3, wherein the first interference is in a range of 1-1.4mm and the second interference is in a range of 0.5-0.7mm.
5. The control method of a cleaning apparatus according to any one of claims 2 to 4, wherein the controlling the rolling brush to perform a sewage discharging sub-task and controlling the wiper strip to displace so that the rolling brush and the wiper strip satisfy the second relative position in response to detecting that the rolling brush satisfies a preset condition includes:
in response to detecting that the duration of time for the rolling brush to execute the water absorption subtask meets a preset water absorption time threshold, controlling the rolling brush to execute a sewage draining subtask and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position; and/or
In response to detecting that the water absorption of the rolling brush meets a preset water amount threshold, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position; and/or
In response to detecting that the continuous cleaning time of the rolling brush meets a preset cleaning time threshold, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position; and/or
And in response to detecting that the cleaning degree of the rolling brush meets a preset cleaning condition, controlling the rolling brush to execute a sewage discharging subtask, and controlling the scraping strip to displace so that the rolling brush and the scraping strip meet the second relative position.
6. The method according to any one of claims 2 to 4, wherein an image capturing and processing mechanism and/or a sensing mechanism is provided on the cleaning apparatus, the controlling the rolling brush to perform a sewage draining sub-task and controlling the wiper to displace so that the rolling brush and the wiper satisfy the second relative position in response to detecting that the rolling brush satisfies a preset condition, comprising:
acquiring and judging the cleaning state of the rolling brush through the image acquisition and processing mechanism, and determining whether the rolling brush meets the preset condition according to the cleaning state of the rolling brush; and/or
And sensing the weight condition of the rolling brush through the sensing mechanism, and determining whether the rolling brush meets the preset condition according to the weight condition of the rolling brush.
7. The control method according to any one of claims 2 to 4, wherein a timer is provided on the cleaning apparatus for recording a duration of time for which the roller brush performs a water suction subtask and/or recording a duration of cleaning time for the roller brush, the controlling the roller brush to perform a drain subtask in response to detecting that the roller brush satisfies a preset condition, and controlling the wiper to displace so that the roller brush and the wiper satisfy the second relative position, comprising:
and determining whether the rolling brush meets the preset condition or not according to the obtained duration time of executing the water absorbing subtask by the rolling brush recorded by the timing device and/or the obtained duration cleaning time of the rolling brush.
8. A control device for a cleaning apparatus comprising a roller brush and a wiper strip, the control device comprising:
the receiving and identifying module is used for receiving a control instruction and identifying a target working mode of the cleaning equipment corresponding to the control instruction;
the determining module is used for determining the preset relative position corresponding to the target working mode according to the corresponding relation between the preset working mode and the preset relative position, and the preset relative position is used for describing the relative position relation between the rolling brush and the scraping strip;
and the control module is used for controlling the rolling brush to execute a corresponding work task according to the target working mode and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the corresponding relative position, thereby executing cleaning operation.
9. The control device according to claim 8, wherein an image acquisition and processing mechanism and/or a sensing mechanism and/or a timing device are/is arranged on the cleaning equipment, the control module controls the rolling brush to execute a corresponding work task and controls the scraping bar to displace so that the rolling brush and the scraping bar meet the corresponding relative positions according to the cleaning state of the rolling brush acquired by the image acquisition and processing mechanism, and/or the sensing mechanism senses the weight condition of the rolling brush, and/or the duration of the water absorption subtask executed by the rolling brush or the duration of the cleaning time of the rolling brush recorded by the timing device, so that the cleaning equipment is controlled to execute a cleaning operation.
10. A cleaning apparatus, comprising:
a rolling brush;
a scraping strip, wherein the distance between the scraping strip and the rolling brush is adjustable;
control device for
In response to receiving a control instruction, determining a target working mode corresponding to the cleaning equipment according to the control instruction;
determining a preset relative position corresponding to the target working mode according to the corresponding relation between the preset working mode and the preset relative position, wherein the preset relative position is used for describing the relative position relation between the rolling brush and the scraping strip;
and controlling the rolling brush to execute a corresponding work task according to the target working mode, and controlling the scraping strip to displace so as to enable the rolling brush and the scraping strip to meet the corresponding relative position.
CN202111274031.2A 2021-10-29 2021-10-29 Control method and device of cleaning equipment and cleaning equipment Pending CN116058737A (en)

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Application Number Priority Date Filing Date Title
CN202111274031.2A CN116058737A (en) 2021-10-29 2021-10-29 Control method and device of cleaning equipment and cleaning equipment
PCT/CN2022/117217 WO2023071537A1 (en) 2021-10-29 2022-09-06 Control method and apparatus for cleaning device, and cleaning device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111274031.2A CN116058737A (en) 2021-10-29 2021-10-29 Control method and device of cleaning equipment and cleaning equipment

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JP3186168U (en) * 2013-07-10 2013-09-19 清吉 林 Electric cleaning and cleaning device
CN111543892A (en) * 2020-05-19 2020-08-18 贾静 Cleaning equipment
CN213405913U (en) * 2020-08-28 2021-06-11 广州科语机器人有限公司 Rolling brush device of cleaning robot and cleaning robot
CN112515577B (en) * 2020-09-30 2022-08-09 深圳银星智能集团股份有限公司 Self-cleaning method of cleaning robot, cleaning robot and cleaning system
CN112401774A (en) * 2020-10-30 2021-02-26 添可智能科技有限公司 Floor brush device, adjusting method thereof and cleaning equipment
CN113509109B (en) * 2021-04-08 2022-10-11 苏州市春菊电器有限公司 Movable scraping strip structure of floor cleaning machine

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