CN113243833A

CN113243833A - Automatic control method of cleaning equipment and cleaning equipment

Info

Publication number: CN113243833A
Application number: CN202110372141.6A
Authority: CN
Inventors: 唐成; 段飞; 钟亮; 其他发明人请求不公开姓名
Original assignee: Beijing Shunzao Technology Co Ltd
Current assignee: Beijing Shunzao Technology Co Ltd
Priority date: 2021-04-07
Filing date: 2021-04-07
Publication date: 2021-08-13

Abstract

The present disclosure provides a cleaning device automatic control method, including: acquiring at least one state parameter value of the cleaning equipment on the cleaned object in real time; comparing at least one state parameter value of the cleaning device with at least one preset state parameter threshold value to generate a comparison result; and generating a corresponding cleaning device control signal based on the comparison result. The present disclosure also provides a cleaning apparatus.

Description

Automatic control method of cleaning equipment and cleaning equipment

Technical Field

The disclosure belongs to the technical field of cleaning, and particularly relates to an automatic control method for cleaning equipment and the cleaning equipment.

Background

The prior art surface cleaning apparatus can be used for wet cleaning hard floors or short hair carpets and the like. Surface cleaning devices typically have one or more roller brushes or cleaning discs made of a wool material that can scrub tough soils from an object being cleaned (e.g., a floor) by adding water or a water/cleaner mixture.

When the cleaning device moves on the dirt, the dirt which is wiped off by the roller brush and dissolved by water or water/detergent mixture is sucked up by the cleaning heads arranged along the moving direction of the roller brush. In general, scrubbing is a cleaning process that removes stains from a floor surface.

In the cleaning device in the prior art, such as a floor washing machine, when a part of users use the machine, the moving speed of the ground brush pushed by the users on the ground is high, the moving distance of the ground brush in unit time is long, if the water quantity and the speed of the ground brush are constant, the water quantity obtained in unit area is small, and meanwhile, the cleaning times of the rolling brush in unit area are small, so that a good cleaning effect cannot be achieved; on the other hand, if the moving speed of the user for pushing the floor brush on the ground is slow when the machine is used, the water quantity obtained in unit area is large, water stains may be left on the ground, and meanwhile, the number of times of rubbing the rolling brush is too large, unnecessary work is generated, and energy waste is caused.

Among the prior art, partial surface cleaning device is through detecting the moving speed of scrubbing brush on ground, adjusts machine water supply speed and round brush speed correspondingly, when guaranteeing clean effect, avoids ground to leave too much water stain, avoids unnecessary electric quantity extravagant simultaneously.

The prior art control is to program the controller to control the water pump so that the amount of cleaning solution and/or the rotational speed of the roller brush and/or the suction force is increased or decreased in proportion to the speed of the cleaning head (floor brush) moving along the surface.

For stubborn stains, it is expected that the user will pay attention to cleaning in areas with stubborn stains. When stubborn stains are cleaned, the floor brush tends to stay for cleaning in a key area, so that the moving speed of the floor brush is reduced, the water yield and the rolling brush speed are reduced, and a good cleaning effect cannot be achieved.

Disclosure of Invention

In order to solve at least one of the above technical problems, the present disclosure provides an automatic control method of a cleaning apparatus and a cleaning apparatus.

According to an aspect of the present disclosure, there is provided a cleaning apparatus automatic control method including:

acquiring at least one state parameter value of the cleaning equipment on the cleaned object in real time;

comparing the at least one state parameter value of the cleaning device with a preset at least one state parameter threshold value to generate a comparison result; and the number of the first and second groups,

based on the comparison result, a corresponding cleaning device control signal is generated.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, the state parameter value includes a moving speed of the cleaning device on the object to be cleaned.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, the cleaning device control signal includes at least a first control signal and a second control signal, the first control signal controls a cleaning action of a cleaning portion of the cleaning device, and the second control signal controls a cleaning liquid flow value output from a cleaning liquid storage portion of the cleaning device to the cleaning portion.

According to the automatic control method of the cleaning device, the cleaning device control signals further comprise a third control signal, and the third control signal controls the suction power output by the suction device of the cleaning device.

According to the automatic control method of the cleaning device in at least one embodiment of the disclosure, when the moving speed of the cleaning device is less than or equal to the lowest threshold speed, the cleaning device enters a key area cleaning mode, and the key area cleaning mode comprises the following steps:

the first control signal controls the cleaning part to output a maximum cleaning action, and the second control signal controls the cleaning liquid storage part to output a maximum cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning equipment in at least one embodiment of the disclosure, when the moving speed of the cleaning equipment is less than or equal to the lowest threshold speed and is maintained for a preset time length, the cleaning equipment enters a key area cleaning mode, and the key area cleaning mode comprises the following steps:

the first control signal controls the cleaning part to output a maximum cleaning action, the second control signal controls the cleaning liquid storage part to output a maximum cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a maximum suction power.

According to the automatic control method of the cleaning equipment in at least one embodiment of the disclosure, the state parameter value further comprises a vertical direction inclination angle of the cleaning equipment, and if the vertical direction inclination angle is zero or is within an inclination angle threshold value range, the cleaning equipment stops working.

According to the automatic control method of the cleaning equipment, the state parameter value further comprises a vertical direction inclination angle of the cleaning equipment, and if the vertical direction inclination angle is zero or is within an inclination angle threshold range and is maintained for a preset time length, the cleaning equipment stops working.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving speed of the cleaning device is less than or equal to a first threshold speed, the first control signal controls the cleaning part to output a first cleaning action, and the second control signal controls the cleaning liquid storage part to output a first cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving speed of the cleaning device is greater than or equal to a first threshold speed and less than or equal to a second threshold speed, the first control signal controls the cleaning part to output a second cleaning action, and the second control signal controls the cleaning liquid storage part to output a second cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving speed of the cleaning device is greater than or equal to a second threshold speed and less than or equal to a third threshold speed, the first control signal controls the cleaning part to output a third cleaning action, and the second control signal controls the cleaning liquid storage part to output a third cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning apparatus of at least one embodiment of the present disclosure, when the moving speed of the cleaning apparatus is greater than or equal to a third threshold speed, the first control signal controls the cleaning part to output a fourth cleaning action, and the second control signal controls the cleaning liquid storage part to output a fourth cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving speed of the cleaning device is less than or equal to a first threshold speed, the first control signal controls the cleaning part to output a first cleaning action, and the second control signal controls the cleaning liquid storage part to output a first cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a first suction power.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving speed of the cleaning device is greater than or equal to a first threshold speed and less than or equal to a second threshold speed, the first control signal controls the cleaning part to output a second cleaning action, the second control signal controls the cleaning liquid storage part to output a second cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a second suction power.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving speed of the cleaning device is greater than or equal to a second threshold speed and less than or equal to a third threshold speed, the first control signal controls the cleaning part to output a third cleaning action, the second control signal controls the cleaning liquid storage part to output a third cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a third suction power.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving speed of the cleaning device is greater than or equal to a third threshold speed, the first control signal controls the cleaning part to output a fourth cleaning action, and the second control signal controls the cleaning liquid storage part to output a fourth cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a fourth suction power.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, the state parameter value further includes a moving direction of the cleaning device on the object to be cleaned.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving direction of the cleaning device is a forward direction and the moving speed of the cleaning device is less than or equal to a first threshold speed, the first control signal controls the cleaning part to output a first cleaning action, and the second control signal controls the cleaning liquid storage part to output a first cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving direction of the cleaning device is a forward direction and the moving speed of the cleaning device is greater than or equal to a first threshold speed and less than or equal to a second threshold speed, the first control signal controls the cleaning part to output a second cleaning action, and the second control signal controls the cleaning liquid storage part to output a second cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving direction of the cleaning device is a forward direction and the moving speed of the cleaning device is greater than or equal to a second threshold speed and less than or equal to a third threshold speed, the first control signal controls the cleaning part to output a third cleaning action, and the second control signal controls the cleaning liquid storage part to output a third cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving direction of the cleaning device is a forward direction and a moving speed of the cleaning device is greater than or equal to a third threshold speed, the first control signal controls the cleaning part to output a fourth cleaning action, and the second control signal controls the cleaning liquid storage part to output a fourth cleaning liquid flow value to the cleaning part.

According to the automatic control method of the cleaning apparatus of at least one embodiment of the present disclosure, when the moving direction of the cleaning apparatus is a reverse direction, the second control signal controls the cleaning liquid storage part to stop outputting the cleaning liquid to the cleaning part.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, when the moving direction of the cleaning device is a reverse direction, the first control signal controls the cleaning portion to stop outputting a cleaning action.

According to the automatic control method of the cleaning apparatus of at least one embodiment of the present disclosure, when the moving direction of the cleaning apparatus is a reverse direction, the third control signal controls a suction device of the cleaning apparatus to output a fifth suction power.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, the state parameter values include a moving distance and a reciprocating number of times of the cleaning device on the object to be cleaned.

According to the automatic control method of the cleaning equipment in at least one embodiment of the disclosure, if the reciprocating movement times of the cleaning equipment are more than the threshold value of the reciprocating movement times and the sum of the reciprocating movement distances corresponding to each reciprocating movement is less than or equal to the threshold distance, the cleaning equipment enters a key area cleaning mode, and the key area cleaning mode comprises the following steps:

According to the automatic control method of the cleaning apparatus of at least one embodiment of the present disclosure, the key area cleaning mode can be selected before entering the key area cleaning mode.

According to the automatic control method of the cleaning device of at least one embodiment of the present disclosure, the state parameter value further includes a cleaning section pressure value, the cleaning section pressure value indicates whether the cleaning section is subjected to the pressure of the object to be cleaned, and the cleaning device does not enter the key area cleaning mode if the cleaning section pressure value is zero.

According to another aspect of the present disclosure, there is provided a cleaning apparatus including:

a sensor device which acquires at least one state parameter value of the cleaning device on the cleaned object in real time;

a control device for comparing the at least one state parameter value of the cleaning device with a preset at least one state parameter threshold value, and generating a comparison result; and based on the comparison result, the control device generates a corresponding cleaning device control signal.

According to the cleaning device of at least one embodiment of the present disclosure, the control device comprises a processor and a memory, the memory is used for storing the preset at least one state parameter threshold, the processor compares the at least one state parameter value of the cleaning device with the preset at least one state parameter threshold to generate a comparison result, and the processor generates a corresponding cleaning device control signal based on the comparison result.

According to the cleaning device of at least one embodiment of the present disclosure, the control device further has a communication interface via which external control commands can be transmitted to the processor, which can modify the at least one state parameter threshold stored in the memory based on the external control commands.

According to the cleaning device of at least one embodiment of the present disclosure, the control device is in communication connection with the sensor device through the communication interface.

The cleaning apparatus according to at least one embodiment of the present disclosure further includes a cleaning section and a cleaning liquid storage section, the cleaning apparatus control signal includes at least a first control signal and a second control signal, the first control signal controls a cleaning operation of the cleaning section of the cleaning apparatus, and the second control signal controls a cleaning liquid flow rate value output from the cleaning liquid storage section of the cleaning apparatus to the cleaning section.

A cleaning apparatus according to at least one embodiment of the present disclosure, further comprising a suction device, the cleaning apparatus control signal further comprising a third control signal controlling a suction power output by the suction device of the cleaning apparatus.

A cleaning apparatus according to at least one embodiment of the present disclosure further includes a first driving device that is controllable by the control device to drive the cleaning portion.

A cleaning device according to at least one embodiment of the present disclosure, further comprising a first housing having a cavity, the first drive arrangement being disposed within the cavity of the first housing; the cleaning portion is partially disposed within the cavity of the first housing, and the cleaning portion is partially exposed by the cavity of the first housing.

The cleaning apparatus according to at least one embodiment of the present disclosure further includes a rotation support portion that supports the cleaning apparatus and moves the cleaning apparatus on the object to be cleaned by a rotation action of the rotation support portion.

According to the cleaning device of at least one embodiment of the present disclosure, the sensor device is provided adjacent to the rotation support portion, and the state parameter of the cleaning device on the object to be cleaned is acquired by detecting the motion parameter of the rotation support portion.

According to a cleaning apparatus of at least one embodiment of the present disclosure, the sensor device includes a magnetic part provided on the rotation support part, and a magnetic signal sensor provided on the first housing.

According to the cleaning device of at least one embodiment of the present disclosure, the rotation support part is a rolling wheel, the number of the magnetic parts is plural, and the plural magnetic parts are uniformly arranged on the inner side surface of the rotation support part.

According to a cleaning apparatus of at least one embodiment of the present disclosure, the first driving device transmits the driving motion to the cleaning portion via the transmission device.

The cleaning apparatus according to at least one embodiment of the present disclosure further includes a first pump device that delivers the cleaning liquid to the cleaning portion.

A cleaning apparatus according to at least one embodiment of the present disclosure further includes a liquid distributor disposed between the first pump device and the cleaning portion.

According to the cleaning apparatus of at least one embodiment of the present disclosure, the liquid distributor includes a plurality of liquid nozzles through which the cleaning liquid is output to the cleaning portion.

According to the cleaning apparatus of at least one embodiment of the present disclosure, the liquid distributor has a cavity and a plurality of liquid output holes, and the liquid distributor is capable of outputting the cleaning liquid, which is delivered into the cavity of the liquid distributor by the first pump device, to the cleaning portion via the plurality of liquid output holes.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 is a schematic flow diagram of a cleaning apparatus automatic control method according to one embodiment of the present disclosure.

Fig. 2 is a schematic flow chart of an automatic control method of a cleaning apparatus according to still another embodiment of the present disclosure.

Fig. 3 is a flowchart illustrating an automatic control method of a cleaning apparatus according to still another embodiment of the present disclosure.

Fig. 4 is a flowchart illustrating an automatic control method of a cleaning apparatus according to still another embodiment of the present disclosure.

Fig. 5 is a flowchart illustrating an automatic control method of a cleaning apparatus according to still another embodiment of the present disclosure.

Fig. 6 is one of schematic structural views of a cleaning apparatus according to an embodiment of the present disclosure.

Fig. 7 is a second schematic structural view of a cleaning apparatus according to an embodiment of the present disclosure.

Fig. 8 is a third schematic structural view of a cleaning apparatus according to an embodiment of the present disclosure.

Fig. 9 is a schematic configuration diagram of a control device of the cleaning apparatus according to an embodiment of the present disclosure.

Description of the reference numerals

10 cleaning device

101 first shell

102 cleaning part

103 rotation support part

105 first driving device

106 driving device

107 liquid distributor

108 first pump device

109 connecting part

201 first conveying pipeline

202 second conveying pipeline

203 first joint part

204 control device

205 charging communication connector

206 power supply device

210 second casing

211 cleaning liquid storage part

212 first detection device

213 temperature detector

221 dirt storage part

222 recovery channel

223 suction device

224 filter device

1041 magnetic part

1042 magnetic signal sensor

1043 code wheel

1044 photoelectric sensor

2041 processor

2042 memory

2043 communication interface.

Detailed Description

The present disclosure will be described in further detail with reference to the drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the present disclosure. It should be further noted that, for the convenience of description, only the portions relevant to the present disclosure are shown in the drawings.

It should be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict. Technical solutions of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the illustrated exemplary embodiments/examples are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Accordingly, unless otherwise indicated, features of the various embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concept of the present disclosure.

The use of cross-hatching and/or shading in the drawings is generally used to clarify the boundaries between adjacent components. As such, unless otherwise noted, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for a particular material, material property, size, proportion, commonality between the illustrated components and/or any other characteristic, attribute, property, etc., of a component. Further, in the drawings, the size and relative sizes of components may be exaggerated for clarity and/or descriptive purposes. While example embodiments may be practiced differently, the specific process sequence may be performed in a different order than that described. For example, two processes described consecutively may be performed substantially simultaneously or in reverse order to that described. In addition, like reference numerals denote like parts.

When an element is referred to as being "on" or "on," "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to" or "directly coupled to" another element, there are no intervening elements present. For purposes of this disclosure, the term "connected" may refer to physically, electrically, etc., and may or may not have intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "below … …," below … …, "" below … …, "" below, "" above … …, "" above, "" … …, "" higher, "and" side (e.g., "in the sidewall") to describe one component's relationship to another (other) component as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below … …" can encompass both an orientation of "above" and "below". Further, the devices may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising" and variations thereof are used in this specification, the presence of stated features, integers, steps, operations, elements, components and/or groups thereof are stated but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or groups thereof. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximate terms and not as degree terms, and as such, are used to interpret inherent deviations in measured values, calculated values, and/or provided values that would be recognized by one of ordinary skill in the art.

Fig. 1 is a flowchart of an automatic control method of a cleaning apparatus according to an embodiment of the present disclosure.

As shown in fig. 1, an automatic cleaning device control method 500 includes:

s502, acquiring at least one state parameter value of the cleaning equipment on the cleaned object in real time;

s504, comparing at least one state parameter value of the cleaning equipment with at least one preset state parameter threshold value to generate a comparison result; and the number of the first and second groups,

and S506, generating a corresponding cleaning device control signal based on the comparison result.

The cleaning apparatus may be a variety of floor scrubbing apparatus, vacuum cleaner apparatus, etc.

The object to be cleaned is, for example, a floor tile, a carpet, etc.

The at least one status parameter value may be one status parameter value or two or more status parameter values, such as a moving speed, a moving direction, a moving distance, and the like of the cleaning device.

With the cleaning device automatic control method 500 of the above embodiment, it is preferable that the state parameter value includes a moving speed of the cleaning device on the cleaning object.

With the automatic cleaning apparatus control method 500 of the above embodiment, it is preferable that the cleaning apparatus control signal includes at least a first control signal and a second control signal, the first control signal controls the cleaning operation of the cleaning portion 102 of the cleaning apparatus 10, and the second control signal controls the cleaning liquid flow rate value output to the cleaning portion 102 by the cleaning liquid storage portion 211 of the cleaning apparatus 10.

The cleaning operation may be a rolling speed of the rolling brush type cleaning portion, a reciprocating frequency of the reciprocating type cleaning portion, a vibration frequency of the vibration type cleaning portion, or a rotation speed of the rotary type cleaning portion.

According to the automatic control method of the cleaning equipment in the embodiment, at least two control signals are simultaneously controlled, the linear relation between the control signals and the moving speed of the cleaning equipment in the prior art is removed, the cleaning efficiency of the cleaning equipment is further improved, the energy of the cleaning equipment is saved, and the loss of the cleaning equipment is reduced.

With the automatic cleaning apparatus control method 500 of each of the above embodiments, preferably, the cleaning apparatus control signals further include a third control signal that controls the suction power output by the suction device 223 of the cleaning apparatus 10.

According to a preferred embodiment of the present disclosure, as shown in fig. 2, the automatic control method 600 of the cleaning device of the present disclosure includes the steps of:

s602, acquiring the moving speed of the cleaning equipment on the cleaned object in real time;

s604, comparing the moving speed of the cleaning equipment with a preset lowest threshold speed to generate a comparison result; and the number of the first and second groups,

and S606, when the moving speed of the cleaning equipment is smaller than or equal to the lowest threshold speed, the cleaning equipment enters a key area cleaning mode.

In the above embodiment, the cleaning mode of the cleaning apparatus for the important area includes:

the first control signal controls the cleaning part 102 to output the maximum cleaning operation, and the second control signal controls the cleaning liquid storage part 211 to output the maximum cleaning liquid flow value to the cleaning part 102.

According to still another preferred embodiment of the present disclosure, as shown in fig. 3, the cleaning device automatic control method 700 includes the steps of:

s702, acquiring the moving speed of the cleaning equipment on the cleaned object in real time;

s704, comparing the moving speed of the cleaning equipment with a preset lowest threshold speed to generate a comparison result; and the number of the first and second groups,

s706, when the moving speed of the cleaning equipment is less than or equal to the minimum threshold speed and the preset time is maintained, the cleaning equipment enters a key area cleaning mode.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, the key area cleaning mode includes:

the first control signal controls the cleaning part 102 to output the maximum cleaning action, and the second control signal controls the cleaning liquid storage part 211 to output the maximum cleaning liquid flow value to the cleaning part 102, and the third control signal controls the suction device 223 of the cleaning apparatus 10 to output the maximum suction power.

In the above embodiments, the lowest threshold rate is lower than the first threshold rate described below.

Wherein the minimum threshold rate described above may be preset or subsequently adjusted by one skilled in the art.

For example, if the moving speed of the cleaning device 10 is suddenly reduced and continues for a predetermined time (which may be adjusted), for example, 3 seconds or longer, while the cleaning object is being cleaned, the cleaning mode is entered, the cleaning action of the cleaning portion 102, the cleaning liquid flow rate value, and the suction power of the suction device 223 are all adjusted to the maximum values, and the cleaning device 10 may also enter the cleaning mode after being turned on.

Fig. 4 is a schematic flow chart diagram of an automatic control method 800 for a cleaning device according to yet another embodiment of the present disclosure.

As shown in fig. 8, the automatic control method 800 of the cleaning apparatus of the present embodiment includes the steps of:

s802, starting cleaning equipment and starting cleaning;

s804, judging whether the cleaning equipment is upright or not, if not, executing a step S806, and if so, executing a step S814;

s806, judging whether the moving speed of the cleaning equipment is lower than a minimum threshold speed, if so, executing S808, and if not, executing S812;

s808, enabling the cleaning equipment to enter a key area cleaning mode;

s810, the cleaning equipment judges whether the moving speed is lower than the lowest threshold speed or not in the key area cleaning mode, if so, the step S808 is continuously executed, and if not, the step S812 is executed;

s812, the cleaning device enters a non-key area cleaning mode (i.e. enters other cleaning modes other than the key area cleaning mode, specifically, the other cleaning modes can be determined based on the moving speed, which will be described in detail later);

s814, stopping the cleaning equipment; and the number of the first and second groups,

s816, end/clean device replace base station.

With the cleaning device automatic control method 800 of the above embodiment, the judgment of whether the cleaning device is standing upright in step S804 is preferably made by:

the above-described status parameter values may further include a vertical tilt angle of the cleaning device, and if the vertical tilt angle is zero or within a tilt angle threshold, the cleaning device is determined to be upright and the cleaning device stops working.

Wherein the inclination angle can be measured in real time by a gyro sensor or the like provided on the cleaning apparatus.

Generally, when a user vertically places the cleaning device to indicate that cleaning is finished, the above embodiment realizes automatic stop.

With the automatic control method of the cleaning device of each of the above embodiments, preferably, if the vertical direction inclination angle of the cleaning device is zero or within the inclination angle threshold range and is maintained for a preset time period, the cleaning device stops operating.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, when the moving speed of the cleaning apparatus is less than or equal to the first threshold speed, the first control signal controls the cleaning part 102 to output the first cleaning action, and the second control signal controls the cleaning liquid storage part 211 to output the first cleaning liquid flow value to the cleaning part 102.

For example, the first cleaning action may be a first rolling speed of the rolling brush type cleaning portion, or a first vibration frequency of the vibration type cleaning portion.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, when the moving speed of the cleaning apparatus is greater than or equal to the first threshold speed and less than or equal to the second threshold speed, the first control signal controls the cleaning part 102 to output the second cleaning action, and the second control signal controls the cleaning liquid storage part 211 to output the second cleaning liquid flow value to the cleaning part 102.

With the automatic control method of the cleaning apparatus of each of the above embodiments, it is preferable that the first control signal controls the cleaning section 102 to output the third cleaning action and the second control signal controls the cleaning liquid storage section 211 to output the third cleaning liquid flow value to the cleaning section 102 when the moving speed of the cleaning apparatus is greater than or equal to the second threshold speed and less than or equal to the third threshold speed.

With the automatic control method of the cleaning apparatus of each of the above embodiments, it is preferable that the first control signal controls the cleaning section 102 to output the fourth cleaning action and the second control signal controls the cleaning liquid storage section 211 to output the fourth cleaning liquid flow value to the cleaning section 102 when the moving speed of the cleaning apparatus is equal to or greater than the third threshold speed.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, when the moving speed of the cleaning apparatus is less than or equal to the first threshold speed, the first control signal controls the cleaning part 102 to output the first cleaning action, and the second control signal controls the cleaning liquid storage part 211 to output the first cleaning liquid flow value to the cleaning part 102, and the third control signal controls the suction device 223 of the cleaning apparatus 10 to output the first suction power.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, when the moving speed of the cleaning apparatus is greater than or equal to the first threshold speed and less than or equal to the second threshold speed, the first control signal controls the cleaning part 102 to output the second cleaning action, and the second control signal controls the cleaning liquid storage part 211 to output the second cleaning liquid flow value to the cleaning part 102, and the third control signal controls the suction device 223 of the cleaning apparatus 10 to output the second suction power.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, when the moving speed of the cleaning apparatus is greater than or equal to the second threshold speed and less than or equal to the third threshold speed, the first control signal controls the cleaning part 102 to output the third cleaning action, and the second control signal controls the cleaning liquid storage part 211 to output the third cleaning liquid flow value to the cleaning part 102, and the third control signal controls the suction device 223 of the cleaning apparatus 10 to output the third suction power.

With the automatic cleaning apparatus control method of each of the above embodiments, it is preferable that when the moving speed of the cleaning apparatus 10 is greater than or equal to the third threshold speed, the first control signal controls the cleaning part 102 to output the fourth cleaning action, and the second control signal controls the cleaning liquid storage part 211 to output the fourth cleaning liquid flow value to the cleaning part 102, and the third control signal controls the suction device 223 of the cleaning apparatus 10 to output the fourth suction power.

As can be seen from the above-described embodiments, in addition to the above-described key area cleaning mode, it is preferable to divide the moving rate of the cleaning apparatus 10 into at least two speed intervals, and within each speed interval, to simultaneously control at least two kinds of control signals at the set values.

With the automatic control method of the cleaning apparatus of each of the above embodiments, the state parameter value further includes the moving direction of the cleaning apparatus 10 on the cleaning object.

With the automatic cleaning apparatus control method according to each of the above embodiments, preferably, when the moving direction of the cleaning apparatus 10 is the forward direction and the moving speed of the cleaning apparatus 10 is less than or equal to the first threshold speed, the first control signal controls the cleaning section 102 to output the first cleaning action, and the second control signal controls the cleaning liquid storage section 211 to output the first cleaning liquid flow value to the cleaning section 102.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, when the moving direction of the cleaning apparatus 10 is the forward direction, and the moving speed of the cleaning apparatus 10 is greater than or equal to the first threshold speed and less than or equal to the second threshold speed, the first control signal controls the cleaning portion 102 to output the second cleaning action, and the second control signal controls the cleaning liquid storage portion 211 to output the second cleaning liquid flow value to the cleaning portion 102.

With the automatic cleaning apparatus control method according to each of the above embodiments, it is preferable that when the moving direction of the cleaning apparatus 10 is the forward direction and the moving speed of the cleaning apparatus 10 is greater than or equal to the second threshold speed and less than or equal to the third threshold speed, the first control signal controls the cleaning section 102 to output the third cleaning action, and the second control signal controls the cleaning liquid storage section 211 to output the third cleaning liquid flow value to the cleaning section 102.

With the automatic cleaning apparatus control method according to each of the above embodiments, it is preferable that when the moving direction of the cleaning apparatus 10 is the forward direction and the moving speed of the cleaning apparatus 10 is greater than or equal to the third threshold speed, the first control signal controls the cleaning section 102 to output the fourth cleaning action, and the second control signal controls the cleaning liquid storage section 211 to output the fourth cleaning liquid flow value to the cleaning section 102.

With the automatic cleaning apparatus control method of each of the above embodiments, when the moving direction of the cleaning apparatus 10 is the reverse direction, the second control signal controls the cleaning liquid storage portion 211 to stop outputting the cleaning liquid to the cleaning portion 102.

When the operator performs reciprocating operation of the cleaning device (cleaner, scrubber, etc.) and moves backward, the cleaning device, such as scrubber, generally passes through an already cleaned area, and when the cleaning device 10 moves backward, the supply of cleaning liquid to the cleaning portion 102 is stopped.

With the automatic cleaning apparatus control method of each of the above embodiments, when the moving direction of the cleaning apparatus 10 is the reverse direction, the first control signal controls the cleaning part 102 to stop outputting the cleaning action.

When the cleaning device is moved backward, the output of the cleaning action is stopped, for example, when the roller-type cleaning device moves forward, the roller-type cleaning portion rolls forward, and if the roller-type cleaning portion continues to roll forward when the cleaning device is moved backward, the load of the driving motor of the roller-type cleaning portion is increased (energy consumption and damage to the driving motor) due to the frictional force of the floor.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, the third control signal controls the suction device 223 of the cleaning apparatus 10 to output the fifth suction power when the moving direction of the cleaning apparatus 10 is the reverse direction.

The fifth suction power may be a preset lower suction power, and when an operator performs reciprocating operation on the cleaning device (such as a dust collector, a floor washing machine and the like), the floor washing machine often passes through a cleaned area when moving backwards, so that energy saving is realized by reducing the suction power.

According to still another preferred embodiment of the present disclosure, as shown in fig. 5, the cleaning device automatic control method 900 includes the steps of:

s902, acquiring the moving distance and the reciprocating movement times of the cleaning equipment on the object to be cleaned;

s904, comparing the moving distance and the reciprocating times of the cleaning equipment with a preset threshold distance and a preset reciprocating time threshold respectively to generate a comparison result; and the number of the first and second groups,

s906, if the reciprocating movement times of the cleaning equipment are more than the reciprocating movement time threshold, and the sum of the reciprocating movement distances corresponding to each reciprocating movement is less than or equal to the threshold distance, the cleaning equipment enters a key area cleaning mode.

Wherein, focus area cleaning mode includes:

In the present embodiment, the threshold value of the number of reciprocating movements is, for example, 2 times, and the threshold distance is, for example, 20 cm.

Wherein, one reciprocating is used as a moving cycle, and the reciprocating moving times can be obtained by detecting the reversing times of the rolling wheel of the cleaning equipment.

According to a preferred embodiment of the present disclosure, the focal region cleaning mode includes:

the first control signal controls the cleaning part to output the maximum cleaning action, the second control signal controls the cleaning liquid storage part to output the maximum cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output the maximum suction power.

With the cleaning apparatus automatic control method 900 of each of the above embodiments, the key area cleaning mode can be selected before entering the key area cleaning mode.

For example by setting a prompt signal (voice prompt, etc.).

When a user encounters an unexpected situation, for example, a cleaning part of the cleaning device is jammed, in order to avoid poor user experience caused by suddenly switching to the cleaning mode of the key area, the control device of the cleaning device outputs a prompt signal before outputting each control signal, and the user selects whether the control device outputs each control signal to enter the cleaning mode of the key area based on the prompt signal.

With the automatic control method of the cleaning apparatus of each of the above embodiments, preferably, the state parameter values further include a cleaning section pressure receiving value that indicates whether the cleaning section 102 is subjected to the pressure of the object to be cleaned, and the cleaning apparatus 10 does not enter the key area cleaning mode if the cleaning section pressure receiving value is zero.

The pressure of the cleaning object on the cleaning unit 102 can be detected by a pressure switch provided on the cleaning unit 102.

When the cleaning apparatus no longer satisfies the condition for entering the key area cleaning mode described in the above embodiments, the cleaning apparatus automatically switches to the other cleaning modes described above.

The cleaning apparatus of the present disclosure is explained in detail below with reference to fig. 6 to 9.

A cleaning apparatus 10 according to an embodiment of the present disclosure includes:

the sensor device is used for acquiring at least one state parameter value of the cleaning equipment on the cleaned object in real time;

a control device 204, wherein the control device 204 compares at least one state parameter value of the cleaning device 10 with at least one preset state parameter threshold value to generate a comparison result; and based on the comparison, the control means 204 generates a corresponding cleaning device control signal.

For the cleaning device 10 of each of the above embodiments, as shown in fig. 9, the control device 204 preferably includes a processor 2041 and a memory 2042, the memory 2042 is used for storing at least one preset state parameter threshold, the processor 2041 compares at least one state parameter value of the cleaning device 10 with the at least one preset state parameter threshold to generate a comparison result, and the processor 2041 generates a corresponding cleaning device control signal based on the comparison result.

With respect to the cleaning device 10 of each of the above embodiments, preferably, as shown in fig. 9, the control device 204 further has a communication interface 2043, external control instructions can be transmitted to the processor 2041 via the communication interface 2043, and the processor 2041 can modify at least one state parameter threshold stored in the memory 2042 based on the external control instructions.

For cleaning device 10 of the various embodiments described above, control device 204 is preferably communicatively coupled to the sensor device via communication interface 2043.

The communication connection can be a wired communication connection or a wireless communication connection.

As shown in fig. 6 to 8, the cleaning device 10 of each of the above embodiments preferably further includes a cleaning unit 102 and a cleaning liquid storage unit 211, the cleaning device control signal includes at least a first control signal and a second control signal, the first control signal controls the cleaning operation of the cleaning unit 102 of the cleaning device 10, and the second control signal controls the cleaning liquid flow rate value output from the cleaning liquid storage unit 211 of the cleaning device to the cleaning unit 102.

With the cleaning apparatus 10 of each of the above embodiments, preferably, the suction device 223 is further included, and the cleaning apparatus control signal further includes a third control signal that controls the suction power output by the suction device 223 of the cleaning apparatus 10.

The suction device 223 may be a fan device or the like.

As shown in fig. 6 to 8, with the cleaning apparatus 10 of each of the above embodiments, it is preferable that the first driving device 105 is further included, and the first driving device 105 can be controlled by the control device 204 to drive the cleaning portion 102.

With the cleaning device 10 of each of the above embodiments, the cleaning portion 102 may be a rolling brush, a reciprocating brush, a rotary brush, or the like.

Of course, the cleaning portion 102 may have various structures in the related art.

With the cleaning device 10 of each of the above embodiments, it is preferable that it further includes a first housing 101, the first housing 101 has a cavity, and the first driving device 105 is disposed inside the cavity of the first housing 101; the cleaning part 102 is partially disposed within the cavity of the first housing 101, and the cleaning part 102 can be partially exposed from the cavity of the first housing 101.

Fig. 6 and 7 show only a part of the first casing 101.

With the cleaning device 10 of each of the above embodiments, it is preferable that the cleaning device 10 further includes a rotation support 103, and the rotation support 103 supports the cleaning device 10, and the cleaning device 10 is moved on the object to be cleaned by the rotating action of the rotation support 103.

As shown in fig. 6 and 7, the rotation support 103 may be a rolling wheel, and two rolling wheels are shown in each of fig. 6 and 7.

The shape, number, etc. of the rolling wheels can be adjusted by a person skilled in the art.

As shown in fig. 6 and 7, preferably, a sensor device is provided adjacent to the rotation support 103, and a state parameter of the cleaning device 10 on the object to be cleaned is acquired by detecting a movement parameter of the rotation support 103.

The sensor device may be a speed sensing device, and preferably includes a magnetic portion 1041 and a magnetic signal sensor 1042.

Preferably, the sensor device includes a magnetic part 1041 provided on the rotation support part 103, and a magnetic signal sensor 1042 provided on the first housing 101.

The magnetic part 1041 may be a permanent magnet, and the magnetic signal sensor 1042 may be a hall sensor or a reed switch.

As shown in fig. 7, the sensor device may also be composed of a code disc 1043 and a photoelectric sensor 1044 (e.g. a photoelectric switch), the code disc 1043 is disposed on the inner side surface of the rotation support portion 103, or disposed on the rotation shaft of the rotation support portion 103 to rotate along with the rotation support portion 103, the photoelectric sensor 1044 is disposed at a proper position in the first housing 101, and the change of the signal of the code disc 1043 is detected by the photoelectric sensor 1044 to measure the rotation speed and/or direction of the rotation support portion 103, so as to obtain the moving speed of the cleaning device 10.

With the cleaning device 10 of the above embodiment, it is preferable that the rotation support portion 103 is a rolling wheel, the number of the magnetic portions 1041 is plural, and the plural magnetic portions 1041 are uniformly provided on the inner side surface of the rotation support portion 103.

With the cleaning device 10 of each of the above embodiments, further including the transmission 106, the first driving device 105 transmits the driving motion to the cleaning portion 102 via the transmission 106.

The transmission 106 may be a timing belt or other type of transmission.

As shown in fig. 6 and 7, the cleaning apparatus 10 preferably further includes a first pump device 108, and the first pump device 108 delivers the cleaning liquid to the cleaning portion 102.

Preferably, the cleaning device 10 further comprises a liquid distributor 107, the liquid distributor 107 being arranged between the first pump means 108 and the cleaning portion 102.

The first pump means 108 and the liquid distributor 107 are arranged within the first housing 101.

According to a preferred embodiment of the present disclosure, the liquid distributor 107 of the cleaning device 10 includes a plurality of liquid nozzles through which the cleaning liquid is output to the cleaning part 102.

According to an alternatively preferred embodiment of the present disclosure, the liquid distributor 107 of the cleaning device 10 has a cavity and a plurality of liquid output holes, the liquid distributor 107 being capable of outputting the cleaning liquid delivered by the first pump means 108 into the cavity of the liquid distributor 107 to the cleaning portion 102 via the plurality of liquid output holes.

As shown in fig. 8, according to a preferred embodiment of the present disclosure, the cleaning device 10 further comprises a second housing 210, the second housing 210 having a cavity, the control means 204 being disposed within the cavity of the first housing 101 or within the cavity of the second housing 210.

In fig. 8, the control device 204 is disposed within a cavity of the second housing 210.

Preferably, with the cleaning device 10 of the above embodiment, the first housing 101 has the connecting portion 109, and the first housing 101 and the second housing 210 are fixedly connected by the connecting portion 109.

The connection portion 109 may be integrally formed with the first housing 101, and the first housing 101 and the second housing 210 are preferably detachably connected.

As shown in fig. 8, the cleaning apparatus 10 further includes a cleaning liquid storage portion 211 for storing a cleaning liquid, and a first delivery pipe 201, via which the cleaning liquid in the cleaning liquid storage portion 211 can be delivered to the cleaning portion 102.

As can be seen from fig. 8, one end of the first delivery pipe 201 communicates with the first pump device 108, and the other end of the first delivery pipe 201 communicates with the cleaning liquid storage portion 211.

With the cleaning apparatus 10 of each of the above embodiments, it is preferable that a temperature detector 213 is further included, and the temperature detector 213 is configured to detect the temperature of the cleaning liquid.

The temperature detector 213 may be provided within the cleaning liquid storage portion 211 or on the first delivery pipe 201.

With the cleaning device 10 of each of the above embodiments, it is preferable that a dirt storage part 221 is further included, the dirt storage part 221 is disposed within the cavity of the second housing 210 or within a receiving part formed on the second housing 210, and the dirt storage part 221 is used to recover dirt sucked through the cleaning part 102.

With the cleaning device 10 of the above embodiment, the recovery passage 222 is formed inside the second housing 210, and the dirt suctioned by the cleaning portion 102 enters the dirt storage portion 221 via the recovery passage 222.

Preferably, the inside of the second housing 210 is provided with the above-described suction device 223, and the suction device 223 supplies negative pressure to the cleaning part 102 via the dirt storage part 221 and the recovery passage 222, so that the dirt on the object to be cleaned can be sucked by the cleaning part 102.

According to a preferred embodiment of the present disclosure, the inside of the filth storage part 221 is provided with a filtering device 224.

According to a preferred embodiment of the present disclosure, the filth storage part 221 has a top end and a bottom end opposite to the top end, the bottom end of the filth storage part 221 is connected with the recovery channel 222, and the filtering means 224 is disposed inside the top end of the filth storage part 221.

With the cleaning apparatus 10 of each of the above embodiments, it is also possible to include the second delivery pipe 202, the second delivery pipe 202 communicates with the first delivery pipe 201, and the cleaning liquid outside the cleaning apparatus 10 can be delivered to the cleaning liquid storage portion 211 via the second delivery pipe 202 and the first delivery pipe 201.

With the cleaning apparatus 10 of each of the above embodiments, the first end of the second delivery pipe 202 communicates with the first delivery pipe 201, the second end of the second delivery pipe 202 is connected with the first joint portion 203, and the second delivery pipe 202 can communicate with a cleaning liquid supply device outside the cleaning apparatus via the first joint portion 203.

With the cleaning device 10 of each of the above embodiments, a charging communication connector 205 may be further included, and the control device 204 is connected to the charging communication connector 205.

The charging communication connector 205 may be provided at a suitable location of the cleaning device 10, for example on an outer wall of the second housing.

The control device 204 may be in the form of a control chip or a control circuit board.

With the cleaning apparatus 10 of each of the above embodiments, it is preferable that the first detection device 212 is further included, the first detection device 212 being for detecting the in-place state of the cleaning liquid storage portion 211 and for detecting the liquid amount of the cleaning liquid in the cleaning liquid storage portion 211.

With the cleaning device 10 of each of the above embodiments, a power supply unit 206 is further included, and the power supply unit 206 is used for supplying power to the power-requiring components of the cleaning device.

The power supply 206 may be a rechargeable battery or the like.

Through detecting at least one state parameter of cleaning device (for example, cleaning device's cleaning head device) on by the cleaning object, adjustment cleaning device water supply speed, round brush speed, suction power, when guaranteeing clean effect, avoid water yield, round brush and suction power to neglect the height suddenly, avoid the electric quantity extravagant, avoid the excessive loss of machine, and through the setting of key clean mode, further improve cleaning device's cleaning efficiency and clean effect.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example" or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of illustration of the disclosure and are not intended to limit the scope of the disclosure. Other variations or modifications may occur to those skilled in the art, based on the foregoing disclosure, and are still within the scope of the present disclosure.

Claims

1. An automatic control method for a cleaning device, comprising:

comparing the at least one state parameter value of the cleaning device with a preset at least one state parameter threshold value to generate a comparison result; and

2. The automatic control method of a cleaning apparatus according to claim 1, wherein the status parameter value includes a moving speed of the cleaning apparatus on the object to be cleaned.

3. The automatic control method for a cleaning device according to claim 2, wherein the cleaning device control signal includes at least a first control signal and a second control signal, the first control signal controls a cleaning action of a cleaning portion of the cleaning device, and the second control signal controls a cleaning liquid flow value output from a cleaning liquid storage portion of the cleaning device to the cleaning portion.

4. The automatic control method of a cleaning device according to claim 3, wherein the cleaning device control signal further comprises a third control signal controlling a suction power output by a suction device of the cleaning device.

5. The automatic control method for a cleaning device according to claim 3, wherein when the moving speed of the cleaning device is less than or equal to a minimum threshold speed, the cleaning device enters a key area cleaning mode, and the key area cleaning mode comprises:

6. The automatic control method of a cleaning device according to claim 3, wherein when the moving speed of the cleaning device is less than or equal to a minimum threshold speed and is maintained for a preset time period, the cleaning device enters a key area cleaning mode, and the key area cleaning mode comprises:

7. The automatic control method of a cleaning device according to claim 4, wherein when the moving speed of the cleaning device is less than or equal to or less than a minimum threshold speed, the cleaning device enters a key area cleaning mode, the key area cleaning mode comprising:

8. The automatic control method of a cleaning device according to claim 4, wherein when the moving speed of the cleaning device is less than or equal to a minimum threshold speed and is maintained for a preset time period, the cleaning device enters a key area cleaning mode, and the key area cleaning mode comprises:

9. The automatic control method of a cleaning device according to any one of claims 5 to 8, wherein the status parameter value further includes a vertical tilt angle of the cleaning device, and the cleaning device stops working if the vertical tilt angle is zero or within a tilt angle threshold range;

optionally, the state parameter value further includes a vertical direction inclination angle of the cleaning device, and if the vertical direction inclination angle is zero or is within an inclination angle threshold range and is maintained for a preset time, the cleaning device stops working;

optionally, when the moving speed of the cleaning device is less than or equal to a first threshold speed, the first control signal controls the cleaning part to output a first cleaning action, and the second control signal controls the cleaning liquid storage part to output a first cleaning liquid flow value to the cleaning part;

optionally, when the moving speed of the cleaning device is greater than or equal to a first threshold speed and less than or equal to a second threshold speed, the first control signal controls the cleaning part to output a second cleaning action, and the second control signal controls the cleaning liquid storage part to output a second cleaning liquid flow value to the cleaning part;

optionally, when the moving speed of the cleaning device is greater than or equal to a second threshold speed and less than or equal to a third threshold speed, the first control signal controls the cleaning part to output a third cleaning action, and the second control signal controls the cleaning liquid storage part to output a third cleaning liquid flow value to the cleaning part;

optionally, when the moving speed of the cleaning device is greater than or equal to a third threshold speed, the first control signal controls the cleaning part to output a fourth cleaning action, and the second control signal controls the cleaning liquid storage part to output a fourth cleaning liquid flow value to the cleaning part;

optionally, when the moving speed of the cleaning device is less than or equal to a first threshold speed, the first control signal controls the cleaning part to output a first cleaning action, the second control signal controls the cleaning liquid storage part to output a first cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a first suction power;

optionally, when the moving speed of the cleaning device is greater than or equal to a first threshold speed and less than or equal to a second threshold speed, the first control signal controls the cleaning part to output a second cleaning action, the second control signal controls the cleaning liquid storage part to output a second cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a second suction power;

optionally, when the moving speed of the cleaning device is greater than or equal to a second threshold speed and less than or equal to a third threshold speed, the first control signal controls the cleaning part to output a third cleaning action, the second control signal controls the cleaning liquid storage part to output a third cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a third suction power;

optionally, when the moving speed of the cleaning device is greater than or equal to a third threshold speed, the first control signal controls the cleaning part to output a fourth cleaning action, the second control signal controls the cleaning liquid storage part to output a fourth cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output a fourth suction power;

optionally, the state parameter value further includes a moving direction of the cleaning device on the object to be cleaned;

optionally, when the moving direction of the cleaning device is a forward direction and the moving speed of the cleaning device is less than or equal to a first threshold speed, the first control signal controls the cleaning part to output a first cleaning action, and the second control signal controls the cleaning liquid storage part to output a first cleaning liquid flow value to the cleaning part;

optionally, when the moving direction of the cleaning device is a forward direction, and the moving speed of the cleaning device is greater than or equal to a first threshold speed and less than or equal to a second threshold speed, the first control signal controls the cleaning part to output a second cleaning action, and the second control signal controls the cleaning liquid storage part to output a second cleaning liquid flow value to the cleaning part;

optionally, when the moving direction of the cleaning device is a forward direction, and the moving speed of the cleaning device is greater than or equal to a second threshold speed and less than or equal to a third threshold speed, the first control signal controls the cleaning part to output a third cleaning action, and the second control signal controls the cleaning liquid storage part to output a third cleaning liquid flow value to the cleaning part;

optionally, when the moving direction of the cleaning device is a forward direction and the moving speed of the cleaning device is greater than or equal to a third threshold speed, the first control signal controls the cleaning part to output a fourth cleaning action, and the second control signal controls the cleaning liquid storage part to output a fourth cleaning liquid flow value to the cleaning part;

optionally, when the moving direction of the cleaning device is a backward direction, the second control signal controls the cleaning liquid storage part to stop outputting the cleaning liquid to the cleaning part;

optionally, when the moving direction of the cleaning device is a backward direction, the first control signal controls the cleaning part to stop outputting a cleaning action;

optionally, when the moving direction of the cleaning apparatus is a reverse direction, the third control signal controls a suction device of the cleaning apparatus to output a fifth suction power;

optionally, the state parameter values include a moving distance and a reciprocating number of times of the cleaning device on the object to be cleaned;

optionally, if the number of reciprocating movements of the cleaning device is above a threshold number of reciprocating movements, and the sum of reciprocating movement distances corresponding to each reciprocating movement is less than or equal to the threshold distance, the cleaning device enters a key area cleaning mode, where the key area cleaning mode includes:

the first control signal controls the cleaning part to output a maximum cleaning action, and the second control signal controls the cleaning liquid storage part to output a maximum cleaning liquid flow value to the cleaning part;

the first control signal controls the cleaning part to output the maximum cleaning action, the second control signal controls the cleaning liquid storage part to output the maximum cleaning liquid flow value to the cleaning part, and the third control signal controls the suction device of the cleaning device to output the maximum suction power;

optionally, the focus area cleaning mode can be selected before entering the focus area cleaning mode;

optionally, the state parameter value further includes a cleaning part pressure value, the cleaning part pressure value indicates whether the cleaning part is pressed by the cleaning object, and if the cleaning part pressure value is zero, the cleaning device does not enter the key area cleaning mode.

10. A cleaning apparatus, comprising:

a control device for comparing the at least one state parameter value of the cleaning device with a preset at least one state parameter threshold value, and generating a comparison result; and based on the comparison result, the control device generates a corresponding cleaning device control signal;

optionally, the control device includes a processor and a memory, the memory is used for storing the preset at least one state parameter threshold, the processor compares the at least one state parameter value of the cleaning device with the preset at least one state parameter threshold to generate a comparison result, and the processor generates a corresponding cleaning device control signal based on the comparison result;

optionally, the control device further has a communication interface via which an external control command can be transmitted to the processor, and the processor can modify the at least one state parameter threshold stored in the memory based on the external control command;

optionally, the control device is in communication connection with the sensor device through the communication interface;

optionally, the cleaning device further comprises a cleaning part and a cleaning liquid storage part, the cleaning device control signal at least comprises a first control signal and a second control signal, the first control signal controls the cleaning action of the cleaning part of the cleaning device, and the second control signal controls the cleaning liquid flow value output to the cleaning part by the cleaning liquid storage part of the cleaning device;

optionally, further comprising a suction device, the cleaning apparatus control signal further comprising a third control signal controlling a suction power output by the suction device of the cleaning apparatus;

optionally, the cleaning device further comprises a first driving device which can be controlled by the control device to drive the cleaning part;

optionally, the device further comprises a first housing having a cavity, the first driving device being disposed within the cavity of the first housing; the cleaning part is partially arranged in the cavity of the first shell, and the cleaning part can be partially exposed out of the cavity of the first shell;

optionally, the cleaning device further comprises a rotary support part, wherein the rotary support part supports the cleaning device, and the cleaning device is moved on the cleaned object through the rotary action of the rotary support part;

optionally, the sensor device is arranged close to the rotating support part, and the state parameter of the cleaning device on the cleaned object is obtained by detecting the motion parameter of the rotating support part;

optionally, the sensor device comprises a magnetic part disposed on the rotation support part, and a magnetic signal sensor disposed on the first housing;

optionally, the rotating support part is a rolling wheel, the number of the magnetic parts is multiple, and the multiple magnetic parts are uniformly arranged on the inner side surface of the rotating support part;

optionally, the cleaning device further comprises a transmission device, and the first driving device transmits the driving action to the cleaning part through the transmission device;

optionally, further comprising a first pump device that delivers cleaning liquid to the cleaning section;

optionally, a liquid distributor is further included, the liquid distributor being disposed between the first pump device and the cleaning portion;

optionally, the liquid distributor includes a plurality of liquid nozzles through which the cleaning liquid is output to the cleaning part;

optionally, the liquid distributor has a cavity and a plurality of liquid output holes, and the liquid distributor can output the cleaning liquid, which is delivered into the cavity of the liquid distributor by the first pump device, to the cleaning part through the plurality of liquid output holes.