CN114246518B

CN114246518B - Cleaning device and control method thereof

Info

Publication number: CN114246518B
Application number: CN202111358030.6A
Authority: CN
Inventors: 黎三洋; 农贵升; 王闯
Original assignee: Anker Innovations Co Ltd
Current assignee: Anker Innovations Co Ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2023-06-23
Anticipated expiration: 2041-11-18
Also published as: WO2023088410A1; CN114246518A

Abstract

The embodiment of the disclosure provides a cleaning device and a control method of the cleaning device, and relates to the technical field of mechanical control. The cleaning device includes: the shell is provided with at least two rolling brush modules which are arranged in parallel and opposite to each other on the first side surface of the shell; the water spraying module is arranged between the at least two rolling brush modules; and the controller is used for controlling the water spraying direction of the water spraying module according to the movement direction of the cleaning device so that the first rolling brush module close to the movement direction receives water spraying and the second rolling brush module far away from the movement direction does not receive water spraying. This cleaning device can effectively promote clean efficiency.

Description

Cleaning device and control method thereof

Technical Field

The present disclosure relates to the field of mechanical control technologies, and in particular, to a cleaning device and a control method for the cleaning device.

Background

With the increasing pursuit of quality of life, cleaning devices are increasingly being used in the cleaning process as a substitute for manual cleaning. Generally, the cleaning device drives a cleaning rolling brush module to rotate by using a main motor, clean water is sprayed on the rolling brush module while the rolling brush module rotates, and after the wet rolling brush module contacts a surface to be cleaned (such as the ground), the ground stains can be cleaned, and then the stains are sucked into the dust duct by a fan.

Above-mentioned cleaning device is clear up the subaerial back, and subaerial general still can remain more moisture, because round brush module itself can't handle remaining moisture, leads to remaining moisture at volatilizing dry in-process probably to breed bacterium, produce the peculiar smell, lead to the wet smooth scheduling problem in road surface.

Disclosure of Invention

An object of the present disclosure is to provide a cleaning device and a control method of the cleaning device.

Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.

According to one aspect of the present disclosure, there is provided a cleaning device, a housing, at least two rolling brush modules disposed in parallel and opposite to each other on a first side of the housing; the water spraying module is arranged between the at least two rolling brush modules; and a controller for controlling the water spray direction of the water spray module according to the movement direction of the cleaning device so that the first rolling brush module close to the movement direction receives water spray and the second rolling brush module far from the movement direction does not receive water spray.

In an exemplary embodiment, based on the foregoing, the water spray module includes: the first water spraying unit is arranged opposite to the first rolling brush module, and the second water spraying unit is arranged opposite to the second rolling brush module; a plurality of water spraying holes are arranged along the length direction of the first water spraying unit and the length direction of the second water spraying unit.

In an exemplary embodiment, based on the foregoing, the first water spraying unit is connected to a first water pump, and the second water spraying unit is connected to a second water pump.

In an exemplary embodiment, based on the foregoing scheme, the controller is specifically configured to: controlling the water spraying hole of the first water spraying unit in the water spraying module to be in an opening state and controlling the water spraying hole of the second water spraying unit in the water spraying module to be in a closing state; or, controlling a first water pump connected to the first water spraying unit so that water of the first water pump flows into the first water spraying unit, and controlling a second water pump connected to the second water spraying unit so that water of the second water pump stops flowing into the second water spraying unit; wherein the first water spraying unit is close to the movement direction, and the second water spraying unit is far away from the water spraying direction.

In an exemplary embodiment, based on the foregoing, the controller is further configured to: and controlling the rotating speed of the first rolling brush module to be larger than that of the second rolling brush module according to the moving direction.

In an exemplary embodiment, based on the foregoing, each of the above-described rolling brush modules includes: n rolling brush units, wherein N is an integer greater than 1; in the linear motion process of the cleaning device, the axial directions of the N rolling brush units in the same rolling brush module are collinear, and an interval is reserved between the rolling brush units in the same rolling brush module.

In an exemplary embodiment, based on the foregoing scheme, the controller is further specifically configured to: and controlling the rotating speed of the ith rolling brush unit in the first rolling brush module to be larger than that of the ith rolling brush unit in the second rolling brush module, wherein i is each positive integer between 1 and N and comprises 1 and N.

In an exemplary embodiment, based on the foregoing scheme, each of the rolling brush units corresponds to a driving motor.

In an exemplary embodiment, based on the foregoing, the water spraying module includes N water spraying sub-modules, and the i-th water spraying sub-module corresponds to the i-th rolling brush unit in each of the rolling brush modules, where i is each positive integer between 1 and N and includes 1 and N.

In an exemplary embodiment, based on the foregoing, the first rolling brush module includes: the first round brush unit and second round brush unit, above-mentioned second round brush module includes: a third rolling brush unit arranged opposite to the first rolling brush unit and a fourth rolling brush unit arranged opposite to the second rolling brush unit; the controller is further configured to: controlling the rotating speed of the first rolling brush unit to be higher than that of the third rolling brush unit in response to the moving direction being smaller than 90 degrees with the axial direction of the first rolling brush module and the moving direction being close to the first rolling brush unit; or, in response to the movement direction being less than 90 degrees from the axial direction of the first rolling brush module and the movement direction being close to the second rolling brush unit, controlling the rotation speed of the second rolling brush unit to be greater than the rotation speed of the fourth rolling brush unit.

In an exemplary embodiment, based on the foregoing scheme, the apparatus further includes: a handle rotatably coupled to the second side of the housing, the handle being rotatable within a predetermined range, wherein the second side is opposite the first side of the housing; the pressure sensor is used for acquiring the moving direction or the rotating direction of the handle, determining the moving direction of the cleaning device according to the moving direction or the rotating direction of the handle, and sending the moving direction of the cleaning device to the controller; or alternatively, the first and second heat exchangers may be,

the above-mentioned casing still includes: the inertial measurement unit is used for acquiring the movement direction of the cleaning device and sending the movement direction of the cleaning device to the controller; or alternatively, the first and second heat exchangers may be,

the cleaning device further includes: the roller is arranged on the first side surface of the shell; and a hall sensor or a solenoid for determining a movement direction of the cleaning device based on a counter electromotive force and a rotation direction of the roller, determining the movement direction of the cleaning device, and transmitting the movement direction of the cleaning device to the controller.

According to an aspect of the present disclosure, there is provided a control method of a cleaning apparatus including at least two rolling brush modules disposed in parallel opposite to each other, the method including: determining a direction of movement of the cleaning device; and controlling the water spraying direction of the water spraying module according to the movement direction so that the first rolling brush module close to the movement direction receives water spraying and the second rolling brush module far away from the movement direction does not receive water spraying.

In an exemplary embodiment, based on the foregoing solution, the controlling the water spraying direction of the water spraying module includes: controlling the water spraying hole of the first water spraying unit in the water spraying module to be in an opening state and controlling the water spraying hole of the second water spraying unit in the water spraying module to be in a closing state; or, controlling a first water pump connected to the first water spraying unit so that water of the first water pump flows into the first water spraying unit, and controlling a second water pump connected to the second water spraying unit so that water of the second water pump stops flowing into the second water spraying unit; wherein the first water spraying unit is close to the movement direction, and the second water spraying unit is far away from the water spraying direction; the first water spraying unit is arranged opposite to the first rolling brush module, and the second water spraying unit is arranged opposite to the second rolling brush module; a plurality of water spraying holes are arranged along the length direction of the first water spraying unit and the length direction of the second water spraying unit.

In an exemplary embodiment, based on the foregoing scheme, the method further includes: and controlling the rotating speed of the first rolling brush module to be larger than that of the second rolling brush module according to the moving direction.

In an exemplary embodiment, based on the foregoing, each of the above-described rolling brush modules includes: the N rolling brush units are axially collinear in the same rolling brush module in the linear motion process of the cleaning device, and intervals are arranged among the rolling brush units in the same rolling brush module; the controlling the rotation speed of the first rolling brush module to be greater than the rotation speed of the second rolling brush module according to the movement direction includes: and controlling the rotating speed of the ith rolling brush unit in the first rolling brush module to be larger than that of the ith rolling brush unit in the second rolling brush module, wherein N is a positive integer larger than 1, and i is each positive integer between 1 and N and comprises 1 and N.

In an exemplary embodiment, based on the foregoing, the determining the movement direction of the cleaning device includes: acquiring the movement direction of the cleaning device through an inertial measurement unit; or determining the movement direction of the cleaning device based on the counter electromotive force of the Hall sensor or the electromagnetic coil and the rotation direction of the roller of the cleaning device; or, the pressure sensor is used for acquiring the moving direction or the rotating direction of the handle of the cleaning device, so as to obtain the moving direction of the cleaning device.

The cleaning device and the control method of the cleaning device provided by the embodiment of the disclosure have the following technical effects:

in the scheme provided by the exemplary embodiment of the disclosure, the water spraying direction of the water spraying module is controlled according to the movement direction of the cleaning device, so that the front rolling brush module (the first rolling brush module) receives water spraying in the current movement direction, and the rear rolling brush module (the second rolling brush module) does not receive water spraying, so that the front first rolling brush module is fully wet, ground garbage can be effectively cleaned, the rear second rolling brush module is not sprayed with water, residual water stains of the first rolling brush module can be cleaned, and cleaning efficiency is improved. Meanwhile, the traction direction can be guaranteed to be consistent with the movement direction of the cleaning device by the aid of the technical scheme, so that user operation force is reduced, and operation convenience is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.

Fig. 1 schematically illustrates an overall structure of a cleaning device provided by an embodiment of the present disclosure.

Fig. 2 schematically illustrates a block diagram of a first side of a housing provided by an embodiment of the present disclosure.

Fig. 3 schematically illustrates a flowchart of a control method of the cleaning device provided by an embodiment of the present disclosure.

Fig. 4 schematically illustrates a cross-sectional view of a first side of a housing provided in an embodiment of the present disclosure.

Fig. 5 schematically illustrates a block diagram of a water spray module provided by an embodiment of the present disclosure.

Fig. 6 schematically illustrates a flowchart of a control method of a cleaning device provided in another embodiment of the present disclosure.

Fig. 7 schematically illustrates a block diagram of a roller brush module provided by an embodiment of the present disclosure.

Fig. 8 schematically illustrates a block diagram of a first side of a housing provided in another embodiment of the present disclosure.

Fig. 9 schematically shows a flowchart of a control method of a cleaning device provided in still another embodiment of the present disclosure.

Description of the drawings:

1. a roll brush module; 1A, a rolling brush unit; 1B, a rolling brush unit;

2. a roll brush module; 2A, a rolling brush unit; 2B, a rolling brush unit;

3. a roller; 4. a water spraying module;

4-1, a water spraying unit; 4-2, a water spraying unit; 4-3, spraying holes; 4-4, an air inlet;

5. a housing; 5-1, an inertial measurement unit; 6. a handle;

900. a controller; 910. a state of the cleaning device from front to back and from left to right;

920. the direction of rotation of the roller; 930. the movement direction or the rotation direction of the handle;

921. hall sensors or electromagnetic coils; 931. a pressure sensor membrane;

94. the rotational speed of the roller brush module or the roller brush unit; 95. the water spraying direction of the water spraying module.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present disclosure more apparent, the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings.

When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the disclosure as detailed in the accompanying claims.

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.

Illustratively, fig. 1 schematically illustrates an overall structural view of a cleaning device provided by an embodiment of the present disclosure, and fig. 2 schematically illustrates a structural view of a first side of a housing provided by an embodiment of the present disclosure. Referring to fig. 1 and 2, the cleaning device provided in this embodiment includes: a housing 5, at least two rolling brush modules, such as a rolling brush module 1 and a rolling brush module 2, which are arranged in parallel and opposite to each other on a first side surface of the housing; a roller 3 arranged on the first side of the housing; the water spraying module 4 is arranged between the rolling brush module 1 and the rolling brush module 2; and a controller (not shown in the figures).

The rolling brush module can rotate at a high speed under the action of the driving motor, and the brush hair contacts with the stains to clean the stains.

The controller is used for controlling the water spraying direction of the water spraying module 4 according to the movement direction of the cleaning device, so that the first rolling brush module close to the current movement direction receives water spraying, and the second rolling brush module far away from the current movement direction does not receive water spraying. Specifically, the second rolling brush module far away from the current movement direction can be dehydrated by squeezing water through the scraping strip or rotating at a high speed, so that the water content of the rolling brush bristles is reduced, and the sewage on the ground is absorbed.

With continued reference to fig. 1, the cleaning device of the present embodiment further comprises a handle 6, the handle 6 being rotatably connected to the second side of the housing 5. In particular, the handle 6 may be rotatable within a predetermined range, i.e. the handle 6 may be a floatable or micro-movable handle, such that the handle may be moved within a small range. Specifically, the rotation amounts of the handle 6 (translational movements along the X-axis, the Y-axis, and the Z-axis, and rotations about the X-axis, the Y-axis, and the Z-axis) can be acquired by the sensors.

In an exemplary embodiment, based on the cleaning device provided in the above embodiment, fig. 3 schematically shows a flowchart of a control method of the cleaning device provided in the embodiment of the present disclosure. Referring to fig. 3, the embodiment shown in this figure includes:

s310, determining the movement direction of the cleaning device; and

s320, controlling the water spraying direction of the water spraying module according to the movement direction, so that the first rolling brush module close to the movement direction receives water spraying, and the second rolling brush module far away from the movement direction does not receive water spraying.

Illustratively, fig. 4 schematically illustrates a cross-sectional view of a first side of a housing provided by an embodiment of the present disclosure. Referring to fig. 4, the movement direction of the cleaning device includes a direction a and a direction B. In the case where the current movement direction is a, the controller controls the water spray module 4 to spray water to the first rolling brush module (rolling brush module 1) close to the current movement direction and not to spray water to the second rolling brush module (rolling brush module 2) far from the current movement direction. Therefore, the first rolling brush module in front is sufficiently wet, ground garbage can be effectively cleaned, the second rolling brush module in back is not sprayed with water, residual water stains of the first rolling brush module can be cleaned, and cleaning efficiency is improved.

In an exemplary embodiment, fig. 5 schematically illustrates a block diagram of a water spray module provided by an embodiment of the present disclosure. Referring to fig. 5, the water spray module 4 includes: the water spraying unit 4-1 and the water spraying unit 4-2 are provided with a plurality of water spraying holes 4-3 along the length direction of the water spraying unit 4-1 and along the length direction of the water spraying unit 4-2, and water flow can be sprayed to the oppositely arranged rolling brush modules through the water spraying holes 4-3. In addition, the water spraying module 4 further comprises an air inlet 4-4, wherein the air inlet 4-4 can enable stains between the rolling brush module 1 and the rolling brush module 2 to enter the dust box through the air inlet. In the case where the air inlet 4-4 is provided between two roller brush modules, the

roller brush modules

1 and 2 are provided in opposite directions in order to allow the garbage during cleaning to smoothly enter the garbage collection part from the air inlet 4-4.

For example, each water spraying unit may be respectively connected to a water pump, and further, whether the water spraying unit sprays water may be controlled by the amount of water flowing into the water spraying unit by the water pump. In addition, whether the water spraying unit sprays water or not can be controlled by controlling the opening and closing of the water spraying hole.

Fig. 6 schematically illustrates a flowchart of a control method of a cleaning device according to another embodiment of the present disclosure. Referring to fig. 6, the embodiment shown in this figure includes:

s610, acquiring a movement direction of the cleaning device by the inertial measurement unit. S611, determining a movement direction of the cleaning device based on the counter electromotive force of the hall sensor or the electromagnetic coil and the rotation direction of the wheel. S612, acquiring the moving direction or the rotating direction of the handle through the pressure sensor, and obtaining the moving direction of the cleaning device. Wherein S610, S611 and S612 respectively provide a determination method for sensing a movement direction of the cleaning device, and the specific implementation thereof will be described in detail in the following examples.

With continued reference to fig. 6, in S620, the water spray hole of the first water spray unit in the water spray module is controlled to be in an on state, and the water spray hole of the second water spray unit in the water spray module is controlled to be in an off state; or, the first water pump connected to the first water spraying unit is controlled such that water of the first water pump flows into the first water spraying unit, and the second water pump connected to the second water spraying unit is controlled such that water of the second water pump flows into the second water spraying unit.

For example, referring to fig. 4 and 5, in case that the current moving direction is a, the controller controls the water spray holes of the first water spray unit (water spray unit 4-1) provided with respect to the first rolling brush module (rolling brush module 1) in the water spray module 4 to be in an opened state to spray water to the first rolling brush module (rolling brush module 1); meanwhile, the controller controls the water spraying holes of the second water spraying unit (water spraying unit 4-2) provided opposite to the second rolling brush module (rolling brush module 2) in the water spraying module 4 to be in a closed state so as not to spray water to the second rolling brush module (rolling brush module 2). Alternatively, a first water pump connected to the first water spraying unit (water spraying unit 4-1) is controlled such that water of the first water pump flows into the first water spraying unit (water spraying unit 4-1), and a second water pump connected to the second water spraying unit (water spraying unit 4-2) is controlled such that water of the second water pump stops flowing into the second water spraying unit (water spraying unit 4-2).

Therefore, the first rolling brush module in front is sufficiently wet, ground garbage can be effectively cleaned, the second rolling brush module in back is not sprayed with water, residual water stains of the first rolling brush module can be cleaned, and cleaning efficiency is improved.

In an exemplary embodiment, in order to reduce the user operation force and improve the operation convenience, the control method of the cleaning device provided in this embodiment further includes: the speed of the cleaning device roll brush modules (at least two roll brush modules, as described above) is adjusted in real time according to the direction of movement of the cleaning device.

Illustratively, referring to fig. 6, in S621: and controlling the rotating speed of the first rolling brush module to be larger than that of the second rolling brush module according to the moving direction.

For example, referring to fig. 4 and 5, in case that the current movement direction is a, the controller controls the rotation speed of the first roll brush module (roll brush module 1) close to the current movement direction to be greater than the rotation speed of the second roll brush module (roll brush module 2) far from the current movement direction. Therefore, differential control of the rollers is achieved, traction force is kept consistent with the direction of the user action in the process of operating the cleaning device by the user in a linear motion mode, and the technical effects of reducing user operation force and improving operation convenience are achieved.

In order to further improve the operation convenience of the cleaning device, so as to keep the traction force consistent with the direction of the user action during the non-linear motion (turning) of the cleaning device, each rolling brush module in the embodiment includes N (N is greater than 1) rolling brush units. The following embodiments are described by taking the example that each rolling brush module comprises two rolling brush units:

illustratively, fig. 7 schematically illustrates a block diagram of a rolling brush module provided by an embodiment of the disclosure, and fig. 7 is illustrated on the basis of fig. 2. Referring to fig. 7, the roll brush module 1 includes a roll brush unit 1A and a roll brush unit 1B, and the roll brush module 2 includes a roll brush unit 2A and a roll brush unit 2B.

In the linear motion process of the cleaning device, the axial directions of N rolling brush units in the same rolling brush module are collinear, and an interval is reserved between the rolling brush units in the same rolling brush module. As shown in fig. 7, during the linear movement of the cleaning device, the axial directions of the roll brush unit 1A and the roll brush unit 1B in the roll brush module 1 are collinear, and thus, it is advantageous to be uniformly sprayed with water to secure the cleaning effect. While there is a space between the roll brush unit 1A and the roll brush unit 1B, thereby facilitating the user to perform a turning operation of the cleaning device. It should be noted that the size of the interval between the rolling brush units may be set according to the requirement.

Illustratively, each rolling brush unit corresponds to a driving motor, so that the rotating speed of each rolling brush unit can be flexibly controlled. As a specific embodiment of S621, the rotation speed of the i-th rolling brush unit in the first rolling brush module is controlled to be greater than the rotation speed of the i-th rolling brush unit in the second rolling brush module, N is a positive integer greater than 1, i is each positive integer between 1 and N, and 1 and N are included.

Referring to fig. 7, during a turning of the cleaning device, the rotation speed of the i-th rolling brush unit in the first rolling brush module is controlled to be greater than that of the i-th rolling brush unit in the second rolling brush module, and N is a positive integer greater than 1.

In the case that the included angle between the current moving direction and the direction a is smaller than 90 degrees (at this time, the included angle between the current moving direction and the direction B is larger than 90 degrees), the controller controls the rotating speed of the first rolling brush unit (rolling brush unit 1A) in the first rolling brush module (rolling brush module 1) close to the current moving direction to be larger than the rotating speed of the third rolling brush unit (rolling brush unit 2A) in the second rolling brush module (rolling brush module 2) far from the current moving direction; and the controller also controls the rotation speed of the second rolling brush unit (rolling brush unit 1B) in the first rolling brush module (rolling brush module 1) close to the current movement direction to be greater than the rotation speed of the fourth rolling brush unit (rolling brush unit 2B) in the second rolling brush module (rolling brush module 2) far from the current movement direction. Therefore, differential control of the rollers is realized in the turning process of the cleaning device, and traction force is kept consistent with the action direction of the user in the non-linear motion (turning) process of the cleaning device operated by the user, so that the technical effects of reducing the operation force of the user and improving the operation convenience are achieved.

In an exemplary embodiment, a control scheme of the cleaning device to the water spray direction of the water spray module during cornering is presented. The water spraying module also includes N water spraying sub-modules corresponding to the N rolling brush units included in the rolling brush module, and the i-th water spraying sub-module corresponds to the i-th rolling brush unit in each rolling brush module, i is each positive integer between 1 and N and includes 1 and N. For example, the 1 st water spray sub-module corresponds to the roll brush unit 1A and the roll brush unit 1B, and the 2 nd water spray sub-module corresponds to the roll brush unit 2A and the roll brush unit 2B. Therefore, each rolling brush unit in the rolling brush module close to the current movement direction can be uniformly and effectively sprayed with water, and effective cleaning of the cleaning device on the ground in the turning process is guaranteed.

Illustratively, each water spraying unit includes N water spraying subunits, and an i-th water spraying subunit in the first water spraying unit corresponds to an i-th rolling brush unit in the first rolling brush module, i being each positive integer between 1 and N and including 1 and N. Referring to fig. 5, the water spraying unit 4-1 may include: the water spraying sub-unit 4-1A (not shown in the drawings) and the water spraying sub-unit 4-1B (not shown in the drawings), the water spraying unit 4-2 may include: a water spraying sub-unit 4-2A (not shown in the drawings) and a water spraying sub-unit 4-2B (not shown in the drawings), and each water spraying sub-unit includes at least one water spraying hole.

When the included angle between the current moving direction and the direction a is smaller than 90 degrees (when the included angle between the current moving direction and the direction B is larger than 90 degrees), the controller controls the water spraying holes corresponding to each water spraying subunit in the first water spraying unit (water spraying unit 4-1) arranged relative to the first rolling brush module (rolling brush module 1) to be in an open state so as to spray water to the rolling brush unit 1A in the first rolling brush module (rolling brush module 1) through the water spraying subunit 4-1A and spray water to the rolling brush unit 1B in the first rolling brush module (rolling brush module 1) through the water spraying subunit 4-1B.

Meanwhile, the controller controls the water spraying hole corresponding to each water spraying subunit in the second water spraying unit (water spraying unit 4-2) arranged opposite to the second rolling brush module (rolling brush module 2) to be in a closed state so as not to spray water to the second rolling brush module (rolling brush module 2). Therefore, even in the turning process of the cleaning device, the first rolling brush module at the front is sufficiently wet, ground garbage can be effectively cleaned, the second rolling brush module at the rear is not sprayed with water, residual water stains of the first rolling brush module can be cleaned, and cleaning efficiency is improved.

Embodiments of a method for determining the direction of movement of a cleaning device are described in detail below with reference to fig. 6, 8 and 9. It should be noted that S610, S611 and S612 respectively provide a method for determining a motion direction of the cleaning device, and the three methods may be used separately. Or can be combined to improve the accuracy.

Illustratively, in S610: the direction of movement of the cleaning device is acquired by means of an inertial measurement unit.

Referring to fig. 8, an inertial measurement unit 5-1 is provided on the housing 5. Referring to fig. 9, the state 910 of the cleaning apparatus is sensed by the inertial measurement unit 5-1, and further, the inertial measurement unit 5-1 transmits the sensed signal to the controller 900. Thus, the controller 900 controls the rotational speed 94 of the roller brush module or roller brush unit and controls the water spray direction 95 of the water spray module.

With continued reference to fig. 6, in S611: the movement direction of the cleaning device is determined based on the counter electromotive force of the hall sensor or the electromagnetic coil and the rotation direction of the wheel.

Referring to fig. 8, the housing 5 is provided at a first side with the roller 3. Referring to fig. 9, the rotation direction 920 of the wheel 3 of the cleaning device is transmitted to the controller 900 by a hall sensor or a solenoid counter electromotive force 921 so that the controller 900 obtains the movement direction of the cleaning device. Thus, the controller 900 controls the rotational speed 94 of the roller brush module or unit and controls the water spray direction 95 in the front and rear of the water spray module.

With continued reference to fig. 6, in S612: the movement direction or the rotation direction of the handle is obtained through the pressure sensor, and the movement direction of the cleaning device is obtained.

Referring to fig. 1, as previously described, the handle 6 may be rotated within a predetermined range, i.e., the handle 6 may be floatable or micro-movable, so that the handle may be moved within a small range, and a movement direction or a rotation direction of the handle may be obtained by one or more pressure sensors.

Referring to fig. 9, the moving direction or rotation direction 930 of the handle is obtained by the pressure sensor 931, and the moving direction of the cleaning device is determined according to the moving direction or rotation direction 930 of the handle (if the angle between the moving direction of the handle and the direction a is smaller than a preset value, referring to fig. 4, the moving direction of the cleaning device is determined as the direction a). Further, the movement direction of the cleaning device is transmitted to the controller 900, so that the controller 900 obtains the movement direction of the cleaning device. Thus, the controller 900 controls the rotational speed 94 of the roller brush module or unit and controls the water spray direction 95 in the front and rear of the water spray module.

In the embodiment, the motion direction of the cleaning device is sensed in real time by the sensor, and the water spraying direction of the water spraying module to the rolling brush module is further controlled in real time, so that the ground can be quickly dried after cleaning. Meanwhile, the motion direction of the cleaning device is perceived in real time through the sensor, the rotating speed of the rolling brush module is further controlled in real time, differential control of the multiple rolling brush modules can be achieved, one of the motion direction and the traction direction of the cleaning device is guaranteed, and therefore labor can be saved in the cleaning process, and cleaning efficiency is improved.

It is noted that the above-described figures are only schematic illustrations of processes involved in a method according to an exemplary embodiment of the invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.

In the description of the present disclosure, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art in the specific context. Furthermore, in the description of the present disclosure, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

It should be noted that the foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Accordingly, equivalent variations from the claims of the present disclosure are intended to be covered by this disclosure.

Claims

1. A cleaning device, comprising:

a housing;

at least two rolling brush modules which are arranged in parallel and opposite to each other on the first side surface of the shell, wherein the axial direction of the rolling brush modules is parallel to the surface to be cleaned in the cleaning process;

the water spraying module is arranged between the rolling brush modules; the method comprises the steps of,

the controller is used for controlling the water spraying direction of the water spraying module according to the movement direction of the cleaning device, controlling the water spraying module to spray water to the front rolling brush module close to the movement direction but not spray water to the rolling brush module far away from the movement direction, wherein the front rolling brush module is a first rolling brush module, the rolling brush module far away from the movement direction is a second rolling brush module, and the movement direction comprises the forward movement direction and the backward movement direction of the cleaning device.

2. The cleaning apparatus of claim 1, wherein the water spray module comprises:

the first water spraying unit is arranged opposite to the first rolling brush module, and the second water spraying unit is arranged opposite to the second rolling brush module;

a plurality of water spray holes are arranged along the length direction of the first water spray unit and the length direction of the second water spray unit.

3. The cleaning apparatus of claim 2, wherein the first water spray unit is connected to a first water pump and the second water spray unit is connected to a second water pump.

4. A cleaning device according to claim 3, wherein the controller is specifically configured to:

controlling a water spraying hole of a first water spraying unit in the water spraying module to be in an opening state and controlling a water spraying hole of a second water spraying unit in the water spraying module to be in a closing state; or alternatively, the first and second heat exchangers may be,

controlling a first water pump connected with the first water spraying unit so that water of the first water pump flows into the first water spraying unit, and controlling a second water pump connected with the second water spraying unit so that water of the second water pump flows into the second water spraying unit;

the first water spraying unit is close to the movement direction, and the second water spraying unit is far away from the water spraying direction.

5. The cleaning device of claim 1, wherein the controller is further configured to: and controlling the rotating speed of the first rolling brush module to be larger than that of the second rolling brush module according to the moving direction.

6. The cleaning apparatus defined in any one of claims 1-5, wherein each of the roller brush modules comprises: n rolling brush units, wherein N is an integer greater than 1;

in the process of the linear motion of the cleaning device, the axial directions of N rolling brush units in the same rolling brush module are collinear, and an interval is reserved between the rolling brush units in the same rolling brush module.

7. The cleaning apparatus of claim 6, wherein the controller is further specifically configured to:

and controlling the rotating speed of an ith rolling brush unit in the first rolling brush module to be larger than that of an ith rolling brush unit in the second rolling brush module, wherein i is each positive integer between 1 and N and comprises 1 and N.

8. The cleaning apparatus of claim 6, wherein each of the roller brush units corresponds to a driving motor.

9. The cleaning apparatus of claim 6, wherein the water spray module comprises N water spray sub-modules, an i-th water spray sub-module corresponding to an i-th roller brush unit in each of the roller brush modules, i being each positive integer between 1 and N and including 1 and N.

10. The cleaning apparatus defined in any one of claims 7-9, wherein the first roller brush module comprises: the first round brush unit and second round brush unit, the second round brush module includes: a third rolling brush unit arranged opposite to the first rolling brush unit, and a fourth rolling brush unit arranged opposite to the second rolling brush unit; the controller is further configured to:

controlling the rotating speed of the first rolling brush unit to be larger than that of the third rolling brush unit in response to the moving direction and the axial direction of the first rolling brush module being smaller than 90 degrees and the moving direction being close to the first rolling brush unit; or (b)

And controlling the rotating speed of the second rolling brush unit to be larger than that of the fourth rolling brush unit in response to the moving direction and the axial direction of the first rolling brush module being smaller than 90 degrees and the moving direction being close to the second rolling brush unit.

11. A cleaning apparatus as claimed in any one of claims 1 to 5, wherein,

the cleaning device further includes: a handle rotatably coupled to the second side of the housing, the handle rotatable within a predetermined range, wherein the second side is opposite the first side of the housing; the pressure sensor is used for acquiring the moving direction or the rotating direction of the handle, determining the moving direction of the cleaning device according to the moving direction or the rotating direction of the handle, and sending the moving direction of the cleaning device to the controller; or alternatively, the first and second heat exchangers may be,

the housing further includes: the inertial measurement unit is used for acquiring the movement direction of the cleaning device and sending the movement direction of the cleaning device to the controller; or alternatively, the first and second heat exchangers may be,

the cleaning device further includes:

the roller is arranged on the first side surface of the shell; and a hall sensor or a solenoid for determining a movement direction of the cleaning device based on the counter electromotive force and the rotation direction of the wheel, and transmitting the movement direction of the cleaning device to the controller.

12. A control method of a cleaning apparatus, characterized in that the cleaning apparatus includes at least two rolling brush modules disposed in parallel and opposite to each other, the method comprising:

determining a direction of movement of the cleaning device;

controlling the water spraying direction of a water spraying module according to the movement direction, and controlling the water spraying module to spray water to a front rolling brush module close to the movement direction but not to a rolling brush module far away from the movement direction, wherein the front rolling brush module is a first rolling brush module, the rolling brush module far away from the movement direction is a second rolling brush module, and the movement direction comprises a forward movement direction and a backward movement direction of the cleaning device;

wherein the axial direction of the rolling brush module is parallel to the surface to be cleaned during cleaning.

13. The method of claim 12, wherein controlling the direction of water spray from the water spray module comprises:

wherein the first water spraying unit is close to the movement direction, and the second water spraying unit is far away from the water spraying direction; the first water spraying unit is arranged opposite to the first rolling brush module, and the second water spraying unit is arranged opposite to the second rolling brush module; a plurality of water spray holes are formed along the length direction of the first water spray unit and along the length direction of the second water spray unit.

14. The method according to claim 12, wherein the method further comprises:

and controlling the rotating speed of the first rolling brush module to be larger than that of the second rolling brush module according to the moving direction.

15. The method of claim 14, wherein each of the roller brush modules comprises: the N rolling brush units are axially collinear in the same rolling brush module in the linear motion process of the cleaning device, and intervals are arranged among the rolling brush units in the same rolling brush module;

the controlling the rotating speed of the first rolling brush module to be larger than the rotating speed of the second rolling brush module according to the moving direction comprises the following steps:

and controlling the rotating speed of an ith rolling brush unit in the first rolling brush module to be larger than that of an ith rolling brush unit in the second rolling brush module, wherein N is a positive integer larger than 1, and i is each positive integer between 1 and N and comprises 1 and N.

16. The method according to any one of claims 12 to 15, wherein said determining the direction of movement of the cleaning device comprises:

acquiring the movement direction of the cleaning device through an inertial measurement unit; or alternatively, the first and second heat exchangers may be,

determining a movement direction of the cleaning device based on a counter electromotive force of a hall sensor or a solenoid and a rotation direction of a roller of the cleaning device; or alternatively, the first and second heat exchangers may be,

and acquiring the moving direction or the rotating direction of the handle of the cleaning device through a pressure sensor to obtain the moving direction of the cleaning device.