CN115316892A

CN115316892A - Cleaning device and control method of cleaning device

Info

Publication number: CN115316892A
Application number: CN202210930577.7A
Authority: CN
Inventors: 黎三洋; 农贵升
Original assignee: Anker Innovations Co Ltd
Current assignee: Anker Innovations Co Ltd
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2022-11-11

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 cleaning equipment. The cleaning device includes: a housing; the rolling brush module is arranged on the shell; a first nozzle module disposed in the housing; and a controller connected to the first nozzle module, wherein the controller controls the first nozzle module to spray the cleaning liquid to the surface to be cleaned, which is located at the front side of the brush module, when the moving direction of the cleaning device is a forward direction, and the controller controls the first nozzle module to stop spraying the cleaning liquid when the moving direction of the cleaning device is a backward direction. The cleaning device provided by the embodiment of the disclosure can effectively improve the cleaning efficiency.

Description

Cleaning device and control method of cleaning device

Technical Field

The disclosure relates to the technical field of cleaning equipment, in particular to a cleaning device and a control method of the cleaning device.

Background

With the pursuit of improvement of quality of life, cleaning devices are increasingly used in cleaning processes as a substitute for manual cleaning. Generally, a cleaning device drives a cleaning roller brush module to rotate by using a main motor, clean water is sprayed on the roller brush module while the roller brush module rotates, and after the wet roller brush module is contacted with a surface to be cleaned (such as the ground), the soil on the ground can be cleaned up, and then the soil is sucked into a dust barrel through a fan.

The related art provides a cleaning device having a problem that cleaning efficiency is to be improved.

Disclosure of Invention

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

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

According to an aspect of the present disclosure, there is provided a cleaning device including:

a housing; a roller brush module disposed in the housing; the first nozzle module is arranged on the shell and used for spraying cleaning liquid to a surface to be cleaned; and a controller connected to the first nozzle module, wherein the controller controls the first nozzle module to spray the cleaning solution to the surface to be cleaned positioned at the front side of the drum brush module when the movement direction of the cleaning device is a forward direction, and controls the first nozzle module to stop spraying the cleaning solution when the movement direction of the cleaning device is a backward direction.

In an exemplary embodiment, based on the foregoing, the cleaning device further includes: a second nozzle module disposed at the housing, the second nozzle module for spraying a cleaning liquid to the brush module; the controller is further connected with the second nozzle module, wherein the controller controls the second nozzle module to spray cleaning liquid to the rolling brush module in case that the moving direction of the cleaning device is a forward direction; and the controller controls the second nozzle module to stop spraying the cleaning liquid in a case where the moving direction of the cleaning device is a backward direction.

In an exemplary embodiment, based on the foregoing, the cleaning device further includes: a second nozzle module disposed at the housing, the second nozzle module for spraying a cleaning liquid to the brush roll module; the controller is further connected to the second nozzle module, wherein the controller controls the second nozzle module to spray the cleaning liquid to the brush module when the movement direction of the cleaning device is a forward direction and a backward direction.

In an exemplary embodiment, based on the foregoing, the cleaning device further includes: the cleaning device further comprises a sensing structure, the sensing structure is connected with the controller and used for sensing the movement direction of the cleaning device, or the controller is used for determining the movement direction of the cleaning device according to the detection result of the sensing structure.

In an exemplary embodiment, based on the foregoing, the sensing structure includes an inertial measurement unit disposed at the housing, the inertial measurement unit being configured to acquire a moving direction of the cleaning device; or the like, or, alternatively,

the cleaning device further comprises a body which is rotatably connected with the shell, the sensing structure comprises a pressure sensor which is arranged on the body, the pressure sensor is used for detecting push-pull force applied to the body by a user, and the controller is used for determining the movement direction of the cleaning device according to the detection result of the pressure sensor; or the like, or a combination thereof,

the cleaning device further comprises a roller rotatably connected with the shell, the sensing structure comprises a Hall sensor or an electromagnetic coil connected with the roller, and the controller is used for determining the rotating direction of the roller based on the detection result of the Hall sensor or the electromagnetic coil so as to determine the moving direction of the cleaning device.

In an exemplary embodiment, based on the foregoing, the cleaning device further includes: the heating module is used for heating the cleaning liquid, and the first nozzle module is used for outputting the heated cleaning liquid.

In an exemplary embodiment, based on the foregoing, the cleaning device further includes: solution bucket, first play liquid mechanism, second play liquid mechanism and heating module, the solution bucket is used for storing the cleaning solution, first play liquid mechanism with the solution bucket is connected, the heating module is located the upper reaches of first nozzle module, first play liquid mechanism be used for with cleaning solution in the solution bucket is carried for heating module, so that heating module heats the cleaning solution, first nozzle module is used for exporting the cleaning solution after heating, the second play liquid mechanism with the solution bucket reaches second nozzle module is connected, the second play liquid mechanism be used for with cleaning solution in the solution bucket is carried for second nozzle module, so that second nozzle module to the round brush module sprays the cleaning solution.

According to another aspect of the present disclosure, there is provided a method of controlling a cleaning apparatus, the method including: determining a direction of movement of the cleaning device; under the condition that the movement direction of the cleaning device is the advancing direction, controlling a first nozzle module to spray cleaning liquid to a surface to be cleaned, which is positioned at the front side of a rolling brush module of the cleaning device; and controlling the first nozzle module to stop spraying the cleaning liquid when the movement direction of the cleaning device is a backward direction.

In an exemplary embodiment, based on the foregoing scheme, the method further includes: controlling a second nozzle module to spray cleaning liquid to the rolling brush module under the condition that the movement direction of the cleaning device is a forward direction; and controlling the second nozzle module to stop spraying the cleaning liquid when the movement direction of the cleaning device is a backward direction.

In an exemplary embodiment, based on the foregoing scheme, the method further includes: and controlling the second nozzle module to spray cleaning liquid to the rolling brush module under the condition that the movement direction of the cleaning device is a forward direction and a backward direction.

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

in the cleaning device provided by the exemplary embodiment of the disclosure, the cleaning liquid is sprayed to the surface to be cleaned on the front side of the rolling brush module through the arranged first nozzle module, so that the effect of softening soil on the ground before the rolling brush module reaches the place can be achieved, the softened soil is easily cleaned by the rolling brush module, and the effects of improving the cleaning efficiency and optimizing the cleaning effect are achieved. The spraying state of the cleaning liquid by the first nozzle module is related to the moving direction of the cleaning device, and particularly, in the case that the moving direction of the cleaning device is the advancing direction, the first nozzle module sprays the cleaning liquid to the surface to be cleaned on the front side of the rolling brush module; under the condition that the movement direction of the cleaning device is the retreating direction, the first nozzle module stops spraying the cleaning liquid, so that more residual cleaning liquid on the ground can be avoided.

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 is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

Fig. 1 shows an overall structural schematic diagram of a cleaning device provided by an embodiment of the present disclosure.

Fig. 2 shows a schematic structural diagram of a floor brush assembly in a cleaning device provided by an embodiment of the disclosure.

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

Fig. 4a is a schematic cross-sectional view illustrating a ground brush assembly in a cleaning apparatus according to an embodiment of the disclosure.

Fig. 4b shows a schematic cross-sectional view of a floor brush assembly in a cleaning device provided by another embodiment of the disclosure.

Fig. 5 shows a schematic structural diagram of a floor brush assembly in a cleaning device according to still another embodiment of the disclosure.

Fig. 6 shows a schematic cross-sectional view of a floor brush assembly in a cleaning apparatus provided by a further embodiment of the present disclosure.

Fig. 7A to 7C respectively show a signal transmission diagram between a sensing structure and a controller in the cleaning device provided in the embodiment of the disclosure.

Description of the drawings:

100. a floor brush assembly; 200. A body;

101. a second nozzle module; 102. A first nozzle module; 103. A roll brush module;

104. an inertial measurement unit; 105. A heating module; 106. Spraying a hole;

107. a housing; 108. A roller 300 and a first liquid inlet pipe;

301. a liquid outlet pipe; 302. A second liquid inlet pipe; 700. A controller;

710. a Hall sensor or a solenoid; 720. A pressure sensor.

Detailed description of the preferred embodiments

To make the objects, technical solutions and advantages of the present disclosure more apparent, 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, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different 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 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 disclosure. One skilled in the relevant art will recognize, however, that the embodiments of the present disclosure can 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 their repetitive description 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 the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

Exemplarily, fig. 1 shows a schematic view of an overall structure of a cleaning device provided by an embodiment of the present disclosure. Referring to fig. 1, the present embodiment provides a cleaning device including: a floor brush assembly 100 and a body 200. Wherein, when cleaning device cleaned rubbish, set up and to provide the cleaning solution to scrubbing brush subassembly 100 through the pipeline in the solution bucket of fuselage 200, then treat through scrubbing brush subassembly 100 and clean the region wet-type, furtherly, scrubbing brush subassembly 100 is retrieved to setting up in the recycling bin of fuselage 200 through collection dirty system after rubbish is cleared up and is collected.

For example, fig. 2 shows a schematic structural diagram of a ground brush assembly in a cleaning device provided by an embodiment of the disclosure. Referring to fig. 2, the floor brush assembly 100 further includes: and a roll brush module 103 disposed in the housing 107. The rolling brush module 103 can rotate at a high speed under the action of the driving motor, and the brush hair is contacted with the surface to be cleaned to clean stains. Illustratively, the cleaning apparatus described above with reference to fig. 2 further includes: the first nozzle module 102 is arranged in the shell 107, and the first nozzle module 102 is connected with the controller.

In order to facilitate the cleaning liquid to be sprayed onto the surface to be cleaned (e.g., the floor) in front of the rolling brush module 103 during the forward movement of the cleaning device, the first nozzle module 102 may be disposed in front of the rolling brush module 103 or on the upper side of the rolling brush module 103 along the forward direction of the cleaning device, or may be disposed in the region between the front and the upper sides of the rolling brush module 103, so that the cleaning liquid can be directly sprayed onto the surface to be cleaned in front of the rolling brush module 103 without being blocked by the rolling brush module during the forward spraying of the cleaning liquid by the first nozzle module 102. In addition, referring to fig. 2, the cleaning apparatus further includes: and the roller 108 is used for assisting the forward process and the backward process of the cleaning device. In the embodiment of the present specification, the roller 108 is disposed at the rear side of the rolling brush module 103, and the direction directed to the rolling brush module 103 by the roller 108 may be referred to as the "forward direction" of the cleaning device (refer to fig. 1), and the direction directed to the roller 108 by the rolling brush module 103 may be referred to as the "backward direction" of the cleaning device (refer to fig. 1).

For example, fig. 3 is a schematic flow chart illustrating a control method of a cleaning device according to an embodiment of the present disclosure, and in particular, the embodiment illustrated in the figure uses the above controller as an execution main body. Referring to fig. 3, the method includes:

s310, determining the movement direction of the cleaning device; and S320, controlling the first nozzle module to spray cleaning liquid to the surface to be cleaned positioned at the front side of the roll brush module of the cleaning device in case that the moving direction of the cleaning device is the advancing direction; and controlling the first nozzle module to stop spraying the cleaning liquid when the movement direction of the cleaning device is a backward direction.

The specific implementation of S310 will be described in detail in the following embodiments (e.g., embodiments corresponding to fig. 7A to 7C).

In S320, in the case where the moving direction of the cleaning device is the forward direction, the controller controls the first nozzle module 102 to spray the cleaning liquid to the surface to be cleaned in front of the drum brush module 103; and, in case the moving direction of the cleaning device is a backward direction, the controller controls the first nozzle module 102 to stop spraying the cleaning liquid.

With exemplary reference to fig. 1 and 2, a specific embodiment of S320 may be expressed as follows: under the condition that cleaning device's direction of motion is the direction of advance, first nozzle module 102 sprays the cleaning solution towards the surface of treating of cleaning device's round brush module 103 front side to the liquid of first nozzle module 102 spun is spilt at the surface (for example, ground) of the regional of treating of round brush module 103 front side, play the effect of softening to this spot before round brush module 103 reachs here, make round brush module 103 clear up the ground spot more easily, promote cleaning efficiency, improve the clear ability of degree of depth. In the case where the moving direction of the cleaning device is the backward direction, the first nozzle module 102 stops spraying the cleaning liquid toward the surface to be cleaned on the front side of the drum brush module 103, so that it is possible to prevent a large amount of cleaning liquid remaining on the floor surface.

In an exemplary embodiment, since the wet roll brush is more advantageous to improve cleaning efficiency than the dry roll brush in the cleaning process of the cleaning apparatus, a process of spraying liquid to the roll brush module 103 is included in addition to the surface to be cleaned on the front side of the roll brush module 103 during the advance of the cleaning apparatus. The embodiment of the present disclosure exemplarily provides two schemes for spraying liquid to the roll brush module 103, as shown in fig. 4a and 4b. One is to additionally provide a nozzle module (such as the second nozzle module 101 in fig. 2 or fig. 4 a) to spray the liquid to the rolling brush module 103; alternatively, as shown in fig. 4b, a nozzle module is not provided in addition to the first nozzle module 102, and the liquid is sprayed to the brush module 103 by controlling the spraying direction of the first nozzle module 102. The following will describe each of the two schemes in detail.

In one embodiment of the above-described liquid ejection to the roll brush module 103 by the above-described second nozzle module 101:

referring to fig. 2 and 4a, the above cleaning apparatus further includes: the second nozzle module 101 is disposed in the housing 107, the second nozzle module 101 is connected to the controller, and the second nozzle module 101 may be disposed at the rear side of the roll brush module 103, at the upper side of the roll brush module 103, or at a region between the rear side and the upper side of the roll brush module 103.

In this embodiment, the controller is further configured to control the spraying state of the cleaning liquid by the second nozzle module 101 according to the movement direction of the cleaning device, specifically: in the case where the moving direction of the cleaning apparatus is the forward direction, the second nozzle module 101 is controlled to spray the cleaning liquid to the drum brush module 103 so that the drum brush module 103 receives the cleaning liquid during the forward movement of the cleaning apparatus, thereby achieving high-efficiency cleaning. In the case where the movement direction of the cleaning apparatus is the backward direction, the second nozzle module 101 is controlled to stop spraying the cleaning liquid so that the brush module 103 does not receive the cleaning liquid during the backward movement of the cleaning apparatus to prevent excessive cleaning liquid from remaining on the floor. For example, when the cleaning device performs a cleaning operation, the cleaning liquid can be uniformly distributed on the roller brush module 103 through the wiper blade, and the dirt collected by the roller brush module 103 can also be cleaned through the wiper strip or in a high-speed rotation manner, so that the dirt collection system can recover the dirt into the recovery tank disposed in the body 200.

In an exemplary embodiment, in case that the movement direction of the cleaning apparatus is the backward direction, the controller may further control the second nozzle module 101 to continuously spray the cleaning liquid to the brush module 103, so that the brush module 103 can continuously receive the cleaning liquid regardless of the forward or backward movement of the cleaning apparatus, i.e., the cleaning operation can be performed during both the forward and backward movement of the cleaning apparatus.

In one embodiment, in which the second nozzle module is not provided, but the first nozzle module is used to spray the cleaning liquid to the brush roll module 103:

referring to fig. 4b, in this scheme, the cleaning liquid is sprayed to the brush roll module 103 while the embodiment shown in fig. 3 is performed by the upper first nozzle module 102 without providing a second nozzle module. In this embodiment, the controller is further specifically configured to: in the case that the movement direction of the cleaning device is the forward direction, the first nozzle module 102 sprays the cleaning liquid to the surface to be cleaned on the front side of the roll brush module 103 (as described in the previous embodiment), and also sprays the cleaning liquid to the roll brush module 103, for example, the first nozzle module 102 has spray holes with different directions, some of which are directed to the surface to be cleaned, and some of which are directed to the roll brush module 103, so that both spraying the cleaning liquid to the surface to be cleaned on the front side of the roll brush module during the forward movement of the cleaning device to soften the dirt and wetting the roll brush module can be realized by one nozzle module to realize effective cleaning.

In the case that the movement direction of the cleaning apparatus is the backward direction, the first nozzle module 102 may stop spraying the cleaning liquid to the surface to be cleaned on the front side of the rolling brush module 103 (described in the above embodiment), and may also stop spraying the cleaning liquid to the rolling brush module 103, so that the rolling brush module 103 may be prevented from receiving the cleaning liquid during the backward movement of the cleaning apparatus, and further, excessive cleaning liquid may be prevented from remaining on the floor. Of course, in some embodiments, in case that the moving direction of the cleaning apparatus is a backward moving direction, the first nozzle module 102 may stop spraying the cleaning liquid (described in the previous embodiment) onto the surface to be cleaned on the front side of the rolling brush module 103, and may continue spraying the cleaning liquid onto the rolling brush module 103, so that the rolling brush module 103 may continuously receive the cleaning liquid during the backward moving of the cleaning apparatus, thereby performing a real-time cleaning operation, i.e., performing a cleaning operation during both the forward moving process and the backward moving process of the cleaning apparatus.

In an exemplary embodiment of controlling the first nozzle module and the second nozzle module to start or stop spraying, the first nozzle module is controlled to start spraying the cleaning liquid or stop spraying the cleaning liquid by controlling the spray holes of the first nozzle module to be opened and closed, and the second nozzle module is controlled to start spraying the cleaning liquid or stop spraying the cleaning liquid by controlling the spray holes of the second nozzle module to be opened and closed.

In an exemplary embodiment, fig. 5 shows a schematic structural diagram of a ground brush assembly in a cleaning device provided by a further embodiment of the present disclosure. Referring to fig. 5, the first nozzle module 102 is shown, and in particular, a plurality of spray holes 106 are formed along a length direction of the first nozzle module 102, and the first nozzle module 102 sprays the cleaning liquid to the outside through the plurality of spray holes 106. An example of controlling the nozzle module to start/stop spraying the cleaning liquid is as follows:

the controller may be specifically configured to: controlling the first nozzle module 102 to start spraying the cleaning liquid or stop spraying the cleaning liquid by controlling the opening and closing states of the spray holes 106 in the first nozzle module 102; the opening and closing state comprises an opening state and a closing state. For example, the controller controls the spraying holes 106 of the first nozzle module 102 to be in an open state, so that the first nozzle module 102 can spray the cleaning liquid, and the controller controls the spraying holes 106 of the first nozzle module 102 to be in a closed state, so that the first nozzle module 102 stops spraying the cleaning liquid.

In the longitudinal direction of the roll brush, the second nozzle block 101 may be provided with a plurality of injection holes (not shown). The controller 140 may be further specifically configured to: the second nozzle module 101 is controlled to start or stop spraying the cleaning liquid by controlling the on/off state of the spray holes in the second nozzle module 101. For example, the controller controls the nozzle holes of the second nozzle module 101 to be in an open state, so that the second nozzle module 101 can spray the cleaning liquid to the outside, and the controller controls the nozzle holes of the second nozzle module 101 to be in a closed state, so that the second nozzle module 101 stops spraying the cleaning liquid.

In another exemplary embodiment of controlling the first nozzle module and the second nozzle module to start or stop spraying, the first nozzle module is controlled to start or stop spraying the cleaning liquid by controlling an open/close state of the first liquid outlet mechanism, and the second nozzle module is controlled to start or stop spraying the cleaning liquid by controlling an open/close state of the second liquid outlet mechanism.

In an exemplary embodiment, the above cleaning apparatus further comprises: the first liquid outlet mechanism. The first liquid outlet mechanism is connected to the solution tank and the first nozzle module 102, and is configured to deliver the cleaning solution in the solution tank to the first nozzle module 102, so that the first nozzle module 102 sprays the cleaning solution to the surface to be cleaned on the front side of the rolling brush module 103.

In an exemplary embodiment, the above cleaning apparatus further comprises: the module 105 is heated. The heating module 105 is located upstream of the first nozzle module 102, and the first liquid outlet mechanism is used for delivering the cleaning liquid in the solution barrel to the heating module, and the cleaning liquid is heated by the heating module. Further, the heated cleaning liquid is sprayed to the front side surface to be cleaned of the drum brush module 103 through the first nozzle module 102. Exemplarily, fig. 6 shows a schematic cross-sectional view of a brush assembly in a cleaning apparatus according to still another embodiment of the present disclosure. Referring to fig. 6, the cleaning solution from the solution barrel flows through the first liquid outlet mechanism and the first liquid inlet pipe 300, and then can be heated by the heating module 105, and further the cleaning solution after being heated is sprayed to the surface to be cleaned on the front side of the rolling brush module through the liquid outlet pipe 301, and the cleaning solution after being heated is more beneficial to softening the stain on the ground, and the stain after being softened can be cleaned up by the rolling brush module 103 more easily, and meanwhile, the cleaning solution can also play a role of high-temperature disinfection.

In an exemplary embodiment, the above cleaning apparatus further comprises: and the second liquid outlet mechanism is connected with the solution barrel and the second nozzle module 101, and is used for conveying the cleaning liquid in the solution barrel to the second nozzle module 101 so that the second nozzle module 101 sprays the cleaning liquid to the rolling brush module 103. For example, referring to fig. 6, in which the second nozzle module 101 is connected to the second liquid outlet mechanism (for example, a pump body is not shown in fig. 6, and may be disposed on the machine body 200) through the second liquid inlet pipe 302, the cleaning liquid from the solution tank (which may also be disposed on the machine body 200) may be sprayed onto the rolling brush module 103 through the second liquid outlet mechanism by the second nozzle module 101, so as to ensure that the rolling brush module 103 simultaneously cleans the soil on the ground during the rotation process.

For example, a heating module (not shown) may be provided in a liquid path of the cleaning device for supplying the cleaning liquid to the second nozzle module 101. The exemplary can set up at scrubbing brush subassembly 100, then the cleaning solution that comes from the solution bucket flows through the second and goes out liquid mechanism after, can carry out heat treatment through above-mentioned heating module, further spray the cleaning solution after the heating to round brush module 103, the cleaning solution after the heating that round brush module 103 received more is favorable to the round brush to soften the spot, the spot after softening can be more easily by the sanitization, simultaneously, the cleaning solution after the heating can also play the effect of high temperature disinfection. In this embodiment, the first nozzle module and the second nozzle module may share one heating module, or heating modules may be provided corresponding to each other.

It should be noted that in this embodiment, the cleaning liquid may be water, a mixed liquid of water and cleaning agent, or hot water heated by the heating device, or when the heating device is a steam generator, the cleaning liquid may also be steam generated by heating.

When the first nozzle module 102 is connected to the first liquid outlet structure and the second nozzle module 101 is connected to the second liquid outlet mechanism, the liquid outlet mechanism can control the spraying amount of the cleaning liquid flowing into the nozzle module, and the liquid outlet mechanism can also control whether the nozzle module sprays. As another example of controlling the nozzle module to start spraying the cleaning liquid or stop spraying the cleaning liquid, the following is performed:

the controller is specifically configured to: the first nozzle module 102 is controlled to start or stop spraying the cleaning liquid by controlling the on-off state of the first liquid outlet mechanism connected with the first nozzle module 102. And controlling the second nozzle module 101 to start or stop spraying the cleaning liquid by controlling the on-off state of a second liquid outlet mechanism connected with the second nozzle module 101.

For example, the controller controls the first liquid outlet mechanism to be in an open state, so that the cleaning liquid from the solution barrel can flow through the first liquid outlet mechanism and flow into the first nozzle module 102, and the first nozzle module 102 can spray the cleaning liquid; when the controller controls the first liquid outlet mechanism to be in a closed state, the cleaning liquid from the solution tank cannot flow through the first liquid outlet mechanism and then flows into the first nozzle module 102, so that the first nozzle module 102 stops spraying the cleaning liquid. Similarly, the controller controls the second liquid outlet mechanism to be in an open state, so that the cleaning liquid from the solution barrel can flow through the second liquid outlet mechanism and flow into the second nozzle module 101, and the second nozzle module 101 can spray the cleaning liquid; when the controller controls the second liquid outlet mechanism to be in a closed state, the cleaning liquid from the solution bucket cannot flow through the second liquid outlet mechanism and flow into the second nozzle module 101, so that the second nozzle module 101 stops spraying the cleaning liquid.

In an exemplary embodiment, the cleaning device further comprises a sensing structure, and the sensing structure is connected with the controller. The sensing structure is used for sensing the moving direction of the cleaning device, or the controller is used for determining the moving direction of the cleaning device according to the detection result of the sensing structure. As a specific embodiment for determining the moving direction of the cleaning device (S310 in fig. 3):

in an exemplary embodiment, fig. 7A-7C show schematic diagrams of signal transmission between a sensing structure and a controller in a cleaning device provided by an embodiment of the disclosure. An embodiment of the method for determining the moving direction of the cleaning device is described in detail below with reference to fig. 7A to 7C. It should be noted that the embodiments shown in fig. 7A-7C respectively provide a determination method for sensing the movement direction of the cleaning device, and the three methods can be used separately. Or may be used in combination to improve accuracy.

In an exemplary embodiment, in a case where the sensing structure is an inertial measurement unit provided at the housing, the moving direction of the cleaning device is acquired by the inertial measurement unit.

In this embodiment, referring to fig. 2, 6 or 7A, an inertia measurement unit 104 may be disposed in the floor brush assembly 100 of the cleaning apparatus, and the inertia measurement unit 104 may be used as the sensing structure. Referring to fig. 7A, the front, rear, left, and right states of the cleaning apparatus are sensed by the inertial measurement unit 104, and further, the inertial measurement unit 104 transmits the sensed signals to the controller 700. Thus, the controller 700 can control the spraying state of the cleaning liquid of the first nozzle module according to the moving direction of the cleaning apparatus, and control the spraying state of the cleaning liquid of the second nozzle module according to the moving direction of the cleaning apparatus. For example, in the case where the moving direction of the cleaning apparatus is the forward direction, the second nozzle module 101 is controlled to spray the cleaning liquid to the drum brush module 103, and in the case where the moving direction of the cleaning apparatus is the backward direction, the second nozzle module 101 is controlled to stop spraying the cleaning liquid.

In another exemplary embodiment, in the case that the sensing structure is a hall sensor or an electromagnetic coil connected to the roller 108, the rotation direction of the roller, and thus the movement direction of the cleaning device, is determined based on the detection result of the hall sensor or the electromagnetic coil.

Referring to fig. 7B, in the present embodiment, a hall sensor or an electromagnetic coil 710 connected to the wheel 108 is used as the sensing structure. Referring to fig. 7B, the rotation direction of the roller 108 of the cleaning device is transmitted to the controller 700 by a hall sensor or a back electromotive force of a solenoid, so that the controller 700 determines the movement direction of the cleaning device according to the rotation direction of the roller 108. Thus, the controller 700 controls the spray state of the cleaning liquid by the first nozzle module according to the moving direction of the cleaning device, and controls the spray state of the cleaning liquid by the second nozzle module according to the moving direction of the cleaning device.

In another exemplary embodiment, in the case that the sensing structure is a pressure sensor disposed on the body, the push-pull force exerted on the body by the user is detected by the pressure sensor, and the moving direction of the cleaning device is determined according to the detection result of the pressure sensor.

Referring to fig. 7C, in the present embodiment, the pressure sensor 720 provided in the main body 200 is used as the sensing structure. Referring to fig. 1, a main body 200 of the cleaning apparatus may be rotated within a predetermined range. Illustratively, the pressure sensor 720 is disposed on the handle of the body 200, and the pressure sensor 720 may be one or more. For example, the pressure sensor 720 obtains the pressure of the hand of the user holding the handle, the controller 700 determines whether the user applies a pushing force or a pressure on the handle according to the pressure detected by the pressure sensor 720, for example, when the controller 700 determines that the user applies a pushing force on the handle according to the pressure detected by the pressure sensor 720, the moving direction of the cleaning device is determined to be forward; when the controller 700 determines that the user applies pressure to the handle based on the amount of pressure detected by the pressure sensor 720, it determines that the moving direction of the cleaning apparatus is backward. Of course, in other embodiments, the pressure sensor 720 is disposed at different positions on the handle, and the detection result may be different, for example, when the pressure detected by the pressure sensor 720 determines that the user applies a pushing force on the handle, the moving direction of the cleaning device may be determined to be backward, and when the pressure detected by the pressure sensor 720 determines that the user applies a pressing force on the handle, the moving direction of the cleaning device may be determined to be forward.

Referring to fig. 7C, the push-pull force exerted by the user on the body is obtained by the pressure sensor 720, and further, the push-pull force exerted by the user on the body is transmitted to the controller 700, and the controller 700 determines the moving direction of the cleaning apparatus according to the push-pull force exerted by the user on the body. Thus, the controller 700 controls the spray state of the cleaning liquid by the first nozzle module, and controls the spray state of the cleaning liquid by the second nozzle module.

In this embodiment, the movement direction of the cleaning device is sensed in real time by the sensor, and the spraying state of the first nozzle module and/or the second nozzle module is further controlled in real time. Specifically, the method comprises the following steps: under the condition that the movement direction of the cleaning device is forward, the first nozzle module sprays cleaning liquid to the surface to be cleaned on the front side of the rolling brush module, the cleaning liquid sprayed out by the first nozzle module plays a role in softening floor stains, and the softened stains are easily cleaned by the rolling brush module, so that the effects of improving the cleaning efficiency and optimizing the cleaning effect are achieved; in addition, in the case where the moving direction of the cleaning device is forward, the drum brush module is also kept to receive the cleaning liquid, thereby effectively performing the cleaning operation. Under the condition that the movement direction of the cleaning device is backward, the first nozzle module stops spraying the cleaning liquid to the surface to be cleaned on the front side of the rolling brush module, so that more cleaning liquid is prevented from remaining on the ground; under the condition that the direction of motion of cleaning device is for backing up, thereby the round brush module can continuously receive the cleaning solution and realize real-time clean, also can stop receiving the cleaning solution to avoid remaining too much cleaning solution subaerial.

In an exemplary embodiment, in order to reduce the operation effort of the user and improve the operation convenience, the control scheme of the cleaning device provided in this embodiment further includes: and adjusting the rotating speed of the rolling brush module of the cleaning device in real time according to the movement direction of the cleaning device.

For example, in the case that the current moving direction of the cleaning apparatus is the forward direction, the controller 700 controls the rotation speed of the rolling brush module 103 to be greater than a first preset value; in the case where the current moving direction of the cleaning apparatus is the reverse direction, the controller 700 controls the rotational speed of the roll brush module 103 to be less than a second preset value (the first preset value is greater than the second preset value). Through the control to the round brush module rotational speed, and then reach the technological effect that reduces user's operation dynamics and promote the simple operation degree at the in-process of user operation cleaning device linear motion.

In order to further improve the operation convenience of the cleaning device, so that the traction force is kept consistent with the action direction of the user in the non-linear motion (turning) process of the cleaning device, the rolling brush module in the embodiment comprises N (N is greater than 1) rolling brush units, in the linear motion process of the cleaning device, the axial directions of the N rolling brush units in the rolling brush module 103 are collinear, and a preset distance interval can be further arranged between the rolling brush units. The following embodiments are described taking an example in which each roll brush module includes two roll brush units (e.g., the roll brush module includes a first roll brush unit and a second roll brush unit):

in an exemplary embodiment, each roll-brush unit corresponds to one nozzle sub-module (i.e., the second nozzle module 101 includes N nozzle sub-modules, the ith nozzle sub-module corresponding to the ith roll-brush unit in the roll-brush module, i being each positive integer between 1 and N and including 1 and N). In the cleaning device rectilinear motion process, the axial direction of the first and second brush units in the brush roll module 103 is collinear, thereby facilitating to be uniformly sprayed to secure the cleaning effect. While the first and second roll brush units have a space therebetween, thereby facilitating a user to perform a turning operation of the cleaning apparatus. It should be noted that the spacing between the rolling brush units can be set according to the requirement.

In an exemplary embodiment, each rolling brush unit corresponds to a driving motor, so that the rotation speed of each rolling brush unit can be flexibly controlled.

Exemplarily, referring to fig. 4a, when an included angle between a current moving direction of the cleaning device and an "advancing direction" is smaller than 90 degrees, and the current moving direction is deviated to one side of the first rolling brush unit, which illustrates that the cleaning device turns to one side of the first rolling brush unit during advancing, the rotating speed of the first rolling brush unit is controlled to be smaller than that of the second rolling brush unit; similarly, when the included angle between the current movement direction of the cleaning device and the advancing direction is smaller than 90 degrees, and the current movement direction deviates to one side of the second rolling brush unit, which indicates that the cleaning device turns to one side of the second rolling brush unit in the advancing process, the rotating speed of the second rolling brush unit is controlled to be smaller than that of the first rolling brush unit. Therefore, differential control among the rolling brush units of the rolling brush module is achieved in the turning process of the cleaning device, and further the traction force is kept consistent with the action direction of a 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 apparatus for the spray direction of the nozzle module during cornering is described. Illustratively, the second nozzle module for spraying the cleaning liquid to the roll brushes, corresponding to the N roll brush units included in the above-described roll brush module, also includes N nozzle sub-modules, and the ith nozzle sub-module corresponds to the ith roll brush unit in each roll brush module, i is each positive integer between 1 and N and includes 1 and N. For example, the 1 st nozzle sub-module in the second nozzle module corresponds to the first roll-brush unit, and the 2 nd nozzle sub-module in the second nozzle module corresponds to the second roll-brush unit. Thereby each round brush unit can be sprayed the cleaning solution evenly and effectively among the realization round brush module, is favorable to guaranteeing that cleaning device is turning round the effective cleanness on ground in-process.

It is to be noted that the above-mentioned figures are only schematic illustrations of the processes involved in the method according to an exemplary embodiment of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple 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 above terms in the present disclosure can be understood in a specific case to those of ordinary skill in the art. In addition, in the description of the present disclosure, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

It is noted that the above describes specific embodiments of the disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may 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 may also be possible or may be advantageous.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present disclosure, and shall cover the scope of the present disclosure. Accordingly, equivalents may be resorted to as falling within the scope of the disclosure as claimed.

Claims

1. A cleaning device, comprising:

a housing;

the rolling brush module is arranged on the shell;

the first nozzle module is arranged on the shell and used for spraying cleaning liquid to a surface to be cleaned; and (c) a second step of,

a controller connected to the first nozzle module,

wherein, under the condition that cleaning device's direction of motion is the direction of advance, the controller control first nozzle module sprays the cleaning solution to being located the surface to be cleaned of round brush module front side, under the condition that cleaning device's direction of motion is the direction of retreat, the controller control first nozzle module stops spraying the cleaning solution.

2. The cleaning device of claim 1, further comprising:

a second nozzle module disposed at the housing, the second nozzle module for spraying a cleaning liquid to the brush roll module;

the controller is also connected to the second nozzle module,

wherein the controller controls the second nozzle module to spray cleaning liquid to the brush module in a case where a moving direction of the cleaning device is a forward direction; and the controller controls the second nozzle module to stop spraying the cleaning liquid in a case where the moving direction of the cleaning device is a backward direction.

3. The cleaning device of claim 1, further comprising:

a second nozzle module disposed at the housing, the second nozzle module for spraying a cleaning liquid to the brush module;

the controller is also connected to the second nozzle module,

wherein the controller controls the second nozzle modules to spray cleaning liquid to the brush roll module in both cases where the moving direction of the cleaning device is a forward direction and a backward direction.

4. The cleaning device according to any one of claims 1 to 3,

the cleaning device further comprises a sensing structure, the sensing structure is connected with the controller and used for sensing the movement direction of the cleaning device, or the controller is used for determining the movement direction of the cleaning device according to the detection result of the sensing structure.

5. The cleaning device of claim 4,

the sensing structure comprises an inertia measuring unit arranged on the shell, and the inertia measuring unit is used for acquiring the movement direction of the cleaning device; or the like, or, alternatively,

the cleaning device further comprises a body which is rotatably connected with the shell, the sensing structure comprises a pressure sensor which is arranged on the body, the pressure sensor is used for detecting push-pull force applied to the body by a user, and the controller is used for determining the movement direction of the cleaning device according to the detection result of the pressure sensor; or the like, or, alternatively,

6. The cleaning device of any of claims 1-3, further comprising:

the heating module is used for heating the cleaning liquid, and the first nozzle module is used for outputting the heated cleaning liquid.

7. The cleaning device according to claim 2 or 3, further comprising:

the cleaning solution heating device comprises a solution barrel, a first liquid outlet mechanism, a second liquid outlet mechanism and a heating module, wherein the solution barrel is used for storing cleaning solution, the first liquid outlet mechanism is connected with the solution barrel, the heating module is located at the upstream of a first nozzle module, the first liquid outlet mechanism is used for conveying the cleaning solution in the solution barrel to the heating module so that the heating module heats the cleaning solution, the first nozzle module is used for outputting the heated cleaning solution, the second liquid outlet mechanism is connected with the solution barrel and the second nozzle module, and the second liquid outlet mechanism is used for conveying the cleaning solution in the solution barrel to the second nozzle module so that the second nozzle module sprays the cleaning solution to the rolling brush module.

8. A control method of a cleaning apparatus, characterized by comprising:

determining a direction of movement of the cleaning device;

controlling a first nozzle module to spray cleaning liquid to a surface to be cleaned positioned at the front side of a rolling brush module of the cleaning device under the condition that the movement direction of the cleaning device is an advancing direction;

and controlling the first nozzle module to stop spraying the cleaning liquid when the movement direction of the cleaning device is a backward direction.

9. The method of claim 8, further comprising:

controlling a second nozzle module to spray cleaning liquid to the drum brush module in a case where a moving direction of the cleaning device is a forward direction;

and controlling the second nozzle module to stop spraying the cleaning liquid when the movement direction of the cleaning device is a backward direction.

10. The method of claim 8, further comprising:

and controlling the second nozzle module to spray cleaning liquid to the rolling brush module under the condition that the movement direction of the cleaning device is a forward direction and a backward direction.