CN116098531B

CN116098531B - Control method and device for cleaning device and storage medium

Info

Publication number: CN116098531B
Application number: CN202210761616.5A
Authority: CN
Inventors: 彭丑军; 卞敏浩; 刘立; 李进忠; 郭振科; 屈五娃; 施艳冬
Original assignee: Dreame Technology Suzhou Co ltd
Current assignee: Dreame Technology Suzhou Co ltd
Priority date: 2021-11-11
Filing date: 2022-06-30
Publication date: 2023-11-28
Anticipated expiration: 2042-06-30
Also published as: CN116098532A; CN117752263A; CN117814690A; CN117731204A; WO2023082946A1; CN116098532B; WO2023082909A1; CN117814689A; CN116098531A; CN117731203A; CN117752264A

Abstract

The application relates to a control method and equipment of cleaning equipment and a storage medium, and belongs to the technical field of computers. The method comprises the following steps: responding to a self-cleaning instruction of the cleaning device, controlling the self-cleaning device to execute a first self-cleaning action in a first self-cleaning period and execute a second self-cleaning action in a second self-cleaning period; the second self-cleaning period is located after the first self-cleaning period; the water spraying amount in the first self-cleaning period is basically equal to the water spraying amount in the second self-cleaning period or the water pumping duration in the first cleaning period is basically equal to the water pumping duration in the second cleaning period, and the period duration of the first self-cleaning period is smaller than the period duration of the second self-cleaning period; the problems of bacteria breeding and peculiar smell generation of the cleaning piece caused by the fact that moisture absorbed by the cleaning piece in the self-cleaning process remains on the cleaning piece can be solved; can ensure that the cleaning piece is drier after the self-cleaning is finished, reduce the probability of bacteria breeding and peculiar smell generation, and improve the self-cleaning effect.

Description

Control method and device for cleaning device and storage medium

The present application claims priority to chinese patent application filed at 2021, 11 and 30, and to chinese patent office, application No. 202111447626.3, entitled "self-cleaning method and apparatus for cleaning device, storage medium and electronic apparatus", and to chinese patent application filed at 2021, 11 and 11, application No. 202122753344.8, entitled "floor brush mechanism and cleaning device", the entire contents of which are incorporated herein by reference.

Technical Field

The application belongs to the technical field of computers, and particularly relates to a control method and device of cleaning equipment and a storage medium.

Background

Currently, cleaning apparatuses can achieve cleaning of a surface to be cleaned by a cleaning member mounted thereon. Such as: the floor cleaning machine can clean the floor through the rolling brush, and the floor sweeping machine can clean the floor through the hairbrush.

The cleaning elements are often soiled after the cleaning device has completed working on the surface to be cleaned. In order to avoid the problem of poor use effect of the cleaning device caused by manual cleaning of the cleaning member, the conventional cleaning device also has a self-cleaning function. Wherein the self-cleaning function refers to a function of cleaning a mechanism on the cleaning device, the mechanism comprising at least a cleaning member.

However, conventional cleaning devices typically have poor self-cleaning effects.

Disclosure of Invention

The technical problems to be solved by the application include the problem that the self-cleaning effect of the existing cleaning equipment is generally poor.

To solve the above technical problems, in one aspect, the present application provides a control method of a cleaning apparatus including a cleaning member and a water spraying mechanism for spraying water, the method comprising:

controlling the self-cleaning device to execute a first self-cleaning action in a first self-cleaning period in response to a self-cleaning instruction of the cleaning device;

Controlling the self-cleaning device to execute a second self-cleaning action in a second self-cleaning period; the second self-cleaning cycle is located after the first self-cleaning cycle;

wherein the first self-cleaning action and the second self-cleaning action both comprise forward rotation and reverse rotation of the cleaning member, and opening and closing of the water spraying mechanism;

the water spraying amount in the first self-cleaning period is basically equal to the water spraying amount in the second self-cleaning period or the water pumping duration in the first cleaning period is basically equal to the water pumping duration in the second cleaning period, and the period duration of the first self-cleaning period is smaller than the period duration of the second self-cleaning period.

Optionally, the controlling the self-cleaning apparatus to perform a first self-cleaning action in a first self-cleaning cycle or controlling the self-cleaning apparatus to perform a second self-cleaning action in a second self-cleaning cycle comprises:

controlling the water spraying mechanism to start; controlling the water spraying mechanism to be closed under the condition that the starting time length of the water spraying mechanism reaches the preset time length;

or,

controlling the water spraying mechanism to start; and controlling the water spraying mechanism to be closed under the condition that the water pumping quantity of the water spraying mechanism reaches the preset water quantity.

Optionally, the controlling the water spraying mechanism to start includes: controlling the cleaning piece to rotate positively, and controlling the water spraying mechanism to start in the process of the cleaning piece rotating positively;

the controlling the water spraying mechanism to be closed comprises: and controlling the water spraying mechanism to be closed when the cleaning piece is controlled to rotate reversely.

Optionally, the method further comprises:

controlling the cleaning member to rotate forward in response to a self-cleaning stop instruction of the cleaning apparatus;

and after the forward rotation time reaches the first time, controlling the cleaning member to stop rotating.

Optionally, the method further comprises:

generating the self-cleaning stop instruction under the condition that a trigger operation of a first stop key acting on the cleaning equipment is received;

or,

determining whether the current self-cleaning cycle is the last self-cleaning cycle; and generating the self-cleaning stop instruction in the case that the current self-cleaning period is the last self-cleaning period.

Optionally, in the case that the current self-cleaning cycle is the last self-cleaning cycle, before the controlling the cleaning member to rotate forward, the method further includes:

and controlling the cleaning piece to perform at least one positive rotation and at least one reverse rotation in the last self-cleaning period.

Optionally, the method further comprises:

controlling the cleaning device to perform a drying action in response to a drying instruction of the cleaning device, so as to dry the cleaning member;

the drying action comprises forward rotation and reverse rotation of the cleaning piece and starting of a drying component corresponding to the cleaning equipment.

Optionally, after the controlling the cleaning device to perform the drying action, the method further includes:

controlling the cleaning member to rotate forward in response to a drying stop instruction of the cleaning device;

and after the forward rotation time period reaches the second time period, controlling the cleaning member to stop rotating.

Optionally, the method further comprises:

generating the drying stop instruction under the condition that a trigger operation of a second stop key acting on the cleaning equipment is received;

or,

determining whether the reversing time of the cleaning piece reaches a preset reversing time; generating the drying stop instruction under the condition that the preset reversal time length is reached; accordingly, the drying action includes reversal of the cleaning member;

or,

determining whether the current drying cycle is the last drying cycle; and generating the drying stop instruction in the case that the current drying period is the last drying period.

Optionally, in the case that the current drying cycle is the last drying cycle, before the controlling the cleaning member to rotate forward, the method further includes:

and controlling the cleaning piece to rotate reversely in the last drying period.

Optionally, controlling the cleaning member to rotate forward and backward includes:

controlling the cleaning member to rotate in a first direction;

controlling the cleaning member to stop in response to a steering instruction of the cleaning member;

after stopping rotation, controlling the cleaning member to rotate in a second direction by using a starting voltage corresponding to the first speed; the second direction is opposite to the first direction;

controlling the cleaning piece to rotate in a second direction by using a starting voltage corresponding to a second speed;

wherein the first direction is a forward direction or the first direction is a reverse direction.

Optionally, the controlling the cleaning member to stall includes:

the cleaning member is controlled to gradually decelerate to a standstill.

controlling the cleaning member to rotate forward;

controlling the cleaning member to reverse at a start voltage corresponding to a first speed in response to a steering command of the cleaning member;

and after the cleaning piece is reversed, controlling the cleaning piece to be reversed by a starting voltage corresponding to a third speed, wherein the third speed is smaller than the first speed.

In another aspect, the present application also provides a control method of a cleaning apparatus including a cleaning member that rotates in a normal direction when performing a cleaning work on a surface to be cleaned; the method comprises the following steps:

controlling the cleaning device to perform a self-cleaning action, the self-cleaning action comprising reversal of the cleaning elements;

in a self-cleaning process, controlling the cleaning member to rotate forward in response to a self-cleaning stop instruction of the cleaning apparatus;

Optionally, the method further comprises:

or,

Optionally, the cleaning apparatus further comprises a water spraying mechanism for spraying water and a negative pressure generator, the method further comprising:

in the self-cleaning process, controlling the cleaning piece to rotate positively, controlling the water spraying mechanism to work and controlling the negative pressure generator of the cleaning equipment to be closed so as to clean the cleaning piece;

under the condition that the forward rotation reaches a first preset time period, controlling the cleaning piece to alternately rotate forward and reverse, controlling the water spraying mechanism to be closed and controlling the negative pressure generator of the cleaning equipment to work so as to clean a pipeline of the cleaning equipment;

controlling the cleaning piece to rotate positively and controlling the water spraying mechanism to be started and the negative pressure generator to be closed under the condition that the cleaning time length of the pipeline reaches a second preset time length; then controlling the cleaning piece to alternately rotate forward and backward, controlling the water spraying mechanism to be closed, and controlling the negative pressure generator of the cleaning equipment to work so as to deeply clean the cleaning equipment; wherein the cleaning member ends in a forward rotation during deep cleaning.

Optionally, the number of the self-cleaning periods is at least two, the first preset time lengths of different self-cleaning periods are equal, and the sum of the second preset time length in the last self-cleaning period and the third preset time length in the deep cleaning process is larger than the sum of the second preset time length and the third preset time length in other self-cleaning periods.

Optionally, the first time period is less than a time period of each forward rotation of the cleaning member.

In another aspect, the present application also provides a control method of a cleaning apparatus including a cleaning member and a drying part, the cleaning apparatus being rotated in a normal direction while performing a cleaning work on a surface to be cleaned; the method comprises the following steps:

controlling the cleaning equipment to execute a drying action so as to dry the cleaning equipment; wherein the drying action comprises forward rotation and/or reverse rotation of the cleaning piece and starting of a drying component corresponding to the cleaning equipment;

Optionally, the method further comprises:

or,

Or,

and controlling the cleaning piece to perform at least one forward rotation and at least one reverse rotation in the last drying period.

Optionally, before the controlling the cleaning device to perform the drying action, the method further includes:

responding to a self-cleaning instruction of the cleaning equipment, controlling the cleaning piece to rotate positively, controlling the water spraying mechanism to work and controlling a negative pressure generator of the cleaning equipment to be closed so as to clean the cleaning piece;

Optionally, the controlling the cleaning apparatus to perform a drying action includes:

after the deep cleaning process is completed, the cleaning piece is controlled to rotate reversely, the water spraying mechanism is controlled to be closed, the negative pressure generator is controlled to be closed, and the drying component is started.

Optionally, the second duration is less than a duration of each forward rotation of the cleaning member.

In another aspect, the present application also provides a control method of a cleaning apparatus including a cleaning member, the method including:

in a self-cleaning process or a drying process, controlling the cleaning member to rotate in a first direction;

and controlling the cleaning piece to rotate in a second direction by using a starting voltage corresponding to the second speed.

Optionally, the first direction is forward rotation, and the second direction is reverse rotation; alternatively, the first direction is reverse rotation, and the second direction is forward rotation.

Optionally, the controlling the cleaning member to stall includes:

The cleaning member is controlled to gradually decelerate to a standstill.

Optionally, the controlling the cleaning member to stall includes:

and controlling the cleaning piece to stop rotating within a preset first stopping time period.

Optionally, in the drying process of the cleaning device, when the first direction is reverse rotation and the second direction is forward rotation, the cleaning member is controlled to rotate in the second direction by a start voltage corresponding to a third speed, and the third speed is smaller than the second speed.

Optionally, the cleaning apparatus further comprises a water spraying mechanism for spraying water and a negative pressure generator, and the self-cleaning process comprises:

the cleaning piece rotates positively, the water spraying mechanism works, and the negative pressure generator of the cleaning device is closed so as to clean the cleaning piece;

under the condition that the forward rotation reaches a first preset time period, the cleaning piece alternately rotates forward and backward, the water spraying mechanism is closed, and the negative pressure generator of the cleaning equipment works to clean a pipeline of the cleaning equipment;

when the cleaning time of the pipeline reaches a second preset time, the cleaning piece rotates positively, the water spraying mechanism is started, and the negative pressure generator of the cleaning equipment is closed; the cleaning piece alternately rotates forward and backward, the water spraying mechanism is closed, and the negative pressure generator of the cleaning equipment works to deeply clean the cleaning equipment; wherein the cleaning member ends in a forward rotation during deep cleaning.

In another aspect, the present application also provides a control method of a cleaning apparatus including a cleaning member that rotates in a normal direction when performing a cleaning work on a surface to be cleaned, the method including:

the cleaning member includes reverse rotation during self-cleaning and/or drying;

controlling the cleaning member to reversely rotate at a starting voltage corresponding to a first speed in response to a steering command to the cleaning member;

and after the cleaning piece rotates, controlling the cleaning piece to rotate in the same direction by using a starting voltage corresponding to a preset speed.

Optionally, the method comprises:

controlling the cleaning member to rotate forward; controlling the cleaning member to reverse at a start voltage corresponding to a first speed in response to a steering command to the cleaning member; after the cleaning piece is reversed, controlling the cleaning piece to be reversed by a starting voltage corresponding to a preset speed;

alternatively, the cleaning member is controlled to reverse; controlling the cleaning member to rotate forward at a start voltage corresponding to a first speed in response to a steering command for the cleaning member; and after the cleaning piece rotates positively, controlling the cleaning piece to rotate positively by a starting voltage corresponding to a preset speed.

Optionally, the cleaning member is in a first self-cleaning cycle of the self-cleaning process, the first speed is greater than the preset speed, and the preset speed is a third speed.

Optionally, the first speed is greater than the preset speed when the cleaning member is switched from forward rotation to reverse rotation in a second self-cleaning period of the self-cleaning process, the preset speed is a third speed, and the second self-cleaning period is later than the first self-cleaning period.

Optionally, the first speed is smaller than the preset speed when the cleaning member is switched from reverse rotation to forward rotation in a second self-cleaning period of the self-cleaning process, the preset speed is a second speed, and the second self-cleaning period is later than the first self-cleaning period.

Optionally, the first speed is greater than the preset speed, and the preset speed is a third speed during the drying process of the cleaning member.

Alternatively, the direction of rotation of the cleaning member at the last time of the self-cleaning process is opposite to the direction of rotation of the cleaning member at the beginning of the drying process.

Optionally, the rotation direction of the cleaning member at the last time of the self-cleaning process is a forward direction, and the rotation direction of the cleaning member at the beginning of the drying process is a reverse direction.

when the cleaning time of the pipeline reaches a second preset time, the cleaning piece rotates positively, the water spraying mechanism is started, and the negative pressure generator is closed; the cleaning piece alternately rotates forward and backward, the water spraying mechanism is closed, and the negative pressure generator of the cleaning equipment works to deeply clean the cleaning equipment; wherein the cleaning member ends in a forward rotation during deep cleaning.

Optionally, the cleaning apparatus further includes a water spraying mechanism for spraying water, a negative pressure generator, and a drying part, and the drying process includes:

the cleaning piece is reversed, the water spraying mechanism is closed, the negative pressure generator is closed, and the drying component is started;

after the cleaning member is reversed for a certain period of time, the cleaning member is rotated forward, the water spraying mechanism is turned off, the negative pressure generator is turned off, and the drying part is started.

In another aspect, the present application also provides a cleaning apparatus comprising: a processor and a memory; the memory stores therein a program loaded and executed by the processor to realize the control method of the cleaning apparatus provided in the above aspect.

In still another aspect, the present application also provides a computer-readable storage medium having stored therein a program which, when executed by a processor, implements the control method of the cleaning apparatus provided in the above aspect.

The technical scheme provided by the application has at least the following advantages: controlling the self-cleaning device to execute a first self-cleaning action in a first self-cleaning cycle by responding to a self-cleaning instruction of the cleaning device; controlling the self-cleaning device to execute a second self-cleaning action in a second self-cleaning period; the second self-cleaning period is located after the first self-cleaning period; the water spraying amount in the first self-cleaning period is basically equal to the water spraying amount in the second self-cleaning period or the water pumping duration in the first cleaning period is basically equal to the water pumping duration in the second cleaning period, and the period duration of the first self-cleaning period is smaller than the period duration of the second self-cleaning period; the problems of bacteria breeding and peculiar smell generation of the cleaning piece caused by the fact that moisture absorbed by the cleaning piece in the self-cleaning process remains on the cleaning piece can be solved; because the second self-cleaning period has longer period duration, under the condition that the self-cleaning periods have basically the same water spraying amount or water pumping duration, the second self-cleaning period can have longer spin-drying duration, so that the cleaning piece can be ensured to be drier after self-cleaning is finished, the probability of bacteria breeding and peculiar smell generation is reduced, and the self-cleaning effect is improved.

Meanwhile, since the water spraying action is required to be executed in the next self-cleaning period of the first self-cleaning period, the short period duration is set for the first self-cleaning period, so that the spin-drying process is not required to be carried out too long in the first self-cleaning period, and the energy consumption of the cleaning equipment can be saved.

Meanwhile, the rolling brush on the cleaning equipment comprises a cylindrical barrel body, the barrel body is covered with base cloth, strip-shaped fluff (namely bristles) are uniformly distributed on the base cloth, and the lengths of the strip-shaped fluff are basically equal or equal. When self-cleaning is performed, part of impurities can be mixed into gaps among the fluff, and the fluff is not easy to clean. Based on this, through setting up first automatically cleaning action and second automatically cleaning action and all including the corotation and the reversal of cleaning piece, can clear up the rubbish on the cleaning piece when corotation, and after the reversal round brush, the fine hair of round brush becomes relatively fluffy, can make the impurity in the clearance between the fine hair fall down, improves the cleaning performance of cleaning piece, and the reversal can also realize the cleanness to the last pipeline of cleaning equipment simultaneously, further improves the control effect of cleaning equipment.

In addition, by responding to a self-cleaning stop instruction of the cleaning device during self-cleaning, the cleaning member is controlled to rotate positively; after the forward rotation time length reaches the first time length, controlling the cleaning member to stop rotating; the problem that the motor load is large when the cleaning piece directly performs cleaning work after self-cleaning is finished can be solved; because the cleaning device starts to clean the cleaning work every time and the cleaning device finishes the self-cleaning process by the forward rotation, the brushing hair of the cleaning device can be combed by the forward rotation when the self-cleaning is finished, and the combing direction is consistent with the combing direction of the brushing hair when the cleaning device performs the cleaning work next time, so that the load of the driving motor can be reduced when the cleaning device performs the cleaning work next time.

In addition, through setting up the duration that first time is less than the time of forward rotation at every turn before the cleaning member, can both guarantee that the cleaning member carries out the cleaning operation next time, driving motor's load can not be too high, still can guarantee that the cleaning member has certain fluffy degree to improve the work effect of cleaning operation, simultaneously, make cleaning equipment respond to the self-cleaning stop instruction more fast, reduce frictional force in order to save equipment resource, improve self-cleaning efficiency.

In addition, the cleaning device is controlled to perform a drying action to dry the cleaning device; wherein the drying action comprises forward rotation and/or reverse rotation of the cleaning member and starting of the drying component corresponding to the cleaning device; controlling the cleaning member to rotate forward in response to a drying stop instruction of the cleaning device; after the forward rotation time length reaches the second time length, controlling the cleaning member to stop rotating; the problem that the motor load is large when the cleaning piece directly performs cleaning work after drying is finished can be solved; because the cleaning equipment finishes the drying process with the forward rotation, the brush hair of the cleaning piece can be combed through the forward rotation when the drying is finished, and the combing direction is consistent with the combing direction of the brush hair when the cleaning piece performs cleaning next time, so that the load of the driving motor can be reduced when the cleaning piece performs cleaning next time.

In addition, through setting up the duration that the second is less than the time length of forward rotation at every turn before the cleaning member, can both guarantee that the cleaning member carries out the cleaning operation next time, driving motor's load can not be too high, still can guarantee that the cleaning member has certain fluffy degree to improve the work effect of cleaning operation, simultaneously, make cleaning equipment respond to the self-cleaning stop instruction more fast, reduce frictional force in order to save equipment resource, improve drying efficiency.

In addition, the cleaning member is controlled to rotate in the first direction during the self-cleaning process or the drying process; controlling the cleaning member to stop in response to a steering command of the cleaning member; after stopping the rotation, controlling the cleaning member to rotate in a second direction by using a starting voltage corresponding to the first speed; the second direction is opposite to the first direction; controlling the cleaning piece to rotate in a second direction by using a starting voltage corresponding to the second speed; the problems that the starting current and the moment of the steering moment of the driving motor are large, counter electromotive force can occur, and the motor is easy to damage can be solved; through stopping rotation firstly when turning to, then switching to turn to with less speed, then rotate with the speed of normal operating again, can guarantee that driving motor can not produce back electromotive force, improve driving motor's life.

In addition, during rotation in the first direction, the elongate soil may become stretched around the cleaning elements. By slowly starting the rotation in the second direction, the long-strip dirt can be loosened first, so that the dirt is loosened and is quickly sucked away, and the self-cleaning effect of the cleaning piece is improved.

In addition, the cleaning member is controlled to rotate in the first direction during the self-cleaning process or the drying process; controlling the cleaning member to stop in response to a steering command of the cleaning member; after stopping, controlling the cleaning piece to rotate in a second direction by using the starting voltage corresponding to the first speed, and controlling the cleaning piece to rotate in the second direction by using the starting voltage corresponding to the second speed; or, controlling the cleaning piece to rotate in the second direction by using a starting voltage corresponding to a third speed, wherein the third speed is smaller than the first speed; the second direction is opposite to the first direction; the problems that the starting current and the moment of the steering moment of the driving motor are large, counter electromotive force can occur, and the motor is easy to damage can be solved; through stopping rotation firstly when turning to, then switching to turn to with less speed, then rotate with the speed of normal operating again, can guarantee that driving motor can not produce back electromotive force, improve driving motor's life.

In addition, the dirt degree of the cleaning member and the pipeline is generally higher in the first self-cleaning period, and at this time, if the rotating speed of the cleaning member is too high during the steering, dirt on the cleaning member is thrown out, so that the self-cleaning effect is affected. Based on this, through setting up in first automatically cleaning cycle with great speed start turn to make cleaning member from stationary state to motion state, with less speed corotation or reversal, both can guarantee that the cleaning member turns to successfully, can guarantee again that the cleaning member can not throw away dirty, improve self-cleaning effect.

In addition, since a series of forward and reverse rotation operations have been performed during the first self-cleaning cycle, some of the long-strip dirt may be caught in the catching slot during the forward rotation. Based on this, in first self-cleaning cycle, when the forward rotation switches to the reverse rotation, reversing at slower speed can make the cleaning member take a portion of dirty out from the joint, further promotes the self-cleaning effect.

In addition, since the cleaning member and the pipe have been cleaned by the first self-cleaning cycle, the degree of dirt of the cleaning member and the pipe is low, and thus the dirt is not thrown out even if the second self-cleaning cycle is turned at a high speed. Based on the above, the rotation speed of the cleaning piece in the second self-cleaning period can be faster or slower, and the second self-cleaning period is arranged to directly start forward rotation at a higher rotation speed when the second self-cleaning period is switched from reverse rotation to forward rotation, so that the self-cleaning effect can be ensured, and the self-cleaning efficiency can be improved.

In addition, through setting up at the stoving in-process and rotating with less speed control cleaning member, can guarantee that cleaning member stoving is even, improve the stoving effect.

In addition, because the brush hair is not fluffy after the self-cleaning process, in the embodiment, the fluffy degree of the brush hair can be improved by reversing and drying at a low speed in the drying process.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 to 4C are schematic structural views of a cleaning apparatus according to an embodiment of the present application;

FIG. 5 is a flow chart of a method of controlling a cleaning apparatus provided in one embodiment of the present application;

FIG. 6 is a schematic diagram of the control actions of a cleaning apparatus provided by one embodiment of the present application;

FIG. 7 is a flow chart of a control method of a cleaning apparatus provided in accordance with yet another embodiment of the present application;

FIG. 8 is a flow chart of a control method of a cleaning apparatus provided in accordance with yet another embodiment of the present application;

FIG. 9 is a schematic diagram of a drying action of a cleaning apparatus according to an embodiment of the present application;

FIG. 10 is a flow chart of a control method of a cleaning apparatus provided in accordance with yet another embodiment of the present application;

FIG. 11 is a flow chart of a control method of a cleaning apparatus provided in accordance with yet another embodiment of the present application;

FIG. 12 is a block diagram of a control device for a cleaning apparatus provided in one embodiment of the present application;

FIG. 13 is a block diagram of a control device for a cleaning apparatus provided in accordance with yet another embodiment of the present application;

FIG. 14 is a block diagram of a control device for a cleaning apparatus provided in accordance with yet another embodiment of the present application;

FIG. 15 is a block diagram of a control device of a cleaning apparatus provided in accordance with yet another embodiment of the present application;

FIG. 16 is a block diagram of a control device for a cleaning apparatus provided in accordance with yet another embodiment of the present application;

fig. 17 is a block diagram of an electronic device provided in one embodiment of the application.

Detailed Description

The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the application are shown. The application will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

In the present application, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present application.

In the present application, the cleaning device refers to a device having cleaning ability for a surface to be cleaned. Generally, a cleaning device is mounted with a cleaning member adapted to contact a surface to be cleaned to effect cleaning of the surface to be cleaned.

Fig. 1 to 4C are schematic structural views of a cleaning apparatus 100 according to an embodiment of the present application, and as can be seen from fig. 1 and 2A, the cleaning apparatus 100 includes: the floor brush body 1, the cleaning member 2, the flow divider 3, a negative pressure generator (not shown), and a controller (not shown).

When the cleaning equipment cleans the surface to be cleaned, the surface to be cleaned is cleaned through the cleaning piece 2, and the cleaning liquid or gas is sprayed onto the cleaning piece 2 through the flow divider 3 arranged on the ground brush body 1, so that the cleaning piece 2 can quickly decompose stubborn stains in the cleaning process, and the cleaning effect is better.

Wherein, be formed with the clean chamber in one side of brush body 1, wrap up cleaning member 2 through the clean chamber for cleaning member 2 is at the in-process of work, and its week side can be better forms negative pressure, inhale in brush body 1 better with the rubbish of cleaning member 2 roll-up, and the cleaning performance is better.

In one example, as shown in fig. 2A, the cleaning member 2 includes a roller 21 and a cleaning body 22, the roller 21 is rotatably disposed in the cleaning cavity of the floor brush body 1, the cleaning body 22 is attached to the outer peripheral side of the roller 21, a driving motor may be further disposed in the floor brush body 1, the roller 21 is driven by the driving motor to rotate, the cleaning body 22 is driven to rotate, and dirt or garbage on the surface to be cleaned is cleaned by friction between the rotating cleaning body 22 and the surface to be cleaned. The connection mode between the cleaning body 22 and the roller 21 is not limited, for example, the cleaning body 22 may be integrally disposed with the roller 21, or the cleaning body 22 may be fixed on the outer side of the roller 21 by means of adhesion, or the cleaning body 22 and the roller 21 may be connected by means of a velcro, or other detachable connection modes, so as to facilitate replacement of the cleaning body 22.

Optionally, the cleaning body 22 includes a base fabric covering the drum 21, on which strip-shaped naps (i.e., bristles) are distributed, and the lengths of the strip-shaped naps are substantially equal or equal, so as to absorb dirt during the cleaning process and improve the cleaning effect.

In fig. 2A, the number of cleaning members 2 is taken as an example, and in actual implementation, the number of cleaning members 2 may be at least two. Referring specifically to fig. 2B, the number of cleaning members 2 is two, and the two cleaning members are arranged front and rear in the traveling direction. In the present embodiment, taking the cleaning member disposed at the front end of the apparatus as the first cleaning member 221 and the cleaning member disposed at the rear end of the apparatus as the second cleaning member 222 as an example, the rotation directions of the first cleaning member 221 and the second cleaning member 222 are opposite when the cleaning work is performed.

In the present application, the rotational direction of the cleaning member (specifically, the rotational direction of the cleaning body on the cleaning member) is the forward direction and the opposite direction to the rotational direction is the reverse direction when the cleaning device performs the cleaning operation.

Specifically, in the case of including one cleaning member, the rotation direction of the cleaning member at the time of performing the cleaning work is the forward direction. Such as: in fig. 2A, the cleaning member 2 rotates in a counterclockwise direction when performing a cleaning operation. Then, the counterclockwise direction of the cleaning member 2 is the forward direction and the clockwise direction is the reverse direction.

In the case of including at least two cleaning members, the rotational direction of each cleaning member at the time of performing a cleaning operation is a forward direction. Such as: in fig. 2B, the first cleaning member 221 rotates in a counterclockwise direction when performing a cleaning operation. Then, the counterclockwise direction of the first cleaning member 221 is the forward direction and the clockwise direction is the reverse direction. The second cleaning member 222 rotates in a clockwise direction when performing a cleaning operation. Then, the clockwise direction of the second cleaning member 222 is the forward direction, and the counterclockwise direction is the reverse direction.

The water spraying mechanism is used for spraying water to the cleaning piece or the surface to be cleaned so as to improve the self-cleaning effect of the cleaning piece or the cleaning effect of the surface to be cleaned.

In one example, the water spray mechanism includes a diverter. The diverter 3 is mainly used for diverting the cleaning liquid or gas, so that the cleaning liquid or gas is sprayed on the cleaning body 22 uniformly, and the cleaning effect is improved.

Alternatively, to avoid debris from remaining on the diverter, a certain amount of interference (i.e., the difference between the radius of the cleaning member and the distance from the center of the cleaning member to the diverter) may be provided between the cleaning member and the diverter. For example, the liquid spray area of the cleaning member may be provided with a greater amount of interference with the cleaning member (i.e., the difference between the radius of the cleaning member and the distance from the center of the cleaning member to the liquid spray area), while the flow splitter may be provided with a lesser amount of interference with the cleaning member at its upper end (i.e., the difference between the radius of the cleaning member and the distance from the center of the cleaning member to the upper end of the flow splitter).

For example, as shown in fig. 3 and 4A, a cambered surface diverter 33 may be provided behind the cleaning member, the lower end region of the diverter 33 being a water spray region 41, and the region above the diverter 33 being an ash storage region 42. As shown in fig. 4A, at least one water spray nozzle may be uniformly provided on the water spray area, and the bottom of the diverter may be provided with a wiper strip 34. The water spraying area 41 and the cleaning piece can keep a certain interference, and the ash hiding area 42 at the upper end has a certain gap, so that the cleaning piece can be always wiped to the water spraying area 41 while uniformly wetting the cleaning piece, the water spraying area 41 is not easy to have garbage residues, the water spraying nozzle is prevented from being blocked, the upper end of the flow divider 33 has a certain gap, and the large load caused by the large interference of the whole flow divider 33 and the cleaning piece can be prevented.

Fig. 3 and fig. 4A illustrate an example in which the number of cleaning members is one, and for a case in which the number of cleaning members is at least two, each cleaning member is correspondingly provided with a splitter 33, referring to fig. 4B specifically, as can be seen from fig. 4B, the first cleaning member 221 and the second cleaning member 222 respectively correspond to one splitter 33, and the principle of cooperation between the splitter and the corresponding cleaning member is the same as that of one cleaning member, which is not repeated herein. .

The water spraying mechanism may further include a water pump, a water pipe connected between the water pump and the diverter, and the like, and this embodiment will not be described in detail here.

The negative pressure generator is used for absorbing sewage and/or dirt. Suction generated by the negative pressure generator acts on the cleaning member or the surface to be cleaned through the suction pipe to absorb sewage and/or dirt of the cleaning member or the surface to be cleaned.

Optionally, the cleaning device may also have a drying component. The drying part is used for drying the cleaning member. The drying part may include a heating wire or other heating parts, and may further include a blowing part such as a blower, and the embodiment is not limited to the implementation of the drying part.

In this embodiment, the drying component is disposed on the cleaning device, and in actual implementation, the drying component may also be disposed on a base, where the base is a device in which the cleaning device is disposed when the cleaning device is self-cleaned; alternatively, the drying apparatus may be provided independently on other apparatuses, and the embodiment is not limited to the implementation manner of the drying part.

After the cleaning device completes self-cleaning, the drying part may be started to dry the cleaning member (for example, the roller brush may be dried), and when the humidity sensor provided inside the roller brush detects that the humidity value is 8%, the 8% is less than the humidity threshold value of 10%, the drying part may be turned off.

After the cleaning equipment is self-cleaned, the cleaning equipment is dried, so that the air drying speed of the equipment can be improved, the peculiar smell breeding is reduced, and the use experience of a user is improved.

The controller is respectively connected with the cleaning piece, the water spraying mechanism, the negative pressure generator and the drying component in a communication way so as to control the components. Such as: control opening and closing of the components, and/or control operating parameters of the components, etc.

Generally, after the cleaning device cleans a surface to be cleaned, a large amount of trash is generally present on the cleaning member. Therefore, it is necessary to self-clean the cleaning device so that the cleaning member becomes clean. Alternatively, the cleaning device may be self-cleaning with docking with the base, such as: referring to fig. 4C, a schematic view of the docking of the cleaning device 100 with the base 200. Alternatively, the self-cleaning may be performed separately from the base, and the present embodiment does not limit whether the cleaning apparatus is docked with the base when performing self-cleaning.

However, the conventional self-cleaning process has a problem of poor self-cleaning effect, and the problem of poor self-cleaning effect is various, and each problem and coping manner will be described separately.

First, the cleaning member is too wet, and bacteria are easy to breed and peculiar smell is easy to be generated.

Specifically, the self-cleaning process of the cleaning device comprises: the cleaning member is controlled to rotate. Illustratively, the rotation of the cleaning member includes: controlling the cleaning piece to alternately rotate forward and reverse in each self-cleaning period; in the process of forward rotation of the cleaning piece, the liquid distributor sprays liquid to the cleaning piece, and a negative pressure generator of the cleaning equipment is closed so as to clean garbage on the cleaning piece; in the process of reversing the cleaning piece, the liquid distributor does not spray liquid to the cleaning piece, and the negative pressure generator works; to clean the garbage on the window of the cleaning device and the upper end of the liquid distributor, clean the cavity of the cleaning piece corresponding to the cleaning piece, and make the cleaning body fluffy.

In general, the number of self-cleaning periods is at least two, the duration of different self-cleaning periods is the same, and the water pumping amount or the water pumping duration of the water spraying mechanism in the different self-cleaning periods is the same.

However, after the self-cleaning is completed, if the cleaning member is not dried, moisture absorbed by the cleaning member in the self-cleaning process remains on the cleaning member, which may cause problems of bacteria breeding and odor generation of the cleaning member, thereby affecting the self-cleaning effect of the cleaning device.

Based on this, in the present embodiment, the controller is configured to control the self-cleaning apparatus to perform a first self-cleaning action in a first self-cleaning cycle in response to a self-cleaning instruction of the cleaning apparatus; the self-cleaning device is controlled to perform a second self-cleaning action during a second self-cleaning cycle.

Wherein, the first self-cleaning action and the second self-cleaning action comprise the forward rotation and the reverse rotation of the cleaning piece and the opening and the closing of the water spraying mechanism.

The second self-cleaning period is positioned after the first self-cleaning period, the water spraying amount in the first self-cleaning period is basically equal to the water spraying amount in the second self-cleaning period or the water pumping duration in the first cleaning period is basically equal to the water pumping duration in the second cleaning period, and the period duration of the first self-cleaning period is smaller than the period duration of the second self-cleaning period.

In this embodiment, "substantially equal" means equal in an ideal condition and infinitely close in the presence of an error, or a difference of about 0 or less than or equal to a predetermined value, which is slightly greater than or equal to 0. The ideal state refers to a state in which hardware conditions are identical and software conditions have no response delay. In general, the ideal state is difficult to achieve, but in some usage scenarios there may be cases of perfect equality.

In this embodiment, by setting the second self-cleaning cycle to have a longer cycle duration, under the condition that the self-cleaning cycles have substantially the same water spraying amount or pumping duration, the second self-cleaning cycle can have a longer spin-drying duration, so that the cleaning piece can be ensured to be drier after the self-cleaning is completed, the problems of bacteria breeding and odor generation are avoided, and the self-cleaning effect is improved.

And the motor load is larger when the cleaning piece performs cleaning work after the self-cleaning is completed.

Specifically, according to the self-cleaning process described in the first aspect, there are processes of forward rotation and reverse rotation of the cleaning member during the self-cleaning process. After the cleaning piece is reversed, the whole cleaning piece becomes fluffy, and at the moment, if the cleaning piece is directly put into use, the interference between the fluffy cleaning piece and the water spraying mechanism is large, so that the load of the driving motor can be increased. However, the conventional self-cleaning process of the cleaning apparatus is usually completed in a reverse direction, which causes a problem that the load of the driving motor is large when the cleaning member performs a cleaning operation.

Based on this, in this embodiment, the controller is further configured to: controlling a cleaning device to perform a self-cleaning action comprising reversal of the cleaning member; in the self-cleaning process, controlling the cleaning member to rotate forward in response to a self-cleaning stop instruction of the cleaning device; and after the forward rotation time reaches the first time, controlling the cleaning member to stop rotating.

In this embodiment, through controlling cleaning device with the normal rotation end self-cleaning process, can guarantee to comb the brush hair of cleaning member through the normal rotation when accomplishing from the cleaning, comb the direction and the cleaning member and carry out the cleaning operation the time the brush hair comb the direction unanimous, thereby can reduce driving motor's load when cleaning member carries out cleaning operation next time.

It is noted that the cleaning work in the present application means cleaning a surface to be cleaned.

Thirdly, after the drying is finished, the motor load is larger when the cleaning piece performs cleaning work.

As with the second problem, the conventional drying process of the cleaning apparatus is usually completed in reverse rotation, which results in a problem that the load of the driving motor is large when the cleaning member performs cleaning work.

Based on this, in this embodiment, the controller is further configured to: controlling the cleaning device to perform a drying action to dry the cleaning device; wherein the drying action comprises forward rotation and/or reverse rotation of the cleaning member and starting of the drying component corresponding to the cleaning device; controlling the cleaning member to rotate forward in response to a drying stop instruction of the cleaning device; and after the forward rotation time reaches the second time, controlling the cleaning member to stop rotating.

In this embodiment, through the stoving process of control cleaning device with the corotation end, can guarantee to comb the brush hair of cleaning member through corotation when the stoving is accomplished, comb the direction and the cleaning member and carry out the brushing direction unanimity of brush hair when cleaning member carries out cleaning operation next time to can reduce driving motor's load when cleaning member carries out cleaning operation next time.

Fourth, the starting current and the moment at the moment of steering of the driving motor are large, counter electromotive force can occur, and motor damage is easy to cause.

Specifically, during the self-cleaning process or the drying process, the driving motor may drive the cleaning member to alternately rotate forward and backward. In the process of switching from forward rotation to reverse rotation or switching from reverse rotation to forward rotation, the starting current and the instantaneous moment of the steering moment of the driving motor are large, counter electromotive force is generated, the motor is easy to damage, and the service life of the cleaning equipment is reduced.

Based on this, in this embodiment, the controller is further configured to: in the self-cleaning process or the drying process, the cleaning piece is controlled to rotate in a first direction; controlling the cleaning member to stop in response to a steering command of the cleaning member; after stopping the rotation, controlling the cleaning member to rotate in a second direction by using a starting voltage corresponding to the first speed; controlling the cleaning piece to rotate in a second direction by using a starting voltage corresponding to the second speed; the second speed is greater than the first speed; or, controlling the cleaning member to rotate in the second direction by the starting voltage corresponding to the third speed, wherein the third speed is smaller than the first speed.

Wherein the second direction is opposite to the first direction. Specifically, in the case where the first direction is forward rotation, the second direction is reverse rotation; in the case where the first direction is reverse rotation, the second direction is normal rotation.

In this embodiment, through stopping first, then turning over with less speed switching when turning over, then turning over with the speed of normal operating again, can guarantee that driving motor can not produce back electromotive force, improve driving motor's life.

Fifth, the steering start of the driving motor is unsuccessful.

Specifically, during the self-cleaning process or the drying process, the driving motor may drive the cleaning member to alternately rotate forward and backward. However, in the process of switching from forward rotation to reverse rotation or from reverse rotation to forward rotation, if the drive motor is started at a start voltage corresponding to the speed at the time of normal operation, there is a possibility that the steering start of the drive motor is unsuccessful.

Such as: when the cleaning member is rotated at a speed of 50 rpm, and the cleaning member is driven at a voltage corresponding to 50 rpm when the cleaning member is switched from normal rotation to reverse rotation, there is a possibility that the reverse rotation of the cleaning member is unsuccessful.

Based on this, in the present embodiment, the controller is further configured to: controlling the cleaning member to reversely rotate at a start voltage corresponding to the first speed in response to a steering command to the cleaning member; after the cleaning piece rotates, the cleaning piece is controlled to rotate in the same direction by a starting voltage corresponding to a preset speed.

Wherein the cleaning device includes a cleaning member that rotates in a forward direction when the cleaning device performs a cleaning operation on a surface to be cleaned; the cleaning member includes a reverse rotation during the self-cleaning process and/or the drying process.

In this embodiment, the cleaning member is controlled to turn at the starting voltage corresponding to the first larger speed when the cleaning member turns, and in general, the starting voltage corresponding to the first speed is the starting voltage capable of ensuring that the cleaning member turns to be started successfully, so that the cleaning member can be ensured to turn successfully, and the self-cleaning or drying effect is ensured.

In the following, the control method of the cleaning device provided by the application is described with respect to the technical problems and solutions set forth in the above five aspects. The following embodiments are described by taking the example of the method used in the cleaning device shown in fig. 1, and in particular in the controller of the cleaning device, the method may also be used in other devices communicatively connected to the cleaning device, such as: for a user terminal, or server, etc., where the user terminal includes but is not limited to: a mobile phone, a computer, a tablet computer, a wearable device, etc., the implementation manner of other devices and the implementation manner of the user terminal are not limited in this embodiment.

The communication connection mode may be wired communication or wireless communication, and the wireless communication mode may be short-distance communication or wireless communication, etc., and the communication mode between the cleaning device and other devices is not limited in this embodiment.

First, fig. 5 is a flowchart of a control method of a cleaning apparatus according to an embodiment of the present application, the method at least includes the following steps:

in step 501, the self-cleaning device is controlled to perform a first self-cleaning action during a first self-cleaning cycle in response to a self-cleaning instruction of the cleaning device.

The self-cleaning instruction is used for triggering the cleaning device to start the self-cleaning process. In the present application, the self-cleaning process does not include the drying process, i.e., the self-cleaning process and the drying process are described as separate two processes. The self-cleaning process refers to a process of cleaning at least one mechanism on the cleaning apparatus, and the drying process refers to a process of drying at least one mechanism after the cleaning is completed.

The manner of acquiring the self-cleaning instruction includes, but is not limited to, at least one of the following:

first kind: the cleaning device is provided with a self-cleaning button, and a self-cleaning instruction is generated under the condition that triggering operation acting on the self-cleaning button is received.

Second kind: the cleaning device determines whether a self-cleaning condition is currently satisfied, and generates a self-cleaning instruction if the self-cleaning condition is satisfied.

Wherein the self-cleaning condition may be user-set or may be stored in the cleaning device by default, including but not limited to at least one of the following: the cleaning device is completely in butt joint with the base, the dirt degree of the cleaning piece is greater than or equal to a dirt threshold value, the residual electric quantity of the cleaning device is greater than an electric quantity threshold value, the clean water quantity of the cleaning device is greater than a first water quantity threshold value, and the sewage quantity of the cleaning device is smaller than a second water quantity threshold value.

Third kind: the cleaning device receives self-cleaning instructions sent by other devices. At this time, the other devices are provided with self-cleaning keys, and when a trigger operation acting on the self-cleaning keys is received, a self-cleaning instruction is generated and sent to the cleaning device.

Optionally, the self-cleaning instruction may also carry self-cleaning parameters, including but not limited to: the difference in cycle time between different self-cleaning cycles, the water spray amount per self-cleaning cycle, the water pumping time, and/or the rotational speed of the cleaning member, etc., are not limited to the content of the self-cleaning parameters in this embodiment.

Step 502, controlling the self-cleaning device to execute a second self-cleaning action in a second self-cleaning period; the second self-cleaning period is located after the first self-cleaning period; the first self-cleaning action and the second self-cleaning action comprise forward rotation and reverse rotation of the cleaning piece and opening and closing of the water spraying mechanism; the water spraying amount in the first self-cleaning period is basically equal to the water spraying amount in the second self-cleaning period or the water pumping duration in the first cleaning period is basically equal to the water pumping duration in the second cleaning period, and the period duration of the first self-cleaning period is smaller than the period duration of the second self-cleaning period.

In the self-cleaning process, there are at least two self-cleaning cycles, in this embodiment, the first self-cleaning cycle is at least one, and the second self-cleaning cycle is also at least one. In each self-cleaning period, the water spraying mechanism is firstly started and then closed.

In one example, the second self-cleaning cycle may be the last self-cleaning cycle of the self-cleaning process, the first self-cleaning cycle being the respective self-cleaning cycle preceding the second self-cleaning cycle. At this time, only the period duration of the last self-cleaning period is long, that is, the period duration of the last self-cleaning period is longer than the period duration of each of the previous self-cleaning periods.

In yet another example, the first self-cleaning cycle and the second self-cleaning cycle are relatively speaking, in which case each self-cleaning cycle after the first self-cleaning cycle may be either the first self-cleaning cycle or the second self-cleaning cycle in addition to the first self-cleaning cycle. Specifically, in the case where the first self-cleaning cycle is the first self-cleaning cycle, the second self-cleaning cycle is the second self-cleaning cycle. Then, the second self-cleaning cycle is updated to be the first self-cleaning cycle, at this time, the third self-cleaning cycle is the second self-cleaning cycle, and the cycle is repeated until the last self-cleaning cycle is updated to be the first self-cleaning cycle, at this time, the last self-cleaning cycle is the second self-cleaning cycle. In this case, the period duration of each self-cleaning period gradually increases with time. The difference between the cycle durations of two adjacent self-cleaning cycles is the same or different, and the increment mode of the cycle durations is not limited in this embodiment.

For the case where the amount of water sprayed in the first self-cleaning cycle is substantially equal to the amount of water sprayed in the second self-cleaning cycle, controlling the self-cleaning apparatus to perform a first self-cleaning action in the first self-cleaning cycle or controlling the self-cleaning apparatus to perform a second self-cleaning action in the second self-cleaning cycle includes: controlling the water spraying mechanism to start; and under the condition that the water pumping quantity of the water spraying mechanism reaches the preset water quantity, controlling the water spraying mechanism to be closed.

At this time, the cleaning device is provided with a water amount detection mechanism. The water quantity detection mechanism can be positioned on a water pump of the clean water spraying mechanism to obtain the water pumping quantity of the water pump. In other embodiments, the water quantity detection mechanism can also be arranged in a clean water tank on the cleaning device, and at the moment, the water quantity of the pump of the water spraying mechanism can be obtained by detecting the water consumption of the clean water tank, and the water quantity detection mechanism can be a pressure sensor, an image sensor, a water level sensor or the like; or, the water quantity detection mechanism can also be a water flow detector in the water delivery pipeline to detect the water delivery flow of the water delivery pipeline, and the pump water quantity of the water spraying mechanism can be obtained by combining the water delivery time length, and the implementation mode and the installation position of the water quantity detection mechanism are not limited in the embodiment.

The preset water quantity is preset in the cleaning device, and the preset water quantity can be uniformly arranged in the cleaning device, and can be also set by user definition, for example: the setting mode of the preset water quantity is not limited in this embodiment by being carried in the self-cleaning instruction.

Or, for the case where the pumping time period in the first cleaning period is substantially equal to the pumping time period in the second cleaning period, controlling the self-cleaning apparatus to perform the first self-cleaning action in the first self-cleaning period or controlling the self-cleaning apparatus to perform the second self-cleaning action in the second self-cleaning period includes: controlling the water spraying mechanism to start; and under the condition that the starting time of the water spraying mechanism reaches the preset time, controlling the water spraying mechanism to be closed.

The preset duration and the presence of the cleaning device may be set in the cleaning device in a unified manner, or may be set by user definition, for example: the setting mode of the preset time period is not limited in this embodiment by being carried in the self-cleaning instruction.

In this embodiment, the water spraying mechanism is started when the cleaning member is rotated in the normal direction and is closed when the cleaning member is rotated in the reverse direction. At this time, control the water spraying mechanism to start, include: controlling the cleaning piece to rotate positively, and controlling the water spraying mechanism to start in the process of the cleaning piece rotating positively; controlling the water spraying mechanism to be closed, comprising: and controlling the water spraying mechanism to be closed when the cleaning piece is controlled to rotate reversely.

Alternatively, the water spraying mechanism may be started during the forward rotation, or may be started after the forward rotation starts, and the opening timing of the water spraying mechanism during the forward rotation is not limited in this embodiment.

Alternatively, the number of forward and reverse rotations of the cleaning member may be at least one per self-cleaning cycle. Such as: referring to the self-cleaning process of one self-cleaning cycle shown in fig. 6, according to the self-cleaning process, the self-cleaning process includes at least the following stages:

the first stage: the cleaning piece is controlled to rotate positively, the water spraying mechanism is controlled to work, and the negative pressure generator of the cleaning equipment is controlled to be closed so as to clean the cleaning piece.

In fig. 6, the water pump of the water spraying mechanism is 200 gallons per minute (G/min), the rotation speed of the cleaning member in the forward direction is 550 rotations per minute (r/min), and in actual implementation, the water pump and the rotation speed in the forward direction may be other values, and the present embodiment does not limit the water pump and the rotation speed in the forward direction.

And a second stage: under the condition that the forward rotation reaches the first preset time period, the cleaning piece is controlled to alternately rotate forward and reverse, the water spraying mechanism is controlled to be closed, and the negative pressure generator of the cleaning equipment is controlled to work so as to clean the pipeline of the cleaning equipment.

In fig. 6, the first preset duration is illustrated as 30 seconds(s), and the value of the first preset duration may be other values in actual implementation. For different self-cleaning periods, the values of the first preset time length are equal.

Referring to fig. 6, in the second stage, the cleaning member is rotated forward, then rotated backward, and then rotated forward again, and in the second stage, the water spraying mechanism is always turned off, that is, it is ensured that the water spraying mechanism is turned off at the time of the reverse rotation, and at the same time, the negative pressure generator is operated. In fig. 6, the forward rotation speed of 550 (r/min) for the first forward rotation, the reverse rotation speed of 50 (r/min) for the second forward rotation, the reverse rotation speed of 50 (r/min), and the power of the negative pressure generator operation of 150W are taken as examples, and in actual implementation, the number of times of forward rotation and reverse rotation and the rotation speed may be other values, and the power of the negative pressure generator operation may be increased or decreased as required.

And a third stage: when the cleaning time of the pipeline reaches the second preset time, the cleaning piece rotates positively, the water spraying mechanism is controlled to be started, and the negative pressure generator is controlled to be closed; then, the cleaning member is controlled to alternately rotate forward and backward, the water spraying mechanism is controlled to be turned off, and the negative pressure generator of the cleaning device is controlled to work so as to deeply clean the cleaning device.

In fig. 6, the second preset duration is taken as an example for illustration, and the value of the second preset duration may be other values in actual implementation, and the embodiment does not limit the value of the second preset duration. For the first self-cleaning period and the second self-cleaning period, the sum of the second preset time length and the third preset time length of the deep cleaning is different, and specifically, the sum of the second preset time length and the third preset time length of the second self-cleaning period is larger than the sum of the second preset time length and the third preset time length of the first self-cleaning period. Therefore, the self-cleaning period of the cleaning piece, which is about to be finished in the self-cleaning process, can be ensured to have longer spin-drying time, the drying degree of the cleaning piece at the end of the self-cleaning process can be improved, and the problems of bacteria breeding and peculiar smell generation of the cleaning piece are avoided.

Referring to fig. 6, in the third stage, the cleaning member is rotated forward for 30s, then stopped and rotated forward, then rotated backward, and then rotated forward again, and the water spraying mechanism is turned off while the negative pressure generator is operated at the same time as the rotation is reversed. In fig. 6, the forward rotation 10s, the reverse rotation 5s, and the second forward rotation 30s are taken as examples in the deep cleaning process, the forward rotation speed is 550 (r/min), the reverse rotation speed is 50 (r/min), and the power of the negative pressure generator is 150W, and in actual implementation, the number of times of forward rotation and reverse rotation and the rotation speed may be other values, and the power of the negative pressure generator may be increased or decreased as required.

Taking the first stage and the second stage as the first self-cleaning period and the third stage as the second self-cleaning period as an example, as can be seen from fig. 6, the pump water amounts of the first self-cleaning period and the second self-cleaning period are equal, and the total duration (75 s) of the second self-cleaning period is greater than the total duration (55 s) of the first self-cleaning period.

In summary, the control method of the cleaning device according to the present embodiment controls the self-cleaning device to execute the first self-cleaning action in the first self-cleaning cycle by responding to the control instruction of the cleaning device; controlling the self-cleaning device to execute a second self-cleaning action in a second self-cleaning period; the second self-cleaning period is located after the first self-cleaning period; the water spraying amount in the first self-cleaning period is basically equal to the water spraying amount in the second self-cleaning period or the water pumping duration in the first cleaning period is basically equal to the water pumping duration in the second cleaning period, and the period duration of the first self-cleaning period is smaller than the period duration of the second self-cleaning period; the problems of bacteria breeding and peculiar smell generation of the cleaning piece caused by the fact that moisture absorbed by the cleaning piece in the self-cleaning process remains on the cleaning piece can be solved; because the second self-cleaning period has longer period duration, under the condition that the self-cleaning periods have basically the same water spraying amount or water pumping duration, the second self-cleaning period can have longer spin-drying duration, so that the cleaning piece can be ensured to be drier after self-cleaning is finished, the probability of bacteria breeding and peculiar smell generation is reduced, and the self-cleaning effect is improved.

Meanwhile, the conventional rolling brush on the cleaning equipment generally comprises a cylindrical barrel body, wherein base cloth is covered on the barrel body, and strip-shaped fluff is arranged on the base cloth, and the lengths of the strip-shaped fluff are basically equal or equal. When self-cleaning is performed, part of impurities can be mixed into gaps among the fluff, and the fluff is not easy to clean. Based on this, through setting up first automatically cleaning action and second automatically cleaning action and all including the corotation and the reversal of cleaning piece, can clear up the rubbish on the cleaning piece when corotation, and after the reversal round brush, the fine hair of round brush becomes relatively fluffy, can make the impurity in the clearance between the fine hair fall down, improves the cleaning performance of cleaning piece, and the reversal can also realize the cleanness to the last pipeline of cleaning equipment simultaneously, further improves the control effect of cleaning equipment.

Second, based on the above embodiment, fig. 7 is a flowchart of a control method of a cleaning apparatus according to an embodiment of the present application, where the method includes at least the following steps:

Step 701, controlling the cleaning device to perform a self-cleaning action comprising a reversal of the cleaning members.

Specifically, the cleaning device performs a self-cleaning action in response to the self-cleaning instruction, and the related description of this step is detailed in the above-mentioned embodiment, which is not described herein again.

Step 702, during self-cleaning, controlling the cleaning member to rotate forward in response to a self-cleaning stop instruction of the cleaning apparatus.

There are two situations in the control process of the cleaning device that trigger the stopping of the self-cleaning process, respectively:

in the first case, the self-cleaning process set by default by the cleaning apparatus is not performed to be ended, and the user forcibly controls the self-cleaning process to be stopped. At this time, the acquisition modes of the self-cleaning stop instruction include: in the case of receiving a trigger operation of a first stop button acting on the cleaning device, a self-cleaning stop instruction is generated.

The first stop key may be implemented as the same key as the self-cleaning key, or implemented separately from the self-cleaning key as an independent key, which is not limited by the implementation manner of the first stop key in this embodiment.

In other embodiments, the self-cleaning stop instruction may also be sent by other devices.

In the first case, in response to a self-cleaning stop instruction of the cleaning apparatus, controlling the cleaning member to rotate in the normal direction includes: the cleaning member is immediately controlled to rotate forward, and step 702 is performed. In this way, it is ensured that the cleaning member ends in a normal rotation.

In the second case, the user does not have to force the self-cleaning process to end, and the cleaning device can perform the complete self-cleaning process. At this time, the acquisition modes of the self-cleaning stop instruction include: determining whether the current self-cleaning cycle is the last self-cleaning cycle; in the case where the current self-cleaning cycle is the last self-cleaning cycle, a self-cleaning stop instruction is generated.

Such as: a complete self-cleaning process comprises 3 self-cleaning cycles, when each self-cleaning cycle is started, the cleaning equipment judges whether the current self-cleaning cycle is a third self-cleaning cycle, and if so, a self-cleaning stop instruction is generated.

In the second case, if the last rotation mode of the cleaning member in the last self-cleaning cycle is forward rotation, controlling the cleaning member to rotate forward in response to a self-cleaning stop instruction of the cleaning apparatus, including: in response to a self-cleaning stop instruction of the cleaning device, a self-cleaning action is performed in the last self-cleaning cycle.

At this time, in the case where the current self-cleaning cycle is the last self-cleaning cycle, before controlling the cleaning member to rotate forward, it further includes: in the last self-cleaning cycle, the cleaning member is controlled to perform at least one forward rotation and at least one reverse rotation.

Such as: self-cleaning process of the last self-cleaning cycle referring to fig. 6, it can be seen from fig. 6 that the last self-cleaning action is a forward rotation of the cleaning member for 30s, at which time, in response to the self-cleaning stop instruction, the cleaning device controls the cleaning member to first forward rotate for 10s, then reverse rotate for 5s, and finally forward rotate for 30s.

Or, if the last rotation mode of the cleaning member in the last self-cleaning cycle is reverse rotation, controlling the cleaning member to rotate forward in response to a self-cleaning stop instruction of the cleaning apparatus, including: in response to a self-cleaning stop instruction of the cleaning device, the cleaning member is controlled to rotate in the normal direction after the self-cleaning action is performed in the last self-cleaning cycle. At this time, after the end of the last self-cleaning cycle, the cleaning apparatus continues to control the cleaning member to rotate forward to ensure that the cleaning member ends in a forward rotation.

In step 703, after the forward rotation time period reaches the first time period, the cleaning member is controlled to stop rotating.

The first duration is pre-stored in the cleaning device, and the first duration may be uniformly set in the cleaning device or may be set by a user in a user-defined manner, which is not limited in this embodiment.

The last forward rotation of the cleaning member aims to reduce the interference degree between the cleaning member and the water spraying mechanism. The cleaning member only needs to rotate forward for a short time to achieve the purpose. Based on this, the first time period is optionally smaller than the time period of each forward rotation before the cleaning member. Therefore, the cleaning equipment can more quickly respond to the self-cleaning stop instruction, equipment resources are saved, and the self-cleaning efficiency is improved.

In one example, a self-cleaning process of a cleaning apparatus includes: in the self-cleaning process, controlling the cleaning piece to rotate positively, controlling the water spraying mechanism to work and controlling the negative pressure generator of the cleaning equipment to be closed so as to clean the cleaning piece; under the condition that the forward rotation reaches a first preset time period, controlling the cleaning piece to alternately forward rotate and reverse rotate, controlling the water spraying mechanism to be closed, and controlling the negative pressure generator of the cleaning equipment to work so as to clean a pipeline of the cleaning equipment; controlling the cleaning piece to rotate positively and controlling the water spraying mechanism to be opened and the negative pressure generator to be closed under the condition that the cleaning time length of the pipeline reaches a second preset time length; then controlling the cleaning piece to alternately rotate forward and backward, controlling the water spraying mechanism to be closed, and controlling the negative pressure generator of the cleaning equipment to work so as to deeply clean the cleaning equipment; wherein the cleaning member ends in a forward rotation during the deep cleaning. That is, during each self-cleaning cycle, the cleaning elements end in a forward rotation.

The detailed description refers to the above embodiments, and this embodiment is not described herein.

Optionally, the number of self-cleaning periods is at least two, the first preset time lengths of different self-cleaning periods are equal, and the sum of the second preset time length and the third preset time length of the deep cleaning process in the last self-cleaning period is larger than the sum of the second preset time length and the third preset time length in other self-cleaning periods.

In summary, the control method of the cleaning apparatus according to the present embodiment controls the cleaning member to rotate forward in response to the self-cleaning stop instruction of the cleaning apparatus during the self-cleaning process; after the forward rotation time length reaches the first time length, controlling the cleaning member to stop rotating; the problem that the motor load is large when the cleaning piece directly performs cleaning work after self-cleaning is finished can be solved; because the cleaning equipment finishes the self-cleaning process by the forward rotation, the brushing hair of the cleaning piece can be combed by the forward rotation when the self-cleaning is finished, and the combing direction is consistent with the combing direction of the brushing hair when the cleaning piece performs the cleaning work next time, so that the load of the driving motor can be reduced when the cleaning piece performs the cleaning work next time.

Optionally, based on the foregoing embodiment, fig. 8 is a flowchart of a control method of a cleaning apparatus according to an embodiment of the present application, where the method includes at least the following steps:

step 801, controlling the cleaning device to perform a drying action to dry the cleaning device; the drying action comprises forward rotation and/or reverse rotation of the cleaning piece and starting of the corresponding drying component of the cleaning equipment.

Specifically, the cleaning device controls the cleaning device to perform a drying action in response to a drying instruction of the cleaning device to dry the cleaning member.

The acquisition mode of the drying instruction includes, but is not limited to, at least one of the following:

first kind: the cleaning device generates a drying instruction after the self-cleaning process is finished. At this time, before controlling the cleaning apparatus to perform the drying action, it further includes: the cleaning device is controlled to perform a self-cleaning action.

Description of the related Art controlling the cleaning device to perform a self-cleaning action referring to the above-described embodiments, in one example, controlling the cleaning device to perform a self-cleaning action includes: responding to a self-cleaning instruction of the cleaning device, controlling the cleaning piece to rotate positively, controlling the water spraying mechanism to work and controlling the negative pressure generator of the cleaning device to be closed so as to clean the cleaning piece; under the condition that the forward rotation reaches a first preset time period, controlling the cleaning piece to alternately forward rotate and reverse rotate, controlling the water spraying mechanism to be closed, and controlling the negative pressure generator of the cleaning equipment to work so as to clean a pipeline of the cleaning equipment; controlling the cleaning piece to rotate positively and controlling the water spraying mechanism to be opened and the negative pressure generator to be closed under the condition that the cleaning time length of the pipeline reaches a second preset time length; then controlling the cleaning piece to alternately rotate forward and backward, controlling the water spraying mechanism to be closed, and controlling the negative pressure generator of the cleaning equipment to work so as to deeply clean the cleaning equipment; wherein the cleaning member ends in a forward rotation during the deep cleaning.

Accordingly, controlling the cleaning apparatus to perform a drying action includes: and after the deep cleaning process is finished, controlling the cleaning equipment to execute a drying action.

Second kind: the cleaning equipment is provided with a drying key, and generates a drying instruction under the condition that the cleaning equipment receives trigger operation acting on the drying key.

Third kind: the cleaning equipment receives the drying instructions sent by other equipment.

Optionally, controlling the cleaning device to perform a drying action includes: the cleaning piece is controlled to rotate reversely, the water spraying mechanism is controlled to be closed, the negative pressure generator is controlled to be closed, and the drying component is started. In other words, the drying action starts with the reverse rotation of the cleaning member.

In other embodiments, the drying action may be started by the normal rotation of the cleaning member, and the implementation of the drying action is not limited in this embodiment.

In step 802, the cleaning member is controlled to rotate in a forward direction in response to a drying stop instruction of the cleaning apparatus.

There are two kinds of conditions that trigger the stoving process to stop in the stoving process of cleaning equipment, do respectively:

in the first case, the drying process set by default by the cleaning apparatus is not completed, and the user forcibly controls the drying process to stop. At this time, the acquisition modes of the drying stop instruction include: and generating a drying stop instruction when receiving a trigger operation of a second stop key acting on the cleaning device.

The second stop key may be implemented as the same key as the drying key, or implemented separately from the drying key as an independent key, which is not limited by the implementation manner of the second stop key in this embodiment.

In other embodiments, the drying stop command may be transmitted by other devices.

In the first case, controlling the cleaning member to rotate in a forward direction in response to a drying stop instruction of the cleaning apparatus, includes: the cleaning member is immediately controlled to rotate forward, and step 803 is performed. In this way, it is ensured that the cleaning member is dried in the forward rotation end.

In the second case, the user does not forcibly stop the self-cleaning process to end, and the cleaning apparatus can perform the complete drying process. At this time, the acquisition mode of the self-cleaning stop instruction includes, but is not limited to, one of the following modes:

in a first mode, the drying action includes reversal of the cleaning elements. At this time, the cleaning apparatus determines whether the reversal time period of the cleaning member reaches a preset reversal time period; and generating a drying stop instruction under the condition that the preset reversal time period is reached.

The preset inversion time length is pre-stored in the cleaning device, and may be uniformly set in the cleaning device or may be set by a user in a user-defined manner, and the value of the preset inversion time length is not limited in this embodiment.

Alternatively, the drying action may include at least one inversion of the cleaning member, and in the case where the number of inversions is at least two, the inversion time period in the first manner refers to the inversion time period of the last inversion, that is, before the last inversion, the drying action may further include at least one inversion and forward rotation, but in the present embodiment, only the last inversion is focused.

Such as: drying process of the cleaning apparatus referring to fig. 9, as can be seen from fig. 9, the drying process includes the following stages:

the first stage: the cleaning member was reversed, and the preset reversal time period was 88min, the reversal speed was 50r/min, and the reversal corresponding voltage was 2.5 volts (V).

And a second stage: the cleaning member was rotated forward for 2 minutes at a forward speed of 50r/min at a voltage of 2.5 volts (V).

According to the above flow, after the first phase is finished, the self-cleaning apparatus generates a drying stop instruction to enter the second phase.

The second way is: the drying process includes at least two drying cycles. At this time, the cleaning apparatus determines whether the current drying cycle is the last drying cycle; and generating a drying stop instruction in the case that the current drying period is the last drying period.

In the second case, if the last rotation of the cleaning member in the last drying cycle is a normal rotation, controlling the normal rotation of the cleaning member in response to a drying stop command of the cleaning apparatus, comprising: in response to a drying stop instruction of the cleaning apparatus, a drying action is performed in the last drying cycle.

At this time, in case that the current drying cycle is the last drying cycle, before controlling the cleaning member to rotate forward, it further includes: and in the last drying period, controlling the cleaning piece to rotate reversely.

Such as: referring to fig. 9, it can be seen from fig. 9 that the last drying cycle is performed as the cleaning member is rotated forward for 2min, and at this time, the cleaning device controls the cleaning member to rotate backward for 88min and then to rotate forward for 2min in response to the drying stop command.

Or, if the last rotation mode of the cleaning member in the last drying cycle is reverse rotation, controlling the cleaning member to rotate forward in response to a drying stop command of the cleaning device, including: and controlling the cleaning member to rotate forward after the drying action is performed in the last drying cycle in response to the drying stop instruction of the cleaning device. At this time, after the end of the last drying cycle, the cleaning device continues to control the cleaning member to rotate forward, so as to ensure that the cleaning member ends in a forward rotation.

Step 803, after the forward rotation period reaches the second period, controlling the cleaning member to stop rotating.

The second duration is pre-stored in the cleaning device, and the second duration may be uniformly set in the cleaning device or may be set by a user in a user-defined manner, which is not limited in this embodiment.

The last forward rotation of the cleaning member aims to reduce the interference degree between the cleaning member and the water spraying mechanism. The cleaning member only needs to rotate forward for a short time to achieve the purpose. Based on this, optionally, the second duration is less than the duration of each forward rotation of the cleaning member. Therefore, the cleaning equipment can respond to the drying stop instruction more quickly, equipment resources are saved, and drying efficiency is improved.

Specifically, the second duration is less than the duration of each forward rotation during the drying process, and/or the second duration is less than the duration of each forward rotation during the self-cleaning process.

In summary, the control method of the cleaning device provided in the embodiment controls the cleaning device to perform the drying action to dry the cleaning device; wherein the drying action comprises forward rotation and/or reverse rotation of the cleaning member and starting of the drying component corresponding to the cleaning device; controlling the cleaning member to rotate forward in response to a drying stop instruction of the cleaning device; after the forward rotation time length reaches the second time length, controlling the cleaning member to stop rotating; the problem that the motor load is large when the cleaning piece directly performs cleaning work after drying is finished can be solved; because the cleaning equipment finishes the drying process with the forward rotation, the brush hair of the cleaning piece can be combed through the forward rotation when the drying is finished, and the combing direction is consistent with the combing direction of the brush hair when the cleaning piece performs cleaning next time, so that the load of the driving motor can be reduced when the cleaning piece performs cleaning next time.

Optionally, based on the foregoing embodiments, fig. 10 is a flowchart of a control method of a cleaning apparatus according to an embodiment of the present application, where the method includes at least the following steps:

in step 1001, the cleaning member is controlled to rotate in a first direction during a self-cleaning process or a drying process.

The self-cleaning process and the drying process are described with reference to the above embodiments, and the description of the embodiments is omitted herein.

In one example, the self-cleaning process includes: the cleaning piece rotates positively, the water spraying mechanism works, and the negative pressure generator of the cleaning equipment is closed so as to clean the cleaning piece; under the condition that the forward rotation reaches a first preset time period, the cleaning piece alternately rotates forward and backward, the water spraying mechanism is closed, and the negative pressure generator of the cleaning equipment works to clean the pipeline of the cleaning equipment; under the condition that the cleaning time length of the pipeline reaches a second preset time length, the cleaning piece rotates positively, the water spraying mechanism is controlled to be started, and the negative pressure generator is controlled to be closed; then controlling the cleaning piece to alternately rotate forward and backward, closing the water spraying mechanism, and enabling the negative pressure generator of the cleaning equipment to work so as to deeply clean the cleaning equipment; wherein the cleaning member ends in a forward rotation during the deep cleaning.

In one example, the drying process includes: the cleaning piece is reversed, the water spraying mechanism is closed, the negative pressure generator is closed, and the drying component is started; and under the condition that the reverse rotation time reaches the preset reverse rotation time, the cleaning member rotates positively, the water spraying mechanism is closed, the negative pressure generator is closed, and the drying component is started.

The first direction may be either forward rotation or reverse rotation.

Step 1002, controlling the cleaning member to stop in response to a steering command of the cleaning member.

The steering command is used to trigger the cleaning member to rotate in the opposite direction. Alternatively, the steering instruction may be generated when the duration of rotation in the first direction reaches a certain duration, or may be sent by another device, and the embodiment does not limit the manner of acquiring the steering instruction.

Optionally, controlling the cleaning member to stall includes: the cleaning member is controlled to gradually slow down to stop. Specifically, the cleaning apparatus gradually reduces the driving voltage of the cleaning member, thereby controlling the cleaning member to gradually slow down to a stall.

Optionally, controlling the cleaning member to stall includes: and controlling the cleaning member to stop rotating within a preset first stopping time period. The first stall time period may be 1s, and in other embodiments, the first stall time period may be set to a shorter or longer value as needed, which is not limited in this embodiment.

Step 1003, after stopping, controlling the cleaning member to rotate in a second direction by using the starting voltage corresponding to the first speed, and controlling the cleaning member to rotate in the second direction by using the starting voltage corresponding to the second speed; or, controlling the cleaning piece to rotate in the second direction by using a starting voltage corresponding to a third speed, wherein the third speed is smaller than the first speed; the second direction is opposite to the first direction.

The first direction is reverse rotation, and the second direction is forward rotation; alternatively, the first direction is forward rotation and the second direction is reverse rotation.

In one example, the rotational speed of the cleaning member when rotated in the second direction is the second speed. In this embodiment, the cleaning member is controlled to rotate in the second direction by the starting voltage corresponding to the first speed smaller than the second speed, so that the problem that the starting current and the moment of the driving motor are large at the moment of steering are avoided, counter electromotive force can occur, and the motor is easy to damage is avoided.

In another example, in the drying process of the cleaning device, when the first direction is reverse rotation and the second direction is forward rotation, the cleaning member is controlled to rotate in the second direction by the starting voltage corresponding to the third speed after the cleaning member rotates in the second direction.

Such as: during the drying process of the cleaning device, the first speed is 70r/min, the second speed is 500r/min, and the third speed is 50r/min. At this time, the cleaning member is reversed at a rotational speed of 50 r/min; in response to the steering command, the cleaning member first controls the cleaning member to stop rotating and then to rotate forward at a rotational speed of 50r/min.

In summary, in the control method of the cleaning apparatus provided in the present embodiment, the cleaning member is controlled to rotate in the first direction during the self-cleaning process or the drying process; controlling the cleaning member to stop in response to a steering command of the cleaning member; after stopping, controlling the cleaning piece to rotate in a second direction by using the starting voltage corresponding to the first speed, and controlling the cleaning piece to rotate in the second direction by using the starting voltage corresponding to the second speed; or, controlling the cleaning piece to rotate in the second direction by using a starting voltage corresponding to a third speed, wherein the third speed is smaller than the first speed; the second direction is opposite to the first direction; the problems that the starting current and the moment of the steering moment of the driving motor are large, counter electromotive force can occur, and the motor is easy to damage can be solved; through stopping rotation firstly when turning to, then switching to turn to with less speed, then rotate with the speed of normal operating again, can guarantee that driving motor can not produce back electromotive force, improve driving motor's life.

Fifth, based on the above embodiment, fig. 11 is a flowchart of a control method of a cleaning apparatus according to an embodiment of the present application, where the method includes at least the following steps:

step 1101, in response to a steering command to the cleaning member, controlling the cleaning member to reversely rotate at a starting voltage corresponding to the first speed; the cleaning member includes reverse rotation during the self-cleaning process and/or the drying process; the cleaning device rotates the cleaning member in a normal direction while performing a cleaning operation on a surface to be cleaned.

In step 1102, after the cleaning member rotates, the cleaning member is controlled to rotate in the same direction by a start voltage corresponding to a preset speed.

In this embodiment, the reverse rotation is a rotation in a direction opposite to the previous rotation direction, unlike the reverse rotation. Such as: the last rotation direction is forward rotation, and the reverse rotation means reverse rotation. And, for example: the reverse rotation means the forward rotation when the previous rotation direction is reverse rotation.

Similarly, the same direction rotation is rotation in the same direction as the previous rotation direction. Such as: the previous rotation direction is forward rotation, and the same rotation means forward rotation. Such as: the last rotation direction is reverse rotation, and the same rotation means reverse rotation.

In this embodiment, the response of the cleaning device to the steering command includes the following two cases:

the first case, immediate response. That is, the cleaning device triggers the cleaning elements to turn immediately upon acquisition of the turn command.

In this case, the steering command may be generated during a self-cleaning process and/or a drying process. That is, during the self-cleaning process and/or the drying process, the cleaning member is rotated in one direction first, and then the cleaning member is rotated to the other direction in response to a rotation direction instruction.

In the second case, the response is delayed. That is, once the cleaning device has obtained a turn command, the cleaning member is turned after a period of time.

In this case, the steering command may be generated before the self-cleaning process and/or the drying process. Such as: after the cleaning device finishes the cleaning operation, the cleaning device determines that self-cleaning is required, and the generated self-cleaning instruction is used as a steering instruction. The cleaning device triggers the cleaning member to turn in response to the turn command in the event that the cleaning device is docked with the base.

Alternatively, the turning instruction is generated when the self-cleaning process is switched to the drying process. Such as: it takes a while to start the drying process after the end of the self-cleaning process. And after the self-cleaning process is finished, taking the generated drying instruction as a steering instruction. The cleaning device will trigger the cleaning element to turn in response to the turning command at the beginning of the drying process.

In practical implementation, the second case may also be applied to a self-cleaning process or a drying process, and the present embodiment does not limit the scenario of the delayed response.

In one example, before controlling the reverse rotation of the cleaning member at the start voltage corresponding to the first speed in response to the steering command to the cleaning member, the method further comprises: and controlling the cleaning member to rotate positively.

Accordingly, in response to a steering command to the cleaning member, controlling the reverse rotation of the cleaning member at an actuation voltage corresponding to the first speed, comprising: in response to a steering command to the cleaning member, the cleaning member is controlled to reverse at a starting voltage corresponding to the first speed.

Correspondingly, after the cleaning piece rotates, the cleaning piece is controlled to rotate in the same direction by the starting voltage corresponding to the preset speed, and the method comprises the following steps: after the cleaning member is reversed, the cleaning member is controlled to be reversed by a starting voltage corresponding to a preset speed.

In yet another example, before controlling the reverse rotation of the cleaning member at the start voltage corresponding to the first speed in response to the steering command to the cleaning member, the method further includes: the cleaning member is controlled to reverse.

Accordingly, in response to a steering command to the cleaning member, controlling the reverse rotation of the cleaning member at an actuation voltage corresponding to the first speed, comprising: in response to a steering command to the cleaning member, the cleaning member is controlled to rotate in a forward direction at a start voltage corresponding to the first speed.

Correspondingly, after the cleaning piece rotates, the cleaning piece is controlled to rotate in the same direction by the starting voltage corresponding to the preset speed, and the method comprises the following steps: after the cleaning member rotates forward, the cleaning member is controlled to rotate forward by a starting voltage corresponding to a preset speed.

In one example, the self-cleaning process includes: first self-cleaning cycle: the cleaning piece rotates positively, the water spraying mechanism works, and the negative pressure generator of the cleaning equipment is closed so as to clean the cleaning piece; under the condition that the forward rotation reaches the first preset time period, the cleaning piece alternately rotates forward and backward, the water spraying mechanism is closed, and the negative pressure generator of the cleaning equipment works to clean the pipeline of the cleaning equipment.

Second self-cleaning cycle: under the condition that the cleaning time of the pipeline reaches a second preset time, the cleaning piece rotates positively, the water spraying mechanism is started, and the negative pressure generator is closed; then the cleaning piece alternately rotates forward and backward, the water spraying mechanism is closed, and the negative pressure generator of the cleaning equipment works to deeply clean the cleaning equipment; wherein the cleaning member ends in a forward rotation during the deep cleaning.

Wherein the second self-cleaning cycle is later than the first self-cleaning cycle.

In the following, the speed setting of the cleaning members in each self-cleaning cycle will be described taking the example that the second speed is greater than the first speed and greater than the third speed. Such as: the second speed is 500r/min, the first speed is 70r/min, and the third speed is 50r/min.

Optionally, in the first self-cleaning cycle, the first speed of the cleaning member is greater than a preset speed, wherein the preset speed is a third speed.

The primary cleaning purpose during the first self-cleaning cycle is to clean the cleaning elements and the pipes. At this stage, the dirt level of the cleaning member and the pipeline is generally high, and at this time, if the rotation speed of the cleaning member is too high, dirt on the cleaning member is thrown out, which affects the self-cleaning effect. Based on this, in this embodiment, through setting up to start turning to with great speed in the first self-cleaning cycle, with less speed corotation or reversal, both can guarantee that the cleaning member turns to successfully, can guarantee again that the cleaning member can not throw away dirty, improves self-cleaning effect.

Optionally, in the second self-cleaning cycle, when the cleaning member is switched from the normal rotation to the reverse rotation, the first speed is greater than a preset speed, which is the third speed.

Since a series of forward and reverse rotation has been performed during the first self-cleaning cycle, some of the long-strip dirt may become stuck in the diverter during the forward rotation. Referring specifically to fig. 3, some hair may become lodged in the pinch on the right side of the wiper strip 34. Based on the above, in the second self-cleaning period, when the forward rotation is switched to the reverse rotation, the reverse rotation is performed at a slower speed, so that a part of dirt is carried out from the clamping seams by the cleaning member, and the self-cleaning effect is further improved.

Optionally, in a second self-cleaning cycle of the self-cleaning process, when the cleaning member is switched from reverse rotation to forward rotation, the first speed is less than the preset speed, and the preset speed is the second speed.

The cleaning purpose of the second self-cleaning cycle is mainly to clean the cleaning device deeply, at which time the cleaning members and the pipes are cleaned already in the first self-cleaning cycle, so that the degree of soiling of the cleaning members and the pipes is low, and therefore, even if rotated at a high speed, the soiling is not thrown out. Based on this, in this embodiment, by setting the second self-cleaning cycle to rotate forward at a higher rotation speed, the self-cleaning effect can be ensured, and the self-cleaning efficiency can be improved.

In one example, the drying process includes: the cleaning piece is reversed, the water spraying mechanism is closed, the negative pressure generator is closed, and the drying component is started; after the cleaning member is reversed for a certain period of time (for example, a preset reversal period of time), the cleaning member is rotated forward, the water spraying mechanism is turned off, the negative pressure generator is turned off, and the drying part is started.

Next, a description will be given of a speed setting manner of the cleaning member during the drying process, taking an example that the second speed is greater than the first speed and greater than the third speed.

Optionally, the first speed is greater than a preset speed, which is a third speed, of the cleaning member during the drying process.

In this embodiment, through setting up at less speed control cleaning member rotation at the stoving in-process, can guarantee that cleaning member stoving is even, improve the stoving effect.

In the case of the cleaning apparatus which is self-cleaned first and then dried, the direction of rotation of the cleaning member in the last time of the self-cleaning process is opposite to the direction of rotation of the cleaning member at the beginning of the drying process.

In one example, the rotational direction of the cleaning member at the last time of the self-cleaning process is a forward direction, and the rotational direction of the cleaning member at the beginning of the drying process is a reverse direction.

Since the bristles are not fluffy after the self-cleaning process, in this embodiment, the fluffy degree of the bristles can be improved by reversing the slow drying process.

In summary, the control method of the cleaning device according to the present embodiment controls the reverse rotation of the cleaning member at the start voltage corresponding to the first speed in response to the steering command to the cleaning member; after the cleaning piece rotates, controlling the cleaning piece to rotate in the same direction by a starting voltage corresponding to a preset speed; the cleaning member includes reverse rotation during the self-cleaning process and/or the drying process; the cleaning device rotates the cleaning member forward when performing a cleaning operation on a surface to be cleaned; the problem that the steering start of the driving motor is unsuccessful can be solved; the cleaning piece is controlled to turn by the starting voltage corresponding to the larger first speed when the cleaning piece turns, and in general, the starting voltage corresponding to the first speed is the starting voltage capable of ensuring that the cleaning piece turns to be successfully started, so that the cleaning piece can be ensured to turn successfully, and the self-cleaning or drying effect is ensured.

In addition, the dirt degree of the cleaning member and the pipeline is generally higher in the first self-cleaning period, and at this time, if the rotating speed of the cleaning member is too high, dirt on the cleaning member is thrown out, so that the self-cleaning effect is affected. Based on this, through setting up to start the turning to with great speed in first automatically cleaning cycle, with less speed corotation or reversal, both can guarantee that the cleaning member turns to successfully, can guarantee again that the cleaning member can not throw away dirty, improve self-cleaning effect.

In addition, since a series of forward and reverse rotation operations have been performed during the first self-cleaning cycle, some of the long-strip dirt may be caught in the catching slot during the forward rotation. Based on the above, in the second self-cleaning period, when the forward rotation is switched to the reverse rotation, the reverse rotation is performed at a slower speed, so that a part of dirt is carried out from the clamping seams by the cleaning member, and the self-cleaning effect is further improved.

In addition, the cleaning member and the pipeline are cleaned by the first self-cleaning period, so that the dirt is not thrown out even if the second self-cleaning period rotates at a high speed. Based on the self-cleaning effect can be ensured and self-cleaning efficiency can be improved by setting the second self-cleaning period to rotate forward at a higher rotating speed.

Alternatively, the number of cleaning members on the cleaning member may be at least two based on the above-described embodiments. At this time, in one example, self-cleaning the cleaning member includes: the first cleaning member and the second cleaning member are controlled to rotate simultaneously, and the water spraying mechanism is controlled to be started so as to spray water to the first cleaning member and the second cleaning member respectively through the flow divider. The self-cleaning for each cleaning member is applicable to the self-cleaning method provided in the above-described embodiment.

In the above manner, self-cleaning of at least two cleaning members is performed simultaneously, and since the types of the diverters are generally the same, the amount of water that the cleaning members are distributed is uniform. The specific reason is that: the cleaning device is provided with a diverter (refer to fig. 4B specifically) corresponding to each cleaning piece, and a control switch for controlling the channel to be conducted is not arranged at the downstream of the water pump, so that the diverter can only spray water at the same time, and self-cleaning of at least two cleaning pieces can only be performed at the same time. In addition, because the dirt degree corresponding to different cleaning members is different, if water is uniformly sprayed to different cleaning members during each self-cleaning, the self-cleaning effect of part of the cleaning members may be poor, or the self-cleaning process of the other part of the cleaning members may waste water resources.

Based on the above technical problem, in another example, a water amount distribution mechanism is added downstream of the water pump of the water spraying mechanism to distribute the self-cleaning water amount for each cleaning member. Wherein the water dispensing mechanism includes, but is not limited to: a control switch or a three-way valve with different calibers. Specifically, the water distribution mechanism is arranged on the water delivery pipeline.

At this time, self-cleaning the cleaning member includes: controlling the first cleaning member and the second cleaning member to rotate simultaneously; the water quantity distribution mechanism is controlled to perform a first action to provide a first pump water quantity for the first cleaning element and a second pump water quantity for the second cleaning element.

Alternatively, the first and second amounts of water may be preset in the cleaning device. Alternatively, the first and second amounts of water are determined based on the degree of soiling of the cleaning member, in particular, the degree of soiling is positively correlated with the amount of water pumped.

Optionally, the water pumping time period of the first cleaning member is the same as or different from the water pumping time period of the second cleaning member.

In this embodiment, the cleaning of different cleaning members is described by taking the case of cleaning different cleaning members simultaneously in the self-cleaning process, and in other embodiments, the first cleaning member and the second cleaning member may be cleaned separately in the self-cleaning process, and at this time, only the water delivery pipeline of one part of the cleaning members is controlled to be conducted by the water distribution mechanism, and the water delivery pipeline of the other part of the cleaning members is closed.

In this embodiment, through setting up water yield distribution mechanism, can realize for the clean piece nimble distribution pump water yield, improve self-cleaning's flexibility.

Alternatively, in the case where the number of cleaning members on the cleaning member may be at least two based on the above-described embodiment, the conventional cleaning apparatus has the same rotational speed and opposite directions of the different cleaning members during self-cleaning. And the rotational speed of the cleaning member during self-cleaning and the rotational speed during cleaning are generally identical for each cleaning member. Therefore, the existing self-cleaning rotation mode can cause the problem that traction force is lost in the cleaning process, so that a user needs to push the cleaning device with larger force, and the using effect of the cleaning device is poor.

In this embodiment, the cleaning member includes, when performing a cleaning operation on a surface to be cleaned: the first cleaning member is controlled to rotate positively at a fourth speed, and the second cleaning member is controlled to rotate negatively at a fifth speed, wherein the fourth speed is greater than the fifth speed.

Thus, the cleaning member can be ensured to have traction force in the front of the running direction during normal operation, and the use effect of the cleaning device is improved.

Fig. 12 is a block diagram of a control device of the cleaning apparatus according to an embodiment of the present application. The device at least comprises the following modules: a first control module 1210 and a second control module 1220.

A first control module 1210 for controlling the self-cleaning device to perform a first self-cleaning action in a first self-cleaning cycle in response to a self-cleaning instruction of the cleaning device;

a second control module 1220 for controlling the self-cleaning apparatus to perform a second self-cleaning action during a second self-cleaning cycle; the second self-cleaning cycle is located after the first self-cleaning cycle;

For relevant details reference is made to the above embodiments.

Fig. 13 is a block diagram of a control device of a cleaning apparatus according to an embodiment of the present application. The device at least comprises the following modules: a self-cleaning module 1310, a first forward module 1320, and a first stall module 1330.

A self-cleaning module 1310 for controlling the cleaning apparatus to perform a self-cleaning action, the self-cleaning action including inversion of the cleaning member;

a first forward rotation module 1320 for controlling the cleaning member to be rotated forward in response to a self-cleaning stop instruction of the cleaning apparatus during self-cleaning;

the first stopping module 1330 is configured to control the cleaning member to stop when the forward rotation period reaches the first period.

For relevant details reference is made to the above embodiments.

Fig. 14 is a block diagram of a control device of a cleaning apparatus according to an embodiment of the present application. The device at least comprises the following modules: a drying control module 1410, a second forward rotation module 1420, and a second stopping module 1430.

A drying control module 1410 for controlling the cleaning device to perform a drying action to dry the cleaning device; wherein the drying action comprises forward rotation and/or reverse rotation of the cleaning piece and starting of a drying component corresponding to the cleaning equipment;

a second normal rotation module 1420 for controlling the normal rotation of the cleaning member in response to a drying stop instruction of the cleaning apparatus;

and a second stopping module 1430 for controlling the cleaning member to stop after the forward rotation period reaches the second period.

For relevant details reference is made to the above embodiments.

Fig. 15 is a block diagram of a control device of a cleaning apparatus according to an embodiment of the present application. The device at least comprises the following modules: the third control module 1510 and the third stall module 1520, the fourth control module 1530, or the fifth control module 1540.

A third control module 1510 for controlling the rotation of the cleaning member in a first direction during a self-cleaning process or a drying process;

a third stall module 1520 for controlling the cleaning member to stall in response to a steering command of the cleaning member;

a fourth control module 1530 for controlling the cleaning member to rotate in the second direction at a start voltage corresponding to the first speed after stopping; controlling the cleaning piece to rotate in a second direction by using a starting voltage corresponding to a second speed, wherein the second speed is greater than the first speed; the second direction is opposite to the first direction; or, the fifth control module 1540 is configured to control the cleaning member to rotate in the second direction at an activation voltage corresponding to a third speed after the cleaning member is stopped, where the third speed is less than the first speed.

For relevant details reference is made to the above embodiments.

Fig. 16 is a block diagram of a control device of a cleaning apparatus according to an embodiment of the present application. The device at least comprises the following modules: a sixth control module 1610 and a seventh control module 1620.

And a sixth control module 1610, configured to control the cleaning member to reversely rotate at a start voltage corresponding to the first speed in response to a steering command to the cleaning member.

And the seventh control module 1620 is configured to control the cleaning member to rotate in the same direction by using a start voltage corresponding to a preset speed after the cleaning member rotates.

It should be noted that: the control device of the cleaning apparatus provided in the above embodiment is only exemplified by the above-described division of each functional module when the control of the cleaning apparatus is performed, and in practical application, the above-described function allocation may be performed by different functional modules according to needs, that is, the internal structure of the control device of the cleaning apparatus is divided into different functional modules to perform all or part of the functions described above. In addition, the control device of the cleaning device provided in the above embodiment and the control method embodiment of the cleaning device belong to the same concept, and the specific implementation process is detailed in the method embodiment, which is not repeated here.

Fig. 17 is a block diagram of an electronic device provided in one embodiment of the application. The electronic device may be the cleaning device described in fig. 1 or another device communicatively coupled to the cleaning device, including at least a processor 1701 and a memory 1702.

The processor 1701 may include one or more processing cores, such as: 4 core processors, 8 core processors, etc. The processor 1701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 1701 may also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1701 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 1701 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 1702 may include one or more computer-readable storage media, which may be non-transitory. Memory 1702 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1702 is used to store at least one instruction for execution by processor 1701 to implement the method of controlling a cleaning device provided by a method embodiment of the present application.

In some embodiments, the electronic device may further optionally include: a peripheral interface and at least one peripheral. The processor 1701, memory 1702, and peripheral interfaces may be connected by bus or signal lines. The individual peripheral devices may be connected to the peripheral device interface via buses, signal lines or circuit boards. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, touch display screens, audio circuitry, and power supplies, among others.

Of course, the electronic device may also include fewer or more components, as the present embodiment is not limited in this regard.

Optionally, the present application further provides a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the control method of the cleaning device of the above method embodiment.

Optionally, the present application further provides a computer product, which includes a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the control method of the cleaning apparatus of the above-described method embodiment.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

It will be apparent that the embodiments described above are merely some, but not all, embodiments of the application. Based on the embodiments of the present application, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present application.

Claims

1. A control method of a cleaning apparatus including a cleaning member and a water spraying mechanism for spraying water, the method comprising:

2. The method of claim 1, wherein the controlling the self-cleaning apparatus to perform a first self-cleaning action during a first self-cleaning cycle or controlling the self-cleaning apparatus to perform a second self-cleaning action during a second self-cleaning cycle comprises:

or,

3. The method of claim 2, wherein the step of determining the position of the substrate comprises,

the control of the water spraying mechanism to start comprises the following steps: controlling the cleaning piece to rotate positively, and controlling the water spraying mechanism to start in the process of the cleaning piece rotating positively;

4. The method according to claim 1, wherein the method further comprises:

5. The method according to claim 4, wherein the method further comprises:

Or,

6. The method according to claim 5, wherein, in the case where the current self-cleaning cycle is the last self-cleaning cycle, before the controlling the cleaning member to rotate forward, further comprising:

7. The method according to claim 1, wherein the method further comprises:

8. The method of claim 7, wherein after the controlling the cleaning apparatus to perform the drying action, further comprising:

9. The method of claim 8, wherein the method further comprises:

or,

10. The method of claim 9, wherein the controlling the cleaning member before the normal rotation in the case that the current drying cycle is the last drying cycle further comprises:

11. The method according to any one of claims 1 to 10, wherein controlling the cleaning member to rotate forward and backward comprises:

controlling the cleaning member to rotate in a first direction;

12. The method of claim 11, wherein said controlling the cleaning member to stall comprises:

the cleaning member is controlled to gradually decelerate to a standstill.

13. The method according to any one of claims 1 to 10, wherein controlling the cleaning member to rotate forward and backward comprises:

controlling the cleaning member to rotate forward;

14. A control method of a cleaning apparatus, characterized in that the cleaning apparatus includes a cleaning member that rotates in a normal direction when the cleaning apparatus performs a cleaning work on a surface to be cleaned; the method comprises the following steps:

15. The method of claim 14, wherein the method further comprises:

or,

16. The method of claim 15, wherein, in the case where the current self-cleaning cycle is the last self-cleaning cycle, the controlling the cleaning member before being rotated forward further comprises:

17. The method of claim 14, wherein the cleaning apparatus further comprises a water spray mechanism for spraying water and a negative pressure generator, the method further comprising:

18. The method of claim 17, wherein the number of self-cleaning cycles is at least two, the first preset time periods of different self-cleaning cycles are equal, and the sum of the second preset time period and the third preset time period of the deep cleaning process in the last self-cleaning cycle is greater than the sum of the second preset time period and the third preset time period in the other self-cleaning cycles.

19. The method of any one of claims 14 to 18, wherein the first time period is less than a time period of each forward rotation of the cleaning member.

20. A control method of a cleaning apparatus, characterized in that the cleaning apparatus includes a cleaning member and a drying part, the cleaning member being rotated in a normal direction when the cleaning apparatus performs a cleaning work on a surface to be cleaned; the method comprises the following steps:

21. The method of claim 20, wherein the method further comprises:

or,

Or,

22. The method of claim 21, wherein the controlling the cleaning member before the normal rotation in the case that the current drying cycle is the last drying cycle further comprises:

23. The method of claim 20, wherein prior to controlling the cleaning device to perform a drying action, further comprising:

24. The method of claim 23, wherein the controlling the cleaning apparatus to perform a drying action comprises:

25. The method of any one of claims 20 to 24, wherein the second duration is less than a duration of each forward rotation of the cleaning member.

26. A control method of a cleaning apparatus, the cleaning apparatus including a cleaning member, the method comprising:

controlling the cleaning member to rotate in a first direction during a self-cleaning process or a drying process of the cleaning device;

controlling the cleaning piece to rotate in a second direction by using a starting voltage corresponding to a second speed, wherein the second speed is greater than the first speed; or controlling the cleaning piece to rotate in the second direction by using a starting voltage corresponding to a third speed, wherein the third speed is smaller than the first speed.

27. The method of claim 26, wherein the first direction is forward rotation and the second direction is reverse rotation; alternatively, the first direction is reverse rotation, and the second direction is forward rotation.

28. The method of claim 26, wherein said controlling the cleaning member to stall comprises:

the cleaning member is controlled to gradually decelerate to a standstill.

29. The method of claim 26, wherein said controlling the cleaning member to stall comprises:

30. The method of claim 26, wherein the cleaning member is rotated in the second direction when the first direction is reversed and the second direction is normal during the drying process of the cleaning apparatus, and the cleaning member is controlled to rotate in the second direction by the activation voltage corresponding to the third speed.

31. The method of claim 26, wherein the cleaning apparatus further comprises a water spray mechanism for spraying water and a negative pressure generator, the self-cleaning process comprising:

32. A control method of a cleaning apparatus including a cleaning member, the cleaning apparatus being rotated in a normal direction when performing a cleaning operation on a surface to be cleaned, the method comprising:

33. The method according to claim 32, characterized in that the method comprises:

34. The method of claim 32, wherein the first speed is greater than the preset speed and the preset speed is a third speed during a first self-cleaning cycle of the self-cleaning process.

35. The method of claim 32, wherein the first speed is greater than the preset speed, the preset speed being a third speed, when the cleaning member is switched from forward rotation to reverse rotation during a second self-cleaning cycle of the self-cleaning process, the second self-cleaning cycle being later than the first self-cleaning cycle.

36. The method of claim 32, wherein the first speed is less than the preset speed when the cleaning member is switched from reverse to forward during a second self-cleaning cycle of the self-cleaning process, the preset speed being a second speed, the second self-cleaning cycle being later than the first self-cleaning cycle.

37. The method of claim 32, wherein the first speed is greater than the preset speed and the preset speed is a third speed during the drying of the cleaning member.

38. The method of claim 32, wherein the direction of rotation of the cleaning member at the last time of the self-cleaning process is opposite to the direction of rotation of the cleaning member at the beginning of the drying process.

39. The method of claim 38, wherein the direction of rotation of the cleaning member at the last time of the self-cleaning process is forward and the direction of rotation of the cleaning member at the beginning of the drying process is reverse.

40. The method of claim 32, wherein the cleaning apparatus further comprises a water spray mechanism for spraying water and a negative pressure generator, the self-cleaning process comprising:

41. The method of claim 32, wherein the cleaning apparatus further comprises a water spray mechanism for spraying water, a negative pressure generator, and a drying component, the drying process comprising:

42. A cleaning apparatus, characterized in that the cleaning apparatus comprises a cleaning member, a water spraying mechanism for spraying water and/or a drying part for heating;

a processor connected to the cleaning member, the water spraying mechanism, the drying section, and a memory connected to the processor, respectively, the memory storing a program for realizing the control method of the cleaning apparatus according to any one of claims 1 to 13 when the processor executes the program; alternatively, a control method of the cleaning apparatus according to any one of claims 14 to 19 is realized; alternatively, a control method of the cleaning apparatus according to any one of claims 20 to 25 is realized; alternatively, a control method of the cleaning apparatus according to any one of claims 26 to 31 is realized; alternatively, a control method of a cleaning apparatus as claimed in any one of claims 32 to 41 is implemented.

43. A computer-readable storage medium, characterized in that the storage medium has stored therein a program which, when executed by a processor, is adapted to carry out a control method of a cleaning device according to any one of claims 1 to 13; alternatively, a control method of the cleaning apparatus according to any one of claims 14 to 19 is realized; alternatively, a control method of the cleaning apparatus according to any one of claims 20 to 25 is realized; alternatively, a control method of the cleaning apparatus according to any one of claims 26 to 31 is realized; alternatively, a control method of a cleaning apparatus as claimed in any one of claims 32 to 41 is implemented.