CN116158698A - Control method of cleaning device, and storage medium - Google Patents
Control method of cleaning device, and storage medium Download PDFInfo
- Publication number
- CN116158698A CN116158698A CN202210830596.2A CN202210830596A CN116158698A CN 116158698 A CN116158698 A CN 116158698A CN 202210830596 A CN202210830596 A CN 202210830596A CN 116158698 A CN116158698 A CN 116158698A
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- Prior art keywords
- base station
- cleaning
- circuit
- charging
- rolling brush
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
Abstract
The invention discloses a control method of cleaning equipment, the cleaning equipment and a storage medium, wherein the cleaning equipment is matched with a base station for use, the cleaning equipment comprises a rolling brush, the rolling brush rotates positively when the cleaning equipment performs normal cleaning, and the rolling brush comprises forward rotation and reverse rotation when the cleaning equipment performs self-cleaning; the method comprises the following steps: judging whether the rolling brush is mounted to the base station or not; if the roll brush is mounted to the base station, an inversion circuit for driving the roll brush to invert is activated.
Description
Technical Field
The invention belongs to the technical field of cleaning devices, and particularly relates to a control method of cleaning equipment, the cleaning equipment and a storage medium.
Background
Along with the development of science and technology, the living standard of people is improved, and cleaning equipment such as dust collectors, floor washers and the like release people from complicated cleaning work, so that the cleaning equipment can keep the clean of environments such as home, office and the like, and can enable people to enjoy more idle time, thereby being favored by people.
In general, a cleaning device needs to control a motor to rotate reversely to rotate a rolling brush reversely to clean in a self-cleaning mode, however, if the self-cleaning is activated by mistake in the normal use process of a user, the use of the user is seriously affected, and even the use is safe.
Disclosure of Invention
Therefore, the invention aims to solve the technical problems that in the prior art, if the self-cleaning device is activated by mistake in the normal use process of a user, the use of the user is seriously affected, and even the use is safe.
In order to solve the technical problems, the invention provides a control method of cleaning equipment, wherein the cleaning equipment is matched with a base station for use, the cleaning equipment comprises a rolling brush, the rolling brush rotates positively when the cleaning equipment performs normal cleaning, and the rolling brush comprises forward rotation and reverse rotation when the cleaning equipment performs self-cleaning; the method comprises the following steps:
judging whether the rolling brush is mounted to the base station or not;
if the roll brush is mounted to the base station, an inversion circuit for driving the roll brush to invert is activated.
Preferably, in the control method of the cleaning apparatus, after the step of judging whether the roll brush is mounted to the base station, the method further includes: and if the rolling brush is not mounted to the base station, disabling the activation of the reversing circuit.
Preferably, in the control method of the cleaning apparatus, the determining whether the roll brush is mounted to the base station includes: judging whether a charging signal sent by a battery pack of the cleaning equipment is received or not; judging whether the rolling brush is mounted on the base station according to the charging signal;
alternatively, the determining whether the roll brush is mounted to the base station includes: judging whether a voltage signal output by a charging voltage detection circuit of the cleaning equipment is received or not; and judging whether the rolling brush is mounted on the base station according to the received voltage signal.
Preferably, in the control method of the cleaning apparatus, the determining whether the rolling brush is mounted to the base station according to the received voltage signal includes: if the voltage signal gradually rises, the rolling brush is mounted to the base station.
Preferably, in the control method of the cleaning apparatus, the step of activating a reversing circuit for driving the roller brush to reverse, if the roller brush is mounted to the base station, includes:
if the rolling brush is installed on the base station, a self-cleaning circuit for driving the cleaning equipment to perform self-cleaning is activated, the self-cleaning circuit comprises a reversing circuit for driving the rolling brush to reverse, and activating the self-cleaning circuit comprises activating the reversing circuit.
Preferably, in the control method of the cleaning device, the cleaning device includes a body, the body is provided with a battery pack and a charging interface electrically connected with the battery pack, and the base station includes a charging pair interface matched with the charging interface; wherein the judging whether the rolling brush is mounted on the base station comprises judging whether the charging interface is electrically docked with the charging docking interface; and if the charging interface is electrically connected with the charging interface in a butt joint mode, the rolling brush is installed on the base station.
Preferably, in the control method of the cleaning apparatus, one of the main body and the base station is provided with a photoelectric transmitter, and the other is provided with a photoelectric receiver; correspondingly, the judging whether the charging interface is electrically docked with the charging docking interface includes: judging whether the photoelectric receiver receives information transmitted by the photoelectric transmitter or not; and if the photoelectric receiver receives the information transmitted by the photoelectric transmitter, the charging interface is electrically connected with the charging interface.
In order to achieve the above object, the present invention also provides a cleaning apparatus for use in cooperation with a base station, the cleaning apparatus including a roller brush, the roller brush being rotated forward when the cleaning apparatus performs normal cleaning, the roller brush including forward rotation and reverse rotation when the cleaning apparatus performs self-cleaning;
the cleaning device further includes a processing module configured to determine whether the roller brush is mounted to the base station; the processing module is also used for activating a reversing circuit for driving the rolling brush to reverse when the rolling brush is installed on the base station.
Preferably, in the cleaning device, the cleaning device further comprises a body, the body is provided with a battery pack and a charging interface electrically connected with the battery pack, the battery pack is electrically connected with the processing module, and the base station comprises a charging pair interface matched with the charging interface; the battery pack is charged when the charging interface interfaces with the charging dock, the battery pack further configured to send a charging signal to the processing module when charging.
Preferably, in the cleaning apparatus, the cleaning apparatus further includes a charging voltage detection circuit for detecting a voltage across the battery pack, the charging voltage detection circuit is electrically connected with the processing module, and outputs a voltage signal to the processing module.
Preferably, in the cleaning apparatus, the cleaning apparatus further includes a switching circuit including:
the first change-over switch is connected with the reversing circuit and used for controlling the on-off of the reversing circuit; the method comprises the steps of,
the second change-over switch is connected with the forward rotation circuit and used for controlling the on-off of the forward rotation circuit;
accordingly, the processing module is configured to control whether the first switch or the second switch is turned on or not so as to control the on-off of the reverse rotation circuit or the forward rotation circuit.
Preferably, in the cleaning apparatus, the switch circuit includes an H-bridge motor control circuit, the first switch includes left and right upper arms of the H-bridge motor control circuit, and the reversing circuit is turned on when the left and right upper arms of the H-bridge motor control circuit are turned on; the second change-over switch comprises a right upper arm and a left lower arm of the H-bridge motor control circuit, and the forward rotation circuit is switched on when the right upper arm and the left lower arm of the H-bridge motor control circuit are switched on.
Preferably, in the cleaning apparatus, transistors corresponding to the upper left arm, the lower left arm, the upper right arm, and the lower right arm of the H-bridge motor control circuit are NMOS transistors.
In order to achieve the above object, the present invention also provides a computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processing module, implements the above-mentioned control method of the cleaning apparatus.
The technical scheme provided by the invention has the following advantages:
according to the invention, by judging whether the rolling brush is mounted on the base station or not, if the rolling brush is mounted on the base station, the reversing circuit for driving the rolling brush to reverse is activated, and when the rolling brush is not mounted on the base station, the reversing circuit is not activated, and the rolling brush cannot reverse, so that false activation of the rolling brush for reverse rotation during normal cleaning can be effectively avoided, and the use safety of the cleaning equipment is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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 invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a first embodiment of a control method of a cleaning apparatus of the present invention;
FIG. 2 is a schematic diagram of a second embodiment of a control method of the cleaning apparatus of the present invention;
FIG. 3 is a schematic diagram of a third embodiment of a control method of the cleaning apparatus of the present invention;
FIG. 4 is a schematic diagram of a fourth embodiment of a control method of the cleaning apparatus of the present invention;
FIG. 5 is a schematic view of an embodiment of a cleaning apparatus of the present invention;
FIG. 6 is a schematic view of a further embodiment of the cleaning apparatus of the present invention;
FIG. 7 is a schematic diagram of a switching circuit according to an embodiment of the present invention;
FIG. 8 is a schematic view of a single roll brush cleaning apparatus of the present invention in a forward rotation;
FIG. 9 is a schematic view of a dual roll brush cleaning apparatus of the present invention;
FIG. 10 is a schematic view of the dual roll brush of FIG. 9 in forward rotation;
fig. 11 is a schematic diagram of the double roller brush of fig. 9 in reverse rotation.
510-roller brush, 520-front roller brush, 530-rear roller brush.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The invention 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 invention 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 invention 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 invention, 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 invention.
The present embodiment provides a control method of a cleaning apparatus, which is applied to a cleaning apparatus, such as a sweeper, and the like, and is not limited thereto.
Implementation details of the control method of the cleaning apparatus of the present embodiment are described below, and the following details are provided only for convenience of understanding, and are not necessary to implement the present embodiment. Wherein the cleaning device may be, but is not limited to, a floor washer.
The embodiment relates to a control method of a cleaning device, wherein the cleaning device is matched with a base station for use, the cleaning device comprises a rolling brush, the rolling brush rotates positively when the cleaning device performs normal cleaning, and the rolling brush comprises forward rotation and reverse rotation when the cleaning device performs self-cleaning. It should be understood that the self-cleaning of the cleaning device means that after the cleaning device is used, the cleaning device needs to be put back to the base station to automatically clean the rolling brush, and the rolling brush is washed forcefully by water flow, so that stains are deeply broken. In the self-cleaning process, the water flow direction is the rotation direction of the rolling brush, so that cleaning equipment (such as scraping strips, door curtains and the like) can be fully cleaned, and the cleaning equipment cannot be cleaned due to pure forward rotation or reverse rotation. As shown in fig. 8, in a specific implementation, the rotation direction of the roller brush 510 is a forward direction when the cleaning operation is performed, and the roller brush 510 is rotated in a counterclockwise direction when the cleaning operation is performed, so that the counterclockwise direction of the roller brush 510 is a forward direction and the clockwise direction is a reverse direction. Taking two rolling brushes as an example, referring to fig. 9 to 11, the rolling brushes include a front rolling brush 520 and a rear rolling brush 530, when cleaning is performed, the front rolling brush 520 rotates counterclockwise, the rear rolling brush 530 rotates clockwise, the front rolling brush 520 rotates counterclockwise to be forward, and the front rolling brush 520 rotates clockwise to be reverse; the clockwise rotation is forward for the rear roller brush 530 and the counterclockwise rotation is reverse for the rear roller brush 530.
The specific flow of the first embodiment of the control method of the cleaning device of the present invention is shown in fig. 1, and specifically includes the following steps:
step S100, judging whether the rolling brush is installed on the base station or not;
it will be appreciated that the cleaning device comprises a body provided with a battery pack and a charging interface electrically connected to the battery pack, the base station comprising a charging pair interface matching the charging interface.
Specifically, determining whether the roll brush is mounted to the base station includes:
step S111, judging whether a charging signal sent by a battery pack of the cleaning equipment is received or not;
it should be noted that, when the battery pack is charged, a charging signal is generally sent to the processing module of the cleaning device, so by detecting whether the battery pack of the cleaning device sends the charging signal, it can be determined whether the charging interface is electrically connected with the charging interface.
Step S112, judging whether the rolling brush is mounted on the base station according to the charging signal.
It should be understood that when the charging signal is received, the roll brush is mounted to the base station.
It may be further determined whether the roll brush is mounted to the base station, including:
step S121, judging whether a voltage signal output by a charging voltage detection circuit of the cleaning device is received;
it should be understood that when the battery pack is charged, the voltage across the battery pack gradually increases until the preset voltage is reached, and thus the battery pack is stopped from being charged, so that whether the battery pack is charged or not is determined by detecting the voltage signal output from the charging voltage detection circuit.
Step S122, judging whether the rolling brush is mounted on the base station according to the received voltage signal.
It should be appreciated that if the charging voltage detection circuit detects an increase in voltage across the battery pack, the base station is considered to be charging the battery pack, and thus the charging interface must interface with the charging interface. For example, the charging voltage detection circuit detects a voltage of the battery pack of 5v at the first time and the voltage increases to 10v at the second time, and the battery pack is considered to be being charged.
Specifically, according to the received voltage signal, judging whether the rolling brush is mounted on the base station or not includes:
if the voltage signal gradually rises, the rolling brush is mounted to the base station.
In addition, judging whether the rolling brush is mounted on the base station or not can also comprise judging whether the rolling brush is mounted on the base station or not and judging whether the machine body is in an upright state or not, and when the condition that the rolling brush is mounted on the base station and the machine body is in the upright state is simultaneously satisfied, the reversing circuit can be activated, so that the self-cleaning of the cleaning equipment can be prevented from being started by mistake more accurately. Whether the body of the cleaning device is in an upright state or not can be detected by a sensor or a circuit. In this embodiment, when the machine body is in the upright state, the corresponding position between the bottom of the large body above the machine body and the floor brush below the machine body will be buckled, and at this time, the micro switch will be triggered, and the micro switch will send a signal to the processing module, so that it is determined whether the machine body of the cleaning device is in the upright state, whether the signal sent by the micro switch is received or not, if the signal sent by the micro switch is received, the machine body of the cleaning device is in the upright state, otherwise, the machine body of the cleaning device is not in the upright state.
Step S200, if the rolling brush is mounted to the base station, activating a reversing circuit for driving the rolling brush to reverse.
The reversing circuit is activated, that is, the reversing circuit is allowed to operate at this time, but it does not mean that the rolling brush must start reversing at this time.
Specifically, if the rolling brush is mounted to the base station, activating an inversion circuit for driving the rolling brush to invert, including:
if the rolling brush is installed on the base station, a self-cleaning circuit for driving the cleaning equipment to perform self-cleaning is activated, the self-cleaning circuit comprises a reversing circuit for driving the rolling brush to reverse, and activating the self-cleaning circuit comprises activating the reversing circuit.
According to the invention, by judging whether the rolling brush is mounted on the base station or not, if the rolling brush is mounted on the base station, the reversing circuit for driving the rolling brush to reverse is activated, and when the rolling brush is not mounted on the base station, the reversing circuit is not activated, and the rolling brush cannot reverse, so that false activation of the rolling brush for reverse rotation during normal cleaning can be effectively avoided, and the use safety of the cleaning equipment is improved.
As shown in fig. 2, a second embodiment of the present invention relates to a control method of a cleaning apparatus, and after the step S100, the method further includes:
and step S300, if the rolling brush is not mounted to the base station, disabling the activation of the reversing circuit.
It should be noted that, step S300 may be performed after step S100, before step S200, or after step S200, and is not particularly limited herein. When the rolling brush is not installed on the base station, the reverse circuit is forbidden to be activated, namely the rolling brush is forbidden to reverse, and the self-cleaning is prevented from being started by mistake.
As shown in fig. 3, a third embodiment of the present invention relates to a control method of a cleaning apparatus, the cleaning apparatus including a main body provided with a battery pack and a charging interface electrically connected to the battery pack, the base station including a charging pair interface matched with the charging interface; the step S100 includes:
step S131, determining whether the charging interface is electrically docked with the charging docking interface, and if the charging interface is electrically docked with the charging docking interface, determining that the rolling brush is mounted to the base station.
It should be appreciated that, since the charging interface is electrically docked with the charging docking interface, the cleaning device must be mounted at the base station, i.e. the roller brush is mounted to the base station, and the roller brush is mounted to the base station can be determined when the charging interface is electrically docked with the charging docking interface.
As shown in fig. 4, a fourth embodiment of the present invention relates to a control method of a cleaning apparatus, one of the main body and the base station is provided with a photo emitter, and the other is provided with a photo receiver; the step S131 includes:
step S1311, determining whether the photoelectric receiver receives the information transmitted by the photoelectric transmitter; and if the photoelectric receiver receives the information transmitted by the photoelectric transmitter, the charging interface is electrically connected with the charging interface.
It should be understood that the machine body is provided with a photoelectric transmitter, and the base station is provided with a photoelectric receiver; the base station can also be provided with a photoelectric transmitter, and the machine body is provided with a photoelectric receiver. In this way, the photoelectric transmitter transmits signals to the photoelectric receiver, for example, after the body is connected to the base, the body and the base station can realize photoelectric signal transmission (for example, signal transmission between copper wires). And if the photoelectric receiver can receive the photoelectric signal transmitted by the photoelectric transmitter, the charging interface and the charging pair interface are successfully electrically connected.
The invention also relates to a cleaning device, as shown in fig. 5, wherein the cleaning device is matched with a base station for use, the cleaning device comprises a rolling brush, the rolling brush rotates positively when the cleaning device performs normal cleaning, and the rolling brush comprises forward rotation and reverse rotation when the cleaning device performs self-cleaning; the cleaning device further comprises a processing module 310, the processing module 310 being configured to determine whether the roller brush is mounted to the base station, the processing module 310 further being configured to activate a reversing circuit for driving the roller brush to reverse when the roller brush is mounted to the base station.
Specifically, the self-cleaning of the cleaning device means that after the cleaning device is used, the cleaning device needs to be put back to a base station to automatically clean the rolling brush, and the rolling brush is forcefully washed by water flow to deeply collapse stains. The water flow direction is the rotation direction of the rolling brush in the self-cleaning process by alternating forward and reverse rotation, so that cleaning equipment (such as scraping strips, door curtains and the like) can be fully cleaned, and the cleaning equipment cannot be cleaned by simply rotating forward or reverse rotation.
In addition, the cleaning device includes a body provided with a battery pack 330 and a charging interface electrically connected with the battery pack 330, and the base station may be a charging electric pair interface including a matching with the charging interface.
Accordingly, the processing module 310 is further configured to:
judging whether a charging signal sent by a battery pack of the cleaning equipment is received or not; and judging whether the rolling brush is mounted to the base station according to the charging signal.
It should be noted that, when the battery pack is charged, a charging signal is generally sent to the processing module of the cleaning device, so by detecting whether the battery pack of the cleaning device sends the charging signal, it can be determined whether the charging interface is electrically connected with the charging interface.
The processing module 310 is further configured to:
judging whether a voltage signal output by a charging voltage detection circuit of the cleaning equipment is received or not; and judging whether the rolling brush is mounted on the base station according to the received voltage signal.
It should be understood that when the battery pack is charged, the voltage across the battery pack gradually increases until the preset voltage is reached, and thus the battery pack is stopped from being charged, so that whether the battery pack is charged or not is determined by detecting the voltage signal output from the charging voltage detection circuit.
Preferably, the cleaning device further comprises a body provided with a battery pack 330 and a charging interface electrically connected with the battery pack 330, and the base station comprises a charging pair interface matched with the charging interface; the battery pack 330 charges when the charging interface interfaces with the charging dock, the battery pack 330 further configured to send a charging signal to the processing module 310 when charging; accordingly, the processing module 310 is specifically configured to detect whether a charging signal sent by the battery pack 330 is received, and when the charging signal sent by the battery pack 330 is received, determine that the rolling brush is mounted to the base station.
It should be noted that, when the battery pack 330 is charged, a charging signal is generally sent to the processing module 310 of the cleaning device, so by detecting whether the battery pack 330 of the cleaning device sends the charging signal, it can be determined whether the charging interface is electrically connected with the charging interface.
Detecting whether the charging interface is in butt joint with the charging interface, and the cleaning device further comprises a charging voltage detection circuit 320 for detecting voltages at two ends of the battery pack 330 and outputting voltage signals to the processing module 310; the processing module 310 is specifically configured to: determining whether the battery pack 330 is being charged according to the received voltage signal; when the battery pack 330 is charging, it is determined that the charging interface is docked with the charging docking interface.
It should be understood that, when the battery pack 330 is charged, the voltage across the battery pack 330 gradually increases until the preset voltage is reached, and thus, the battery pack 330 is stopped from being charged, so that whether the battery pack 330 is charged is determined by detecting the voltage signal output from the charging voltage detection circuit. If the charging voltage detection circuit detects the increase, the base station is considered to be charging the charging packet, and the charging interface is necessarily connected with the charging interface in a butt joint mode. For example, the charging voltage detection circuit detects a voltage of the battery pack 330 of 5v at the first time and increases to 10v at the second time, and the battery pack 330 is considered to be being charged.
In addition, the processing module is further configured to: judging whether the photoelectric receiver receives information transmitted by the photoelectric transmitter or not; judging whether the cleaning equipment is in butt joint with the base station or whether the charging interface is in butt joint with the charging butt joint according to a judging result; when the charging interface is docked with the charging docking interface or the cleaning device is docked with the base station, a reversing circuit for driving the rolling brush to reverse is activated.
Specifically, the machine body is provided with a photoelectric transmitter, and the base station is provided with a photoelectric receiver; the base station can also be provided with a photoelectric transmitter, and the machine body is provided with a photoelectric receiver. In this way, the photoelectric transmitter transmits signals to the photoelectric receiver, for example, after the body is connected to the base, the body and the base station can realize photoelectric signal transmission (for example, signal transmission between copper wires).
Specifically, assuming that the photoelectric receiver can receive the photoelectric signal emitted by the photoelectric emitter, the charging interface is electrically docked with the charging interface.
The processing module is further configured to determine whether the charging interface is docked with the charging interface and whether the body of the cleaning device is in an upright state; when the charging interface is in butt joint with the charging interface and the cleaning equipment body is in an upright state, the reversing circuit is activated to work.
Whether the body of the cleaning device is in an upright state or not can be detected by a sensor or a circuit. In this embodiment, when the machine body is in the upright state, the corresponding position between the bottom of the large body above the machine body and the floor brush below the machine body will be buckled, and at this time, the micro switch will be triggered, and the micro switch will send a signal to the processing module, so that it is determined whether the machine body of the cleaning device is in the upright state, whether the signal sent by the micro switch is received or not, if the signal sent by the micro switch is received, the machine body of the cleaning device is in the upright state, otherwise, the machine body of the cleaning device is not in the upright state.
Specifically, referring to fig. 7, the cleaning apparatus further includes a switch circuit, where the switch circuit includes a first switch 341 and a second switch 342, the first switch 341 is connected to the reversing circuit and is used to control on-off of the reversing circuit, and the second switch is connected to the forward circuit and is used to control on-off of the forward circuit; accordingly, the processing module 310 is configured to control whether to turn on the first switch 341 or the second switch 342 when it is determined that the rolling brush is mounted to the base station, so as to control on-off of the reverse rotation circuit or the forward rotation circuit.
It should be understood that the first switching switch 341 is turned on, the reversing circuit is activated, and the motor driving the rotation of the rolling brush is allowed to reverse, so that the rolling brush is driven to reverse by the reverse rotation of the motor; the second change-over switch 342 is turned on, the forward rotation circuit is activated, and the motor driving the rotation of the rolling brush allows forward rotation to drive the rolling brush to rotate forward by the forward rotation of the motor.
More specifically, the switching circuit includes an H-bridge motor control circuit, the first switching switch 341 includes left and right upper arms of the H-bridge motor control circuit, and the reversing circuit is turned on when the left and right upper arms of the H-bridge motor control circuit are turned on; the second switch 342 includes a right upper arm and a left lower arm of the H-bridge motor control circuit, and is turned on by a forward rotation circuit when the right upper arm and the left lower arm of the H-bridge motor control circuit are turned on.
In this embodiment, the transistors corresponding to the upper left arm, the lower left arm, the upper right arm, and the lower right arm of the H-bridge motor control circuit are all NMOS transistors. In concrete implementation, the upper left arm and the upper right arm are also provided with booster circuits.
Specifically, the upper left arm of the H-bridge motor control circuit includes a first NMOS transistor, the upper right arm of the H-bridge motor control circuit includes a second NMOS transistor, the lower left arm of the H-bridge motor control circuit includes a third NMOS transistor, and the lower right arm of the H-bridge motor control circuit includes a fourth NMOS transistor.
Further, the cleaning device according to the present invention, as shown in fig. 6, comprises at least one processor 401; and a memory 402 communicatively coupled to the at least one processor 401; wherein the memory 402 stores instructions executable by the at least one processor 401, the instructions being executable by the at least one processor 401 to enable the at least one processor 401 to perform the method of controlling a cleaning device as described in the above embodiments.
Where the memory 402 and the processor 401 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors 401 and the memory 402 together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 401 is transmitted over a wireless medium via an antenna, which further receives and transmits the data to the processor 401.
The processor 401 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 402 may be used to store data used by processor 401 in performing operations.
The invention also relates to a computer readable storage medium storing a computer program. The computer program, when executed by the processor, implements the control method embodiments of the cleaning device described above.
That is, it will be understood by those skilled in the art that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, where the program includes several instructions for causing a device (which may be a single-chip microcomputer, a chip or the like) or a processor (processor) to perform all or part of the steps in the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. Based on the embodiments of the present invention, 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 invention.
Claims (14)
1. The control method of the cleaning equipment is characterized in that the cleaning equipment is matched with a base station for use, the cleaning equipment comprises a rolling brush, the rolling brush rotates positively when the cleaning equipment performs normal cleaning, and the rolling brush comprises a positive rotation and a reverse rotation when the cleaning equipment performs self-cleaning; the method comprises the following steps:
judging whether the rolling brush is mounted to the base station or not;
if the roll brush is mounted to the base station, an inversion circuit for driving the roll brush to invert is activated.
2. The control method of a cleaning apparatus according to claim 1, wherein after the step of judging whether the roll brush is mounted to the base station, the method further comprises: and if the rolling brush is not mounted to the base station, disabling the activation of the reversing circuit.
3. The control method of the cleaning apparatus according to claim 1, wherein the determining whether the roll brush is mounted to the base station includes: judging whether a charging signal sent by a battery pack of the cleaning equipment is received or not; judging whether the rolling brush is mounted on the base station according to the charging signal;
alternatively, the determining whether the roll brush is mounted to the base station includes: judging whether a voltage signal output by a charging voltage detection circuit of the cleaning equipment is received or not; and judging whether the rolling brush is mounted on the base station according to the received voltage signal.
4. A control method of a cleaning apparatus according to claim 3, wherein the determining whether the roll brush is mounted to the base station based on the received voltage signal comprises: if the voltage signal gradually rises, the rolling brush is mounted to the base station.
5. The control method of a cleaning apparatus according to claim 1, wherein the step of activating a reverse circuit for driving the reverse of the roll brush if the roll brush is mounted to the base station, comprises:
if the rolling brush is installed on the base station, a self-cleaning circuit for driving the cleaning equipment to perform self-cleaning is activated, the self-cleaning circuit comprises a reversing circuit for driving the rolling brush to reverse, and activating the self-cleaning circuit comprises activating the reversing circuit.
6. The control method of a cleaning apparatus according to claim 1, wherein the cleaning apparatus includes a main body provided with a battery pack and a charging interface electrically connected to the battery pack, the base station includes a charging pair interface matched with the charging interface; wherein the judging whether the rolling brush is mounted on the base station comprises judging whether the charging interface is electrically docked with the charging docking interface; and if the charging interface is electrically connected with the charging interface in a butt joint mode, the rolling brush is installed on the base station.
7. The control method of a cleaning apparatus according to claim 6, wherein one of the main body and the base station is provided with a photo emitter, and the other is provided with a photo receiver; correspondingly, the judging whether the charging interface is electrically docked with the charging docking interface includes: judging whether the photoelectric receiver receives information transmitted by the photoelectric transmitter or not; and if the photoelectric receiver receives the information transmitted by the photoelectric transmitter, the charging interface is electrically connected with the charging interface.
8. The cleaning equipment is characterized by being matched with a base station for use, wherein the cleaning equipment comprises a rolling brush, the rolling brush rotates positively when the cleaning equipment performs normal cleaning, and the rolling brush comprises a positive rotation and a reverse rotation when the cleaning equipment performs self-cleaning;
the cleaning device further includes a processing module configured to determine whether the roller brush is mounted to the base station; the processing module is also used for activating a reversing circuit for driving the rolling brush to reverse when the rolling brush is installed on the base station.
9. The cleaning device of claim 8, further comprising a body, the body having a battery pack and a charging interface electrically connected to the battery pack, the battery pack being electrically connected to the processing module, the base station including a charging pair interface that mates with the charging interface; the battery pack is charged when the charging interface interfaces with the charging dock, the battery pack further configured to send a charging signal to the processing module when charging.
10. The cleaning apparatus defined in claim 9, further comprising a charging voltage detection circuit for detecting a voltage across the battery pack, the charging voltage detection circuit being electrically connected to the processing module and outputting a voltage signal to the processing module.
11. The cleaning apparatus defined in claim 8, further comprising a switching circuit comprising:
the first change-over switch is connected with the reversing circuit and used for controlling the on-off of the reversing circuit; the method comprises the steps of,
the second change-over switch is connected with the forward rotation circuit and used for controlling the on-off of the forward rotation circuit;
accordingly, the processing module is configured to control whether the first switch or the second switch is turned on or not so as to control the on-off of the reverse rotation circuit or the forward rotation circuit.
12. The cleaning apparatus defined in claim 11, wherein the switch circuit comprises an H-bridge motor control circuit, wherein the first switch comprises an upper left arm and a lower right arm of the H-bridge motor control circuit, and wherein the inverting circuit is turned on when the upper left arm and the lower right arm of the H-bridge motor control circuit are turned on; the second change-over switch comprises a right upper arm and a left lower arm of the H-bridge motor control circuit, and the forward rotation circuit is switched on when the right upper arm and the left lower arm of the H-bridge motor control circuit are switched on.
13. The cleaning apparatus defined in claim 12, wherein the transistors corresponding to the upper left arm, the lower left arm, the upper right arm, and the lower right arm of the H-bridge motor control circuit are NMOS transistors.
14. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processing module, implements the control method of the cleaning device of any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210830596.2A CN116158698A (en) | 2022-07-15 | 2022-07-15 | Control method of cleaning device, and storage medium |
| PCT/CN2023/107250 WO2024012530A1 (en) | 2022-07-15 | 2023-07-13 | Control method for cleaning device, cleaning device, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210830596.2A CN116158698A (en) | 2022-07-15 | 2022-07-15 | Control method of cleaning device, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116158698A true CN116158698A (en) | 2023-05-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210830596.2A Pending CN116158698A (en) | 2022-07-15 | 2022-07-15 | Control method of cleaning device, and storage medium |
Country Status (2)
| Country | Link |
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| CN (1) | CN116158698A (en) |
| WO (1) | WO2024012530A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024012530A1 (en) * | 2022-07-15 | 2024-01-18 | 追觅创新科技(苏州)有限公司 | Control method for cleaning device, cleaning device, and storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10542861B2 (en) * | 2017-09-15 | 2020-01-28 | Omachron Intellectual Property Inc. | Surface cleaning apparatus |
| CN210493961U (en) * | 2019-04-17 | 2020-05-12 | 松下家电(中国)有限公司 | Floor wiping machine with self-cleaning function |
| CN112438657B (en) * | 2019-08-28 | 2022-09-06 | 苏州宝时得电动工具有限公司 | Floor sweeping robot base station, floor sweeping robot system and working method of floor sweeping robot system |
| CN111493759A (en) * | 2020-06-03 | 2020-08-07 | 江苏美的清洁电器股份有限公司 | Self-cleaning method of mopping machine, computer readable storage medium and mopping machine |
| CN113545717A (en) * | 2021-08-05 | 2021-10-26 | 科沃斯机器人股份有限公司 | Robot base station, base module of base station and robot system |
| CN216933006U (en) * | 2021-11-04 | 2022-07-12 | 苏州威摩尔智能科技有限公司 | Cleaning equipment |
| CN116158698A (en) * | 2022-07-15 | 2023-05-26 | 追觅创新科技(苏州)有限公司 | Control method of cleaning device, and storage medium |
-
2022
- 2022-07-15 CN CN202210830596.2A patent/CN116158698A/en active Pending
-
2023
- 2023-07-13 WO PCT/CN2023/107250 patent/WO2024012530A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024012530A1 (en) * | 2022-07-15 | 2024-01-18 | 追觅创新科技(苏州)有限公司 | Control method for cleaning device, cleaning device, and storage medium |
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| Publication number | Publication date |
|---|---|
| WO2024012530A1 (en) | 2024-01-18 |
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