CN116763196A

CN116763196A - Cleaning apparatus, control method of cleaning apparatus, and storage medium

Info

Publication number: CN116763196A
Application number: CN202210241480.5A
Authority: CN
Inventors: 郭振科; 杨雯
Original assignee: Dreame Technology Suzhou Co ltd
Current assignee: Dreame Technology Suzhou Co ltd
Priority date: 2022-03-11
Filing date: 2022-03-11
Publication date: 2023-09-19

Abstract

The embodiment of the application discloses cleaning equipment, a control method of the cleaning equipment and a storage medium. The cleaning apparatus includes a body assembly; a cleaning assembly mounted to the bottom of the body assembly, at least a portion of the cleaning assembly being capable of contacting an edge to be cleaned; an edge detection mechanism for detecting the edge information of the cleaning component; and the controller is connected with the edge detection mechanism and is used for: acquiring side information output by an edge detection mechanism; and controlling the cleaning equipment to execute the side leaning prompt action based on the side leaning information. According to the edge detection device, the edge detection mechanism is used for automatically detecting whether the edge is close or not and outputting prompts, and the cleaning device does not need to manually judge whether the edge area is clean in place, namely has the automatic judging capability, so that the edge cleaning efficiency is improved.

Description

Cleaning apparatus, control method of cleaning apparatus, and storage medium

Technical Field

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

Background

With the development of social economy and the improvement of the living standard of people, the requirements of people on living or working environments are also increasing. In order to reduce the workload of people in household or workplace cleaning and to alleviate the tiredness degree in the cleaning process, various floor cleaning products have been developed, such as: floor washing machines, and the like.

In the prior art, cleaning elements such as rollers, mops and the like are usually arranged at the bottom of the floor washing machine, so that floor cleaning is realized. However, for some dead-angle areas or edge areas, this may not be well achieved due to structural limitations of the floor scrubber. Some of these patents propose to install an edge cleaning member with the edge of the cleaning member beyond the edge of the floor scrubber housing to effect cleaning of the area. However, after the cleaning member is installed, the cleaning member is required to be in a state of the edgewise floor and a position of the cleaning member at any time, and the efficiency is low.

Disclosure of Invention

In order to solve the problems in the prior art, the application provides a cleaning device, a control method of the cleaning device and a storage medium. The cleaning equipment realizes the automatic detection of whether the edge is close or not, and outputs prompt information, so that the attachment of the cleaning equipment and the edge can be ensured without manual observation, and the edge cleaning effect can be improved.

The specific technical scheme provided by the embodiment of the application is as follows:

in a first aspect, there is provided a cleaning apparatus comprising:

a fuselage assembly;

a cleaning assembly mounted to the bottom of the body assembly, at least a portion of the cleaning assembly being capable of contacting an edge to be cleaned;

an edge detection mechanism to detect side information of the cleaning assembly;

and a controller connected with the edge detection mechanism, wherein the controller is used for:

acquiring the side leaning information output by the edge detection mechanism;

and controlling the cleaning equipment to execute the side leaning prompt action based on the side leaning information.

In some embodiments, the cleaning assembly comprises a roller brush comprising a first end face, the at least a portion comprising the first end face; the edge detection mechanism is mounted on the first end face.

In some embodiments, the cleaning assembly comprises a roller brush comprising a first end face, a second end face opposite the first end face, the at least a portion comprising the first end face; the cleaning device further comprises a housing, the housing shielding at least the second end face; the shell part opposite to the second end face is abutted against the second end face through an elastic piece;

the edge detection mechanism is mounted on the second end surface or on the shell part opposite to the second end surface;

the elastic piece is in a compressed state under the condition that the first end face is in contact with the edge to be cleaned; the elastic piece is in a natural state under the condition that the first end face is not contacted with the edge to be cleaned.

In some embodiments, the edge detection mechanism includes a switch assembly; the switch assembly is closed when the first end face is in contact with the edge to be cleaned, so as to output a switch-on signal, and is opened when the first end face is not in contact with the edge to be cleaned;

accordingly, the controlling the cleaning device to execute the side leaning prompting action based on the side leaning information includes:

and under the condition that the switch component outputs the on signal, controlling the cleaning equipment to execute the edge-leaning prompt action.

In some embodiments, the edge detection mechanism comprises a pressure sensor;

and under the condition that the pressure data output by the pressure sensor meets the preset pressure threshold range, controlling the cleaning equipment to execute the edge prompt action.

In some embodiments, the edge detection mechanism includes a distance sensor;

and controlling the cleaning equipment to execute the edge-leaning prompting action under the condition that the distance data output by the distance sensor is smaller than a preset distance threshold value.

In some embodiments, the cleaning device further comprises a prompting component coupled to the controller;

the controlling the cleaning device to execute the side leaning prompt action based on the side leaning information includes:

and controlling the prompt component to output a preset prompt signal based on the side information.

In some embodiments, the controller is further configured to:

determining whether to start the edge detection function;

and triggering and executing the step of controlling the cleaning equipment to execute the edging prompt action based on the edging information under the condition that the edging detection function is determined to be started.

In some embodiments, the determining whether to activate the edge detection function includes: under the condition that an edge detection instruction is received, determining to start the edge detection function;

or,

the cleaning device further comprises a sensing assembly connected with the controller, wherein the sensing assembly is used for detecting the distance between the cleaning assembly and the edge to be cleaned; the determining whether to activate the edge detection function includes: and under the condition that the sensing result output by the sensing component indicates that the distance is smaller than a preset distance, determining to start the edge detection function.

In some embodiments, the controller is further configured to:

after the cleaning equipment is controlled to execute the side-by-side prompt action, increasing the value of the current working parameter so as to enable the cleaning equipment to work based on the increased working parameter;

wherein the operating parameters include suction power of the suction motor for generating suction force; and/or the number of the groups of groups,

the rotational speed of the cleaning assembly.

In a second aspect, there is provided a control method of a cleaning apparatus, the method being used in the cleaning apparatus of the first aspect, the method comprising:

acquiring the side leaning information output by the edge detection mechanism;

In a third aspect, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, controls a cleaning apparatus, the method being for use in the cleaning apparatus of the first aspect, the method comprising:

acquiring the side leaning information output by the edge detection mechanism;

The embodiment of the application has the following beneficial effects:

1. according to the edge detection device, the edge detection mechanism is used for realizing automatic detection and output prompt of whether the edge is close or not, and the cleaning of the edge area is not needed to be judged manually, namely the cleaning equipment has the automatic judging capability, so that the edge cleaning efficiency is improved;

2. according to the application, the edge detection mechanism is arranged on the end face of the rolling brush, which is in direct contact with the cleaning edge, so that once the end face is in contact with the cleaning surface, the edge detection mechanism can realize automatic detection, thereby acquiring accurate side information and realizing accurate detection of the edge;

3. the edge detection mechanism can also be arranged on the end face of the rolling brush or the shell which is not in direct contact with the cleaning edge, and an elastic piece is arranged between the shell and the opposite end face, so that edge detection can be realized;

4. the edge detection mechanism can be a switch component, such as a limit switch, and the like, the switch component is simple in structure and convenient to use, and if collision occurs, the operation head of the switch component can retract rapidly, so that the contact system is driven to act, and the switch component is suitable for some use occasions with low precision;

5. the edge detection mechanism can be a pressure sensor, when the pressure sensor is pressed, pressure data are generated and sent to the controller, and the controller can analyze whether the edge is close or not based on the pressure data, so that the efficiency is high;

6. the edge detection mechanism can be a distance sensor, edge information is acquired through the distance sensor, the controller further carries out distance judgment, the whole response process is rapid, and the edge detection mechanism is suitable for occasions with higher precision.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic block-shaped structural view of a cleaning apparatus according to an embodiment of the present disclosure;

FIG. 2 is a flow diagram of a method of controlling a cleaning device according to an embodiment of the present disclosure;

wherein, each sign in the drawings indicates as follows:

10. a fuselage assembly; 20. a controller; 30. a cleaning assembly; 40. an edge detection mechanism; 50. a prompting component; 60. and a sensing assembly.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.

As described in the background art, in the present day, when a floor scrubber cleans dead space areas or edge areas, the dead space areas or the edge areas cannot be well reached due to structural limitations, and thus, some patents propose to install an edge cleaning member to clean the dead space areas. However, after the edge cleaning member is installed, the cleaning of the edge area still needs to be realized after the cleaning member is observed by naked eyes, the floor cleaning machine does not have the edge judging capability, and the situation that the cleaning is not clean due to carelessness of observation can occur.

In order to solve the above-described technical problems, the present applicant creatively conceived a technical solution of detecting the progress of the edge area by using an edge detection mechanism to determine whether the edge cleaning member is abutted against the edge area.

Embodiments of the first aspect of the present application provide a cleaning apparatus, referring to fig. 1, comprising a body assembly 10; a cleaning assembly 30 mounted to the bottom of the body assembly 10, wherein at least a portion of the cleaning assembly 30 is capable of contacting an edge to be cleaned; an edge detection mechanism 40 for detecting side information of the cleaning assembly 30; a controller 20 coupled to the edge detection mechanism 40, the controller 20 being configured to:

acquiring the side information output by the edge detection mechanism 40;

In real life, whether it is home, workplace or outdoors, most of the sites are bounded except for stairs, cliffs and other scenes. The edge to be cleaned is actually a space area formed by the intersection of two surfaces to be cleaned, and in general, the two surfaces to be cleaned are vertical, so that the space area is a right-angle area. It is generally considered that one side of the edge to be cleaned (the horizontal plane of the edge to be cleaned) parallel to the earth is the cleaning focus.

In cleaning using the present application, first, whether the edge to be cleaned is abutted against a vertical surface (i.e., a surface perpendicular to the ground) of the edge to be cleaned is detected by the edge detection mechanism 40, and if the edge is abutted, the cleaning assembly 30 can clean the horizontal surface of the edge to be cleaned. For some manual products, the vertical face of the edge to be cleaned can also be cleaned in the same manner.

According to the cleaning equipment provided by the embodiment of the application, the edge detection mechanism 40 is arranged to automatically detect whether the edge is close, and meanwhile, the controller 20 judges the edge information detected by the edge detection mechanism 40 to realize the output prompt of whether the edge is close. Compared with the existing cleaning equipment, the application does not need to manually judge whether the edge area is cleaned in place, namely the cleaning equipment has the automatic judging capability, so that the edge cleaning efficiency is improved.

Specifically, a cavity is provided in the body assembly 10, and the controller 20 may be fixed in the cavity. In addition, the cavity is also provided with a water tank, a pipeline, a battery, an adsorption motor and other parts. The water tank is connected to the cleaning assembly 30 installed at the bottom of the body assembly 10 through a pipe, and supplies water to the cleaning assembly 30 to achieve edge cleaning. The battery is used to power the normal operation of the controller 20, edge detection mechanism 40, etc. The body 10 also includes a handle portion for grasping by a user to facilitate movement of the entire body assembly 10. Specifically, the suction motor generates negative pressure to form suction air flow, and after the cleaning assembly lifts up dust and the like, the dust and the like are wrapped and clamped by the suction air flow to move so as to be finally collected.

In some embodiments of the present application, the cleaning assembly 30 includes a roller brush. Wherein the roller brush comprises a first end face, and at least a portion of the cleaning assembly 30 comprises the first end face; the edge detection mechanism 40 is mounted on the first end face.

Specifically, the first end face is perpendicular to the axis of the rolling brush. In the edge cleaning with the cleaning apparatus, once the cleaning apparatus approaches the edge, the edge detection mechanism 40 provided to the first end face of the roll brush acquires the side information based on the vertical face of the edge to be cleaned, and performs the side prompt through the communication connection with the controller 20. By the implementation mode, the side information can be quickly acquired and the side prompt can be output.

In some embodiments of the present application, the cleaning assembly 30 includes a roller brush. Wherein the roller brush comprises a first end surface and a second end surface opposite to the first end surface, and at least one part of the cleaning assembly 30 comprises the first end surface; the cleaning device further comprises a housing, wherein the housing at least shields the second end face; the shell part opposite to the second end face is abutted against the second end face through an elastic piece;

the edge detection mechanism 40 is mounted on the second end surface or on a housing portion opposite to the second end surface;

the elastic element is in a compressed state under the condition that the first end face is contacted with the edge to be cleaned; the elastic element is in a natural state under the condition that the first end surface is not contacted with the edge to be cleaned.

In this embodiment, the first end face and the second end face are perpendicular to the axis of the roller brush. When the cleaning device is used for cleaning, the first end face is close to the edge to be cleaned, and the second end face is far away from the edge to be cleaned. When the first end surface has abutted against the vertical surface of the edge to be cleaned, whether the edge detection mechanism 40 is mounted on the second end surface or on the housing portion opposite to the second end surface, a judgment can be made based on the signal whether the elastic member is pressed or not and/or other abutment information, so that a prompt is output. Compared to the embodiment in which the edge detection mechanism 40 is mounted on the first end surface, the present embodiment can improve the safety of the edge detection mechanism 40 in use, and prevent the edge detection mechanism 40 from being damaged due to long-term use of the cleaning apparatus or in some extreme/special cases, thereby affecting the performance of the entire cleaning apparatus.

In some embodiments of the present application, the edge detection mechanism 40 may be a switch assembly. The switch assembly is closed with the first end face in contact with the edge to be cleaned to output an on signal and is opened with the first end face out of contact with the edge to be cleaned.

Illustratively, if the switch assembly is a limit switch, the limit switch includes an operating head, a contact system, and the like.

When the limit switch is arranged on the first end face, if the first end face is close to the vertical face of the edge to be cleaned, the operation head of the limit switch is retracted due to extrusion, and the contact is driven to act so as to output a connection signal; if the first end face is not contacted with the vertical face of the edge to be cleaned, the operation head of the limit switch is still in a natural state, and the contact cannot act.

When the limit switch is installed on the second end face or on the shell opposite to the second end face, the operation head of the limit switch is connected with the elastic piece. If the first end face is close to the vertical face of the edge to be cleaned, pressure is transmitted to the second end face, so that the elastic piece is pressed, the pressure is transmitted to the operation head of the limit switch, the operation head is extruded, and the contact is driven to act, so that a connection signal is output; if the first end surface is not in contact with the vertical surface of the edge to be cleaned, the elastic element is in a natural state, and the force transmission process does not exist, so that the limit switch does not work.

Accordingly, when the switch assembly outputs the on signal, the controller 20 can control the cleaning device to execute the edge-leaning prompting action.

When the limit switch is used, the operation head can drive the contact to act only when the operation head is completely extruded due to the mechanical structure, so that the limit switch is suitable for occasions with low precision. When such a component is mounted, a good detection result is obtained by extending its operating head beyond the first end face.

In some embodiments of the present application, the edge detection mechanism 40 may be a pressure sensor. The pressure sensor can rapidly detect pressure data, and the efficiency is high.

When the pressure sensor is mounted on the first end face, the pressure sensor detects pressure data if the first end face is against the vertical face of the edge to be cleaned. Accordingly, the controller 20 determines the pressure data output from the pressure sensor, and controls the cleaning device to perform the edge-on prompt action when the pressure data output from the pressure sensor satisfies the preset pressure threshold range.

When the pressure sensor is mounted on the second end face or on the housing opposite the second end face, the pressure sensor measures the force transmitted by the elastic member through the connection with the elastic member. If the first end surface abuts against the vertical surface of the edge to be cleaned, the elastic member is pressed, and the pressure sensor detects the pressure data, so that the controller 20 determines that the specific calculation process is similar to that described above for the first end surface, and therefore, the description is omitted.

In some embodiments of the present application, the edge detection mechanism 40 may be a distance sensor that detects the relative distance between the cleaning device and the edge. Such as: infrared sensors, lidar, capacitive sensors, etc. It should be understood that the sensor is not limited thereto, and those skilled in the art may select a corresponding sensor according to actual needs.

The following describes a specific procedure for collecting and processing the side information by using the laser radar installed on the first end face:

the laser radar comprises a laser and a receiving system, wherein the laser generates and emits light pulses, and the light pulses are beaten on the vertical plane of the edge and reflected back to be finally received by a receiver. The receiver can accurately measure the propagation time of the light pulse from the emission to the reflection back. Since the speed of light is known, the distance to the edge can be calculated.

After obtaining the distance data, the controller 20 compares the distance data with a preset distance threshold, and when the distance data output by the sensor is judged to be smaller than the preset distance threshold, the controller 20 indicates that the cleaning device is close to the edge at the moment, and then the controller 20 can control the cleaning device to execute the edge-close prompting action.

When the distance sensor is mounted on the second end face or on the housing opposite the second end face, its specific detection, processing is similar to that mounted on the first end face. When the sensor is mounted on the second end surface or the housing opposite to the second end surface, it is ensured that the distance sensor is not blocked by the housing or other end surfaces of the roller, thereby affecting the detection effect.

The side information is acquired through the distance sensor, the controller 20 carries out distance judgment, the whole response process is rapid, and the method is suitable for occasions with high precision.

In some embodiments of the present application, with continued reference to FIG. 1, the cleaning device further includes a prompting assembly 50 coupled to the controller 20; accordingly, the controller 20 controls the cue component 50 to output a preset cue signal based on the side information.

In particular, the cue assembly 50 may include a control panel mounted to the airframe assembly 10. When the controller 20 determines that the edge is located, a preset edge locating signal is sent to the control panel to enable the control panel to display. Such as: the control panel can be provided with a preset text signal such as 'detected edge' and the like to prompt the user.

In addition, the warning unit 50 may further include a buzzer mounted on the body unit 10, and when the controller 20 determines that the vehicle is being bordered, the buzzer is controlled to emit a predetermined sound, such as: and sending out a preset sound signal such as 'detected edges'.

Further, the warning unit 50 may further include a vibration motor installed inside the body unit 10, and when the controller 20 determines that the vehicle is being leaned on, the vibration motor is controlled to vibrate to achieve the side warning.

It should be noted that, the prompting component 50 may be any one of a control panel, a buzzer element, and a vibration motor, or a combination of a plurality of kinds, and may be specifically determined according to actual requirements, and the selection of the prompting component 50 is not limited in the present application.

In some embodiments of the present application, the controller 20 is further configured to:

determining whether to start the edge detection function;

and triggering and executing the step of controlling the cleaning equipment to execute the edge leaning prompt action based on the edge leaning information under the condition that the starting of the edge leaning detection function is determined.

In particular implementations, the controller 20 may determine whether to activate the edge detection function by different methods.

Preferably, when the edge detection instruction is received, it is determined to activate the edge detection function.

Specifically, after the user activates the cleaning device, the cleaning device may enable the user to select whether the edge detection function needs to be activated via the prompt component 50. For example, if the prompting component 50 is a control panel, the user can select according to a selection button on the control panel. When the user presses a button, an edge detection instruction is issued to the controller 20, whereby the controller 20 determines to activate the edge detection function.

In the embodiment, the user can select whether to start the side detection function according to actual needs, so that the method is more humanized.

In addition, the controller 20 may also determine by itself whether the edge detection needs to be performed.

In this embodiment, with continued reference to FIG. 1, the cleaning apparatus further includes a sensing assembly 60 coupled to the controller 20, the sensing assembly 60 being configured to detect a distance between the cleaning assembly 30 and an edge to be cleaned.

When the sensing result outputted from the sensing assembly 60 indicates that the distance between the cleaning apparatus and the edge to be cleaned is smaller than the preset distance, it is determined that the edging detection function is started.

In the above embodiment, the controller 20 realizes automatic judgment of whether to lean or not through the sensing component 60, and the user does not need to select the sensor by himself, so that the whole process is more intelligent.

when the cleaning equipment is controlled to execute the edge prompt action, increasing the value of the current working parameter so as to enable the cleaning equipment to work based on the increased working parameter; wherein the operating parameters include suction power of the suction motor for generating suction force; and/or the number of the groups of groups,

rotational speed of the cleaning assembly 30.

If the operation parameter is the suction power of the suction motor for generating the suction force, the suction power is a very important operation parameter of most cleaning devices, and when the suction power is high, the actual use effect of the cleaning device can be good. Since the edge areas are often ignored or not cleaned in place, dust is prone to build up. According to the application, after the cleaning equipment is controlled to execute the side-leaning prompt action, the suction power of the suction motor is increased, and more dust can be sucked.

If the working parameter is the rotation speed of the cleaning assembly 30, when the cleaning assembly 30 is mainly composed of a rolling brush, the rotation speed of the cleaning assembly 30 is adjusted to be the rotation speed of the ground brush motor for driving the rolling brush to rotate. When the rotating speed of the ground brush motor is increased, the rolling brush rotates faster, so that the deep cleaning of the edge can be realized.

Further, the above-described operation parameters may include both suction power of the suction motor for generating suction force and rotation speed of the cleaning assembly 30. That is, by adjusting the two operating parameters, the cleaning ability is increased while increasing the suction force is achieved.

Based on the above embodiment, the increasing the value of the current operating parameter specifically includes:

and inquiring a preset working parameter table to determine a new working parameter with a value larger than that of the current working parameter.

Specifically, the controller 20 acquires the value of the current operation parameter, inquires a preset operation parameter table, acquires the previous operation parameter larger than the value of the current operation parameter, and determines the previous operation parameter as a new operation parameter. The controller 20 thus effects an automatic increase in the operating parameters.

The increasing the value of the current operating parameter may specifically further include:

and increasing the value of the current working parameter based on the received trigger instruction.

Specifically, the user can automatically adjust the operating parameters such as the suction power, the rotation speed, etc. based on the prompt component 50 (such as a control panel) installed on the body component 10; alternatively, the user may select the related button of the side operation mode (the value of the operation parameter corresponding to the side operation mode is greater than the value of the normal operation) on the prompt component 50 (such as the control panel), and when the controller 20 receives the trigger command sent by the user, the operation parameter may be modified based on the trigger command.

An embodiment of the second aspect of the present application provides a control method of a cleaning apparatus, the method being used in the cleaning apparatus of the embodiment of the first aspect, referring to fig. 2, the method including the steps of:

step 201, acquiring the side information output by the edge detection mechanism;

and 202, controlling the cleaning equipment to execute the edge leaning prompt action based on the edge leaning information.

In some embodiments, the controlling the cleaning device to perform the edge-on prompt action based on the edge-on information includes:

under the condition that the edge detection mechanism outputs a connection signal, controlling the cleaning equipment to execute the edge prompt action; wherein the edge detection mechanism includes a switch assembly.

under the condition that the pressure data output by the edge detection mechanism meets the preset pressure threshold range, controlling the cleaning equipment to execute the edge prompt action; wherein the edge detection mechanism comprises a pressure sensor.

controlling the cleaning equipment to execute the edge prompt action under the condition that the distance data output by the edge detection mechanism is smaller than a preset distance threshold value; wherein the edge detection mechanism comprises a distance sensor.

In some embodiments, the control method of the cleaning device further includes:

determining whether to start the edge detection function;

In some embodiments, the determining whether to activate the edge detection function includes:

under the condition that an edge detection instruction is received, determining to start an edge detection function;

or,

and under the condition that the sensing result output by the sensing component indicates that the distance between the cleaning component and the edge to be cleaned is smaller than the preset distance, determining to start the edge detection function.

when the cleaning equipment is controlled to execute the edge prompt action, increasing the value of the current working parameter so as to enable the cleaning equipment to work based on the increased working parameter;

rotational speed of the cleaning assembly.

The control method of the cleaning equipment realizes automatic detection and output prompt of whether the edge is close or not, and does not need to manually judge whether the edge area is clean in place, namely the cleaning equipment has automatic judging capability, thereby improving the edge cleaning efficiency.

An embodiment of a third aspect of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor, is used in a cleaning apparatus of an embodiment of the first aspect, the method comprising:

acquiring side information output by an edge detection mechanism;

Program portions of the technology may be considered to be "products" or "articles of manufacture" in the form of executable code and/or associated data, embodied or carried out by a computer readable medium. A tangible, persistent storage medium may include any memory or storage used by a computer, processor, or similar device or related module. Such as various semiconductor memories, tape drives, disk drives, or the like, capable of providing storage functionality for software.

All or a portion of the software may sometimes communicate over a network, such as the internet or other communication network. Such communication may load software from one computer device or processor to another. Thus, another medium capable of carrying software elements may also be used as a physical connection between local devices, such as optical, electrical, electromagnetic, etc., propagating through cable, optical cable, air, etc. Physical media used for carrier waves, such as electrical, wireless, or optical, may also be considered to be software-bearing media. Unless limited to a tangible "storage" medium, other terms used herein to refer to a computer or machine "readable medium" mean any medium that participates in the execution of any instructions by a processor.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above 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 foregoing 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.

Claims

1. A cleaning apparatus, the cleaning apparatus comprising:

a fuselage assembly;

acquiring the side leaning information output by the edge detection mechanism;

2. The cleaning apparatus defined in claim 1, wherein the cleaning assembly comprises a roller brush comprising a first end face, the at least a portion comprising the first end face; the edge detection mechanism is mounted on the first end face.

3. The cleaning apparatus defined in claim 1, wherein the cleaning assembly comprises a roller brush comprising a first end face, a second end face opposite the first end face, the at least a portion comprising the first end face; the cleaning device further comprises a housing, the housing shielding at least the second end face; the shell part opposite to the second end face is abutted against the second end face through an elastic piece;

4. A cleaning device according to claim 2 or claim 3, wherein the edge detection mechanism comprises a switch assembly; the switch assembly is closed when the first end face is in contact with the edge to be cleaned, so as to output a switch-on signal, and is opened when the first end face is not in contact with the edge to be cleaned;

5. A cleaning device according to claim 2 or 3, wherein the edge detection mechanism comprises a pressure sensor;

6. A cleaning device according to claim 2 or 3, wherein the edge detection mechanism comprises a distance sensor;

7. The cleaning apparatus of claim 1, further comprising a prompting assembly coupled to the controller;

8. The cleaning apparatus of claim 1, wherein the controller is further configured to:

determining whether to start the edge detection function;

9. The cleaning apparatus of claim 8, wherein the cleaning device comprises a cleaning device,

the determining whether to activate the edge detection function includes: under the condition that an edge detection instruction is received, determining to start the edge detection function;

or,

10. The cleaning apparatus of claim 1, wherein the controller is further configured to:

the rotational speed of the cleaning assembly.

11. A method of controlling a cleaning apparatus, wherein the method is used in the cleaning apparatus of any one of claims 1 to 10, the method comprising:

acquiring the side leaning information output by the edge detection mechanism;

12. A computer readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, is used in a cleaning apparatus as claimed in any one of claims 1 to 10, the method comprising:

acquiring the side leaning information output by the edge detection mechanism;