CN116807328A

CN116807328A - Control method of cleaning device, cleaning device and storage medium

Info

Publication number: CN116807328A
Application number: CN202210277718.XA
Authority: CN
Inventors: 郭振科; 杨雯
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2022-03-21
Filing date: 2022-03-21
Publication date: 2023-09-29

Abstract

The application relates to a control method of cleaning equipment, the cleaning equipment and a storage medium, and belongs to the technical field of automatic control. The method comprises the following steps: acquiring a moving state of the cleaning equipment, wherein the moving state comprises a forward state and a backward state, and the working modes of the cleaning mechanism and the wheel body in the forward state are different from the working modes of the cleaning mechanism and the wheel body in the backward state respectively; selecting an operating mode of at least one of the cleaning mechanism and the wheel on the cleaning device based on the movement status; controlling the cleaning device to execute cleaning according to the selected and determined working mode; the problem that the cleaning effect of the cleaning equipment is poor when the cleaning equipment uses a fixed working mode possibly in a partial moving state can be solved; since different operation modes can be selectively determined based on different movement states of the cleaning apparatus, the cleaning effect of the cleaning apparatus can be improved.

Description

Control method of cleaning device, cleaning device and storage medium

Technical Field

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

Background

The cleaning device refers to a device having a cleaning function for cleaning a surface to be cleaned.

Taking cleaning equipment as a floor washer as an example, the conventional floor washer control method comprises the following steps: the cleaning mechanism is controlled to operate in a fixed mode of operation.

However, the use of a fixed mode of operation of the cleaning device may not perform well in a partially mobile state.

Disclosure of Invention

The application provides a control method of a cleaning device, the cleaning device and a storage medium, which can solve the problem that the cleaning effect of the cleaning device is poor when the cleaning device uses a fixed working mode in a partial moving state. The application provides the following technical scheme:

in a first aspect, a method of controlling a cleaning apparatus, the cleaning apparatus comprising a cleaning mechanism and a wheel; the wheel body can drive the cleaning equipment to advance or retreat; the cleaning mechanism comprises a cleaning piece and a cleaning driving piece connected with the cleaning piece; the cleaning driving piece drives the cleaning piece to rotate towards the advancing direction of the cleaning device under the condition that the cleaning device executes cleaning work on the surface to be cleaned; the method comprises the following steps:

acquiring a moving state of the cleaning equipment, wherein the moving state comprises a forward state and a backward state, and the working modes of the cleaning mechanism and the wheel body in the forward state are different from the working modes of the cleaning mechanism and the wheel body in the backward state respectively;

Selecting an operating mode of at least one of a cleaning mechanism and a wheel on the cleaning device based on the movement status;

and controlling the cleaning equipment to execute cleaning operation according to the operation mode determined by the selection.

Optionally, the cleaning device further includes a movement driving mechanism connected to the wheel body, where the movement driving mechanism is used to drive the wheel body to rotate, and the movement driving mechanism has different working modes in the forward state and the backward state; the method further comprises the steps of:

based on the acquired movement state, an operation mode of the movement driving mechanism is selected and determined.

Optionally, the operation modes of the movement driving mechanism include:

the cleaning equipment is in a forward state, and the mobile driving mechanism is not started;

the cleaning equipment is in a retreating state, the movable driving mechanism is started, and the movable driving mechanism drives the wheel body to move so as to move towards the retreating direction of the cleaning equipment.

Optionally, the operation modes of the movement driving mechanism include:

when the moving state is the advancing state, the moving driving mechanism works with a first driving power and a first driving direction, and the first driving direction is the advancing direction of the cleaning equipment;

When the moving state is the retreating state, the moving driving mechanism works in a second driving power and a second driving direction, and the second driving direction is opposite to the first driving direction and is the retreating direction of the cleaning equipment;

wherein the second drive power is greater than the first drive power.

Optionally, the cleaning apparatus further comprises a water spraying mechanism, the method further comprising: selecting and determining the working mode of the water spraying mechanism based on the acquired movement state;

determining that the water spraying amount of the water spraying mechanism is a first water amount under the condition that the moving state is the advancing state;

and under the condition that the moving state is the retreating state, determining that the water spraying amount of the water spraying mechanism is a second water amount, wherein the second water amount is smaller than the first water amount.

Optionally, the cleaning device further comprises a water absorbing mechanism, the method further comprising: selecting and determining the working mode of the water absorbing mechanism based on the acquired moving state;

determining that the water absorption power of the water absorption mechanism is the first water absorption power under the condition that the moving state is the advancing state;

and under the condition that the moving state is the retreating state, determining that the water absorption power of the water absorption mechanism is second water absorption power, wherein the second water absorption power is larger than the first water absorption power.

Optionally, the operation mode of the cleaning driving member includes:

determining that the cleaning drive power of the cleaning drive member is a third drive power in the case where the moving state is the forward state;

and determining that the cleaning driving power of the cleaning driving member is a fourth driving power, which is smaller than the third driving power, in the case that the moving state is the retreating state.

Optionally, after the controlling the cleaning device performs the cleaning operation according to the operation mode, the method further includes:

under the condition that a mode switching instruction is received, acquiring a designated working mode corresponding to the mode switching instruction;

and updating the working mode into the appointed working mode, wherein the appointed working mode is the working mode used under the condition that the moving state is determined next time.

In a second aspect, there is provided a cleaning apparatus comprising:

a cleaning mechanism including a cleaning member and a cleaning drive member;

the wheel body can drive the cleaning equipment to advance or retreat;

a processor and a memory; the processor is in communication with the cleaning drive; the memory stores therein a program loaded and executed by the processor to realize the control method of the cleaning apparatus provided in the first aspect.

In a third aspect, there is provided a computer-readable storage medium, wherein a program is stored in the storage medium, which program, when executed by a processor, is adapted to carry out the control method of the cleaning apparatus provided in the first aspect.

The beneficial effects of the application at least comprise: by acquiring the moving state of the cleaning device, the moving state comprises a forward state and a backward state, and the working modes of the cleaning mechanism and the wheel body in the forward state are different from the working modes of the cleaning mechanism and the wheel body in the backward state respectively; selecting an operating mode of at least one of the cleaning mechanism and the wheel on the cleaning device based on the movement status; controlling the cleaning device to execute cleaning according to the selected and determined working mode; the problem that the cleaning effect of the cleaning equipment is poor when the cleaning equipment uses a fixed working mode possibly in a partial moving state can be solved; since different operation modes can be selectively determined based on different movement states of the cleaning apparatus, the cleaning effect of the cleaning apparatus can be improved.

In addition, the working mode of the wheel body on the cleaning device is selected and determined based on the moving state, so that the problem that the wheel body blocks the movement of the cleaning device when the cleaning device is in a partial moving state because the working mode of the wheel body is fixed in the traditional cleaning device and the moving direction of the cleaning device is opposite to the driving direction of the wheel body can be solved.

In addition, the movable driving mechanism is started only when the cleaning equipment moves backwards so as to drive the wheel body to rotate in the backward direction of the cleaning equipment, so that the driving direction of the wheel body is consistent with the moving direction of the cleaning equipment, and the wheel body can assist the cleaning equipment to move.

In addition, because the cleaning piece rotates to the advancing direction of the cleaning equipment, the cleaning piece can assist the cleaning equipment to move when the cleaning equipment is in the advancing state, and at the moment, the wheel body is not driven to rotate, so that the electric quantity of the cleaning equipment can be saved.

In addition, the moving driving mechanism drives the wheel body to rotate in the advancing direction of the cleaning equipment when the moving state is the advancing state, and drives the wheel body to rotate in the retreating direction of the cleaning equipment when the moving state is the retreating state, so that the driving direction of the wheel body is the same as the moving direction of the cleaning equipment, and the wheel body can assist the cleaning equipment to move.

In addition, the rotation of the cleaning member can assist the cleaning device to move when the moving state is the forward state, and can prevent the cleaning device from moving when the moving state is the backward state, so that the driving power of the moving driving mechanism in the forward state is smaller than that in the backward state, the moving speed of the cleaning device in the forward state and the backward state can be kept stable, and the cleaning effect of the cleaning device is improved.

In addition, since the operation mode of the cleaning driving member is selected and determined based on the moving state, the problem that the driving force required for retreating the cleaning device is excessively large due to the fact that the operation mode of the cleaning member is fixed in the conventional cleaning device can be solved; since the cleaning drive power of the cleaning drive member when the cleaning apparatus is in the retreating state is smaller than the cleaning drive power when the cleaning apparatus is in the advancing state, the speed at which the cleaning member rotates when the cleaning apparatus is in the retreating state can be reduced to reduce the effect of the cleaning member rotation that hinders the retreating of the cleaning apparatus, thereby reducing the driving force required for the retreating of the cleaning apparatus.

In addition, because the working mode of the water spraying mechanism is selected and determined based on the acquired moving state, the problem that in the traditional cleaning equipment, the working mode of the water spraying mechanism is fixed, so that the cleaning equipment generates more water stains in a backward state than in a forward state and the cleaning effect in the backward state is poor can be solved; because the water spray quantity in the backward state is smaller than that in the forward state, the water stain generated when the cleaning equipment is in the backward state can be reduced, and the cleaning effect of the cleaning equipment is enhanced.

In addition, because the working mode of the water absorbing mechanism is selected and determined based on the acquired moving state, the problem that in the traditional cleaning equipment, the working mode of the water absorbing mechanism is fixed, and the cleaning equipment generates more water stains in the backward state than in the forward state, so that the cleaning effect of the cleaning equipment is poor in the backward state can be solved; because the water absorption power in the backward state is greater than that in the forward state, the sewage amount absorbed by the cleaning equipment in the backward state can be increased, so that water stains generated in the backward state are reduced, and the cleaning effect of the cleaning equipment is enhanced.

In addition, the working mode corresponding to the moving state is updated according to the mode switching instruction, so that the problem that the working mode corresponding to the moving state does not accord with the use habit of a user can be solved; after the cleaning equipment receives the mode switching instruction, the working mode corresponding to the current moving state is updated to the appointed working mode corresponding to the mode switching instruction, so that the cleaning equipment is controlled to work in the appointed working mode under the condition that the moving state is determined next time, and the intelligent degree of the cleaning process can be improved.

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 is a schematic view of a cleaning apparatus according to one embodiment of the present application;

FIG. 2 is a flow chart of a method of controlling a cleaning apparatus provided in one embodiment of the present application;

FIG. 3 is a block diagram of a control device for a cleaning apparatus provided in one embodiment of the present application;

fig. 4 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 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, vertical 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 directional terms are not used to limit the application.

Fig. 1 is a schematic view of a cleaning apparatus according to an embodiment of the present application. Wherein the cleaning apparatus includes, but is not limited to: the cleaning device is not limited to the type of the cleaning device in this embodiment. The surface to be cleaned may be a floor, a table top, a wall, a solar cell surface, etc., and the type of the surface to be cleaned is not limited in this embodiment. The cleaning apparatus includes at least a cleaning base 1010, a cleaning mechanism 1020, a wheel 1030, and a controller 1040.

The cleaning base 1010 is used to fix the wheel 1030 and the cleaning mechanism 1020, and the shape of the cleaning base 1010 may be a regular geometric body, such as a circle, a square, or may be configured into other shapes according to practical application scenarios, which is not limited to the shape of the cleaning base 1010 in this embodiment.

The cleaning base 1010 primarily serves a protective and supporting function. The cleaning base 1010 may be integrally formed or may be a detachable structure, and the implementation of the cleaning base 1010 is not limited in this embodiment.

The cleaning mechanism 1020 is a mechanism that contacts the surface to be cleaned to clean the surface to be cleaned when the cleaning apparatus performs a cleaning operation.

Alternatively, the cleaning mechanism 1020 includes a cleaning member 1021 and a cleaning drive member 1022, and in the case where the cleaning device performs a cleaning operation on a surface to be cleaned, the cleaning drive member 1022 rotates the cleaning member 1021 in the advancing direction of the cleaning device. In other words, in the present embodiment, the rotation direction of the cleaning member 1021 is fixed, and the rotation direction of the cleaning member 1021 is the advancing direction of the cleaning apparatus.

In this embodiment, the forward direction of the cleaning device is taken as the front end of the cleaning device.

The cleaning driving member 1022 may be a motor, or any assembly having a driving function, and the present embodiment is not limited in type of the cleaning driving member 1022.

In one example, the cleaning member 1021 is cylindrical, and in this case, the cleaning member 1021 may be a roller brush. When the cleaning apparatus performs a cleaning operation on a surface to be cleaned, a side surface of the cleaning member 1021 contacts the surface to be cleaned.

Accordingly, the cleaning driving member 1022 is installed on the bottom surface of the cleaning member 1021 to drive the cleaning member 1021 to rotate in the advancing direction of the cleaning device with the axis of the cleaning member 1021 as the axis.

Since the cleaning member 1021 rotates in the advancing direction of the cleaning apparatus with the axis as the axis, a forward friction force is generated when the cleaning member 1021 comes into contact with the surface to be cleaned. In the case where the moving state is the advancing state, since the direction of the frictional force is the same as the moving direction of the cleaning device, the rotation of the cleaning member 1021 can assist the cleaning device to move; in the case where the moving state is the retreated state, the direction of the frictional force is opposite to the moving direction of the cleaning device, and thus, the rotation of the cleaning member may hinder the movement of the cleaning device.

In actual implementation, the cleaning apparatus may also include other types of cleaning mechanisms 1020, such as: brushes or wipes, etc., the number and implementation of the cleaning mechanisms 1020 are not limited in this embodiment.

Wheel 1030 is used to drive the cleaning device forward or backward. Typically, the wheel 1030 is mounted to the bottom of the cleaning base 1010, such as: the mounting position of the wheel 1030 is not limited in this embodiment, and may be at the bottom center, the bottom front end, and/or the bottom edge.

Wherein, advancing means: the cleaning device is moved in the forward direction.

The backward refers to: the cleaning device is moved in a direction opposite to the forward direction.

Alternatively, the wheel 1030 may be circular or spherical, and the implementation of the wheel 1030 is not limited in this embodiment.

In one example, the wheel 1030 may be circular in shape, and the wheel 1030 may rotate in a forward direction of the cleaning device to drive the cleaning device forward, or may rotate in a backward direction of the cleaning device to drive the cleaning device backward.

Wherein, the backward direction means: opposite to the direction of advance.

Alternatively, the number of wheels 1030 mounted on the cleaning apparatus may be one or at least two, and the number of wheels 1030 is not limited in this embodiment.

The controller 1040 may be a micro control unit installed inside the cleaning apparatus, or any component having a control function, and the present embodiment is not limited in type of the controller 1040.

In this embodiment, the controller 1040 is configured to: acquiring a moving state of the cleaning device, wherein the moving state comprises a forward state and a backward state, and the working modes of the cleaning mechanism 1020 and the wheel 1030 in the forward state are different from the working modes in the backward state respectively; selecting an operating mode of at least one of the cleaning mechanism 1020 and the wheel 1030 on the cleaning device based on the movement status; the cleaning device is controlled to perform a cleaning operation according to the selected determined operation mode.

In one example, the cleaning drive 1022 is coupled to the controller 1040 to rotate the cleaning elements under the control of the controller 1040.

Optionally, to control the operation mode of the wheel 1030, the cleaning apparatus further includes a movement driving mechanism 1050 connected to the wheel 1030, wherein the movement driving mechanism 1050 is connected to the controller 1040 to rotate the wheel 1030 under the control of the controller 1040.

The movement drive mechanism 1050 may be a motor, or any mechanism having a drive function, and the present embodiment is not limited in type of the movement drive mechanism 1050.

Optionally, the cleaning apparatus further includes a water spray mechanism 1060 and a clean water tank 1070. The cleaning water tank 1070 is used to hold cleaning liquid to clean the surface to be cleaned. The cleaning solution tank 1070 includes one or at least two accommodating chambers, and when the number of accommodating chambers is at least two, cleaning solutions stored in different accommodating chambers are the same or different.

The cleaning solution may be clear water, or may be a mixture of water and a cleaning agent, which is not limited in the type of the cleaning solution in this embodiment.

One end of the water spray mechanism 1060 is connected to the clean water tank 1070 and the other end is directed toward the cleaning mechanism 1020 to deliver the liquid in the clean water tank 1070 to the cleaning mechanism 1020.

Illustratively, the water spray mechanism 1060 includes a water pump and a water conduit connected to the water pump. Wherein, the water pump is located the conduit, and the conduit's one end links to each other with the clean water tank 1070, and the other end is towards clean mechanism 1020.

In one example, the water spraying mechanism 1060 is connected to the controller 1040 to control the water spraying mechanism 1060 to spray water to the cleaning mechanism 1020 or the surface to be cleaned to enhance the cleaning effect of the surface to be cleaned when the cleaning apparatus performs a cleaning operation.

Optionally, the cleaning apparatus further comprises a suction mechanism 1080 and a sump 1090. The sump 1090 serves to contain the sewage after the surface to be cleaned is cleaned. The suction mechanism 1080 is used to suck up sewage on the surface to be cleaned and convey the sewage to the sewage tank 1090.

Illustratively, the suction mechanism 1080 comprises a suction motor (or main motor) and a suction conduit cooperating with the suction motor. The water sucking motor is connected with the sewage tank 1090 and is used for sucking air in the sewage tank 1090 so that negative pressure is formed in the sewage tank 1090; one end of the water suction pipe is connected to the sewage tank 1090, and the other end faces the cleaning mechanism 1020. When the air pressure in the sewage tank is smaller than the air pressure in the external environment, the water suction pipe sucks the sewage of the surface to be cleaned and conveys the sewage to the sewage tank 1090.

In one example, the water sucking mechanism 1080 is connected to the controller 1040 to control the water sucking mechanism 1080 to suck the sewage of the surface to be cleaned and convey the sewage to the sewage tank 1090 to promote the cleaning effect of the surface to be cleaned when the cleaning device performs the cleaning work.

Optionally, the cleaning apparatus further comprises an operation lever 1100 having one end connected to the cleaning base 1010, and the other end of the operation lever is provided with a handle. The lever 1100 is used to push the cleaning device forward under the action of external force or to pull the cleaning device backward.

Optionally, the lever 1100 is rotatably connected to the cleaning base 1010, that is, the angle between the lever 1100 and the cleaning base 1010 is variable.

In one example, the angle between the lever 1100 and the rear side of the cleaning base 1010 ranges from 30 ° to 100 °. In practical implementation, the range of the angle between the operating lever 1100 and the cleaning base 1010 can be set according to practical needs, and the range of the angle between the operating lever 1100 and the cleaning base 1010 is not limited in this embodiment.

The lever 1100 may be mounted on top of the cleaning base 1010, such as: the mounting position of the lever 1100 is not limited in this embodiment, and is mounted at a top center position, a top rear end, and/or a top edge.

In actual implementation, the cleaning device may also include other components, such as: batteries, heating elements, etc., the cleaning device of this embodiment will not include elements that are listed here.

In this embodiment, by acquiring the moving state of the cleaning device, the moving state includes a forward state and a backward state, and the working modes of the cleaning mechanism and the wheel body in the forward state are different from the working modes in the backward state, respectively; selecting an operating mode of at least one of the cleaning mechanism and the wheel on the cleaning device based on the movement status; controlling the cleaning device to execute cleaning according to the selected and determined working mode; the problem that the cleaning effect of the cleaning equipment is poor when the cleaning equipment uses a fixed working mode possibly in a partial moving state can be solved; since different operation modes can be selectively determined based on different movement states of the cleaning apparatus, the cleaning effect of the cleaning apparatus can be improved.

The control method of the cleaning apparatus provided by the present application will be described in detail.

The control method of the cleaning device provided in this embodiment is shown in fig. 2. This embodiment will be described taking the method as an example for use in the cleaning apparatus shown in fig. 1. In other embodiments, it may be performed by other devices communicatively coupled to the cleaning device, such as: the cleaning device is remotely controlled by a device such as a mobile phone, a computer, a tablet computer, and the like, and the implementation manner of other devices and the execution subject of each embodiment are not limited in this embodiment. The control method of the cleaning device at least comprises the following steps:

Step 201, a movement state of the cleaning device is acquired.

The moving state comprises a forward state and a backward state, and the working modes of the cleaning mechanism and the wheel body in the forward state are different from the working modes of the cleaning mechanism and the wheel body in the backward state.

Optionally, the manner of acquiring the movement state of the cleaning device includes, but is not limited to, the following:

first kind: the cleaning device determines a movement state of the cleaning device based on the collected sensing information.

Alternatively, the sensing information may be environmental information of the working environment of the cleaning device, or may be working information of a device component in the cleaning device, and the type of the sensing information is not limited in this embodiment.

Accordingly, the collection components of the different types of sensing information are the same or different, and the type of the collection components is not limited in this embodiment.

Second kind: the cleaning device receives the movement state of the cleaning device transmitted by the other devices. The other devices are in communication connection with the cleaning device, and the other devices may be a remote controller, a mobile phone, a tablet computer, a wearable device, etc., and the embodiment does not limit the device types of the other devices.

In one example, the other device is a camera, where the camera is configured to acquire an area image of an area to be cleaned, determine a movement state of the cleaning device based on the area images acquired at different times, and transmit the movement state to the cleaning device.

In another example, the other device is a mobile phone or a tablet computer, and at this time, the mobile phone or the tablet computer is used for acquiring an area image of an area to be cleaned, determining a moving state of the cleaning device based on the area images at different moments, and sending the moving state to the cleaning device.

In actual implementation, the manner in which the cleaning device obtains the moving state may be other manners, and the present embodiment does not limit the manner in which the moving state is obtained.

Step 202, determining an operating mode of at least one of a cleaning mechanism and a wheel on a cleaning device based on a movement status selection.

In this embodiment, the cleaning mechanism includes a cleaning member and a cleaning driving member for driving the cleaning member to rotate in a forward direction of the cleaning apparatus.

In the conventional cleaning apparatus, the operation mode of the wheel body is fixed, which causes a problem in that the wheel body hinders the movement of the cleaning apparatus in a partially moved state in which the movement direction of the cleaning apparatus is opposite to the driving direction of the wheel body.

Based on the above-described problems, in the present embodiment, the operation mode of the upper wheel of the cleaning apparatus is selectively determined based on the movement state.

In this embodiment, the cleaning apparatus further includes a movement driving mechanism connected to the wheel body, where the movement driving mechanism is used to drive the wheel body to rotate.

Wherein the movement driving mechanism has different working modes in a forward state and a backward state.

Accordingly, determining an operating mode of the upper wheel of the cleaning device based on the movement state selection comprises: based on the acquired movement state, an operation mode of the movement driving mechanism is selected and determined.

Optionally, the operating mode of the mobile drive mechanism includes, but is not limited to, the following:

first kind: the cleaning equipment is in a forward state, and the mobile driving mechanism is not started; the cleaning equipment is in a retreating state, the movable driving mechanism is started, and the movable driving mechanism drives the wheel body to move so as to move towards the retreating direction of the cleaning equipment.

Since the movement driving mechanism is started only when the cleaning device moves backwards to drive the wheel body to rotate towards the backward direction of the cleaning device, the driving direction of the wheel body can be consistent with the moving direction of the cleaning device, and the wheel body can assist the cleaning device to move backwards.

In addition, because the cleaning piece rotates in the advancing direction of the cleaning equipment, the cleaning piece can assist the cleaning equipment to move when the cleaning equipment is in the advancing state, and at the moment, the wheel body is not driven to rotate, so that the electric quantity of the cleaning equipment can be saved; and when the cleaning device is in a retreating state, the cleaning device can be prevented from moving by the rotation of the cleaning piece, and at the moment, the wheel body is driven to rotate in the retreating direction of the cleaning device, so that assistance can be provided for the movement of the cleaning device, and the cleaning device is assisted to move backwards.

Second kind: when the moving state is a forward state, the moving driving mechanism works with a first driving power and a first driving direction; when the moving state is a reverse state, the moving drive mechanism operates with the second drive power and the second drive direction.

The first driving direction is the forward direction of the cleaning device, the second driving direction is opposite to the first driving direction, the first driving direction is the backward direction of the cleaning device, and the second driving power is larger than the first driving power.

Optionally, the first driving direction, the second driving direction, the first driving power and the second driving power are pre-stored in the cleaning device.

The movable driving mechanism drives the wheel body to rotate in the advancing direction of the cleaning equipment when the moving state is the advancing state, and drives the wheel body to rotate in the retreating direction of the cleaning equipment when the moving state is the retreating state, so that the driving direction of the wheel body is the same as the moving direction of the cleaning equipment, and the wheel body can assist the cleaning equipment to move.

In addition, when the moving state is the forward state, the rotation of the cleaning member can assist the cleaning device to move, and when the moving state is the backward state, the rotation of the cleaning member can prevent the cleaning device from moving, so that the driving power of the moving driving mechanism in the forward state is smaller than that in the backward state, the moving speed of the cleaning device in the forward state and the backward state can be kept stable, and the cleaning effect of the cleaning device is improved.

Since the cleaning member assists the cleaning apparatus to advance during rotation and also prevents the cleaning apparatus from retreating, in the conventional cleaning apparatus, the operation mode of the cleaning member is fixed, which causes a problem that the driving force required for retreating the cleaning apparatus is excessively large.

Based on the above-described problems, in the present embodiment, determining an operation mode of a cleaning mechanism on a cleaning apparatus based on a movement state selection includes: an operating mode of the cleaning drive is determined based on the movement state selection.

Wherein the cleaning drive member has different modes of operation in the forward state and the reverse state.

Optionally, the operating modes of the cleaning drive include: determining that the cleaning driving power of the cleaning driving member is a third driving power in the case that the moving state is the forward state; in the case where the moving state is the retreating state, the cleaning drive power of the cleaning drive member is determined to be the fourth drive power.

Wherein the fourth driving power is smaller than the third driving power.

Optionally, the third driving power and the fourth driving power are stored in the cleaning device in advance.

In this embodiment, since the cleaning drive power of the cleaning drive member when the cleaning apparatus is in the reverse state is smaller than the cleaning drive power when the cleaning apparatus is in the forward state, the speed at which the cleaning member rotates when the cleaning apparatus is in the reverse state can be reduced to reduce the effect of the cleaning member rotation blocking the reverse of the cleaning apparatus, thereby reducing the driving force required for the reverse of the cleaning apparatus.

In this embodiment, the cleaning mechanism includes a water spray mechanism. The water spraying mechanism is used for conveying water to the cleaning piece when the cleaning device performs cleaning work, and the cleaning piece rotates in the advancing direction of the cleaning device, so that water stains generated in the cleaning process are positioned at the front end of the cleaning device. In the conventional cleaning apparatus, the operation mode of the water spraying mechanism is fixed, which results in a problem that the cleaning apparatus generates more water stains in the backward state than in the forward state, and the cleaning effect is poor in the backward state.

Based on the above-described problems, in the present embodiment, the operation mode of the water spraying mechanism is selected and determined based on the acquired movement state; under the condition that the moving state is the forward state, determining the water spraying amount of the water spraying mechanism as a first water amount; when the moving state is the retreating state, the water spraying amount of the water spraying mechanism is determined to be a second water amount.

Wherein the second amount of water is less than the first amount of water.

Optionally, the first and second amounts of water are pre-stored in the cleaning device.

In this embodiment, since the water spray amount in the backward state is smaller than that in the forward state, water stains generated when the cleaning apparatus is in the backward state can be reduced, and the cleaning effect of the cleaning apparatus can be enhanced.

In this embodiment, the cleaning apparatus further includes a water absorbing mechanism. The water sucking mechanism is used for sucking sewage on the surface to be cleaned when the cleaning device performs cleaning work. In the conventional cleaning apparatus, the operation mode of the water absorbing mechanism is fixed, and the cleaning apparatus generates more water stains in the backward state than in the forward state, which may cause a problem that the cleaning effect of the cleaning apparatus is poor in the backward state.

Based on the above-described problems, in the present embodiment, the operation mode of the water absorbing mechanism is selected and determined based on the acquired movement state; under the condition that the moving state is the forward state, determining that the water absorption power of the water absorption mechanism is the first water absorption power; and when the moving state is a retreating state, determining that the water absorption power of the water absorption mechanism is the second water absorption power.

Wherein the second water absorption power is greater than the first water absorption power.

Optionally, the first water absorbing power and the second water absorbing power are stored in the cleaning device in advance.

In this embodiment, since the water absorption power in the backward state is greater than that in the forward state, the amount of sewage sucked by the cleaning device in the backward state can be increased, so that the water stain generated in the backward state is reduced, and the cleaning effect of the cleaning device is enhanced.

In step 203, the cleaning device is controlled to perform a cleaning operation according to the selected determined operation mode.

Optionally, controlling the cleaning device to perform the cleaning operation in the selectively determined mode includes: at least one of the cleaning assembly, the wheel body, the water spraying mechanism and the wheel body is controlled to execute cleaning operation according to a selectively determined operation mode.

Optionally, after controlling the cleaning device to perform the cleaning operation according to the operation mode, the method further includes: under the condition that a mode switching instruction is received, acquiring a designated working mode corresponding to the mode switching instruction; the operation mode is updated to the specified operation mode.

The operation mode is designated as the operation mode used under the condition that the moving state is determined next time.

Optionally, the operation modes corresponding to the different movement states are stored in the cleaning device in advance.

Optionally, the manner in which the cleaning device receives the mode switch instruction includes, but is not limited to, the following:

first kind: the cleaning device is equipped with a mode switching key. Accordingly, the cleaning device generates a mode switching instruction upon receiving a trigger operation acting on the mode switching key.

The mode switching key may be a physical key installed on the cleaning device, or may be a virtual key displayed by touching the display screen, which is not limited in implementation manner.

Second kind: the cleaning device receives a mode switching instruction sent by other devices. The other devices are in communication connection with the cleaning device, and the other devices may be a remote controller, a mobile phone, a tablet computer, a wearable device, etc., and the embodiment does not limit the device types of the other devices.

In practical implementation, the mode switching instruction may be received by the cleaning device in other manners, and the embodiment is not limited to the mode switching instruction receiving manner.

Because the working mode corresponding to the moving state may not conform to the use habit of the user, the user may send a mode switching instruction to the cleaning device in the use process, and after receiving the mode switching instruction, the cleaning device updates the working mode corresponding to the current moving state into the designated working mode corresponding to the mode switching instruction, so that the cleaning device is controlled to work in the designated working mode under the condition that the moving state is determined next time, and therefore, the intelligent degree of the cleaning process can be improved.

In summary, in the control method of the cleaning device provided in the present embodiment, by acquiring the movement state of the cleaning device, the movement state includes the forward state and the backward state, and the working modes of the cleaning mechanism and the wheel body in the forward state are different from the working modes in the backward state respectively; selecting an operating mode of at least one of the cleaning mechanism and the wheel on the cleaning device based on the movement status; controlling the cleaning device to execute cleaning according to the selected and determined working mode; the problem that the cleaning effect of the cleaning equipment is poor when the cleaning equipment uses a fixed working mode possibly in a partial moving state can be solved; since different operation modes can be selectively determined based on different movement states of the cleaning apparatus, the cleaning effect of the cleaning apparatus can be improved.

The present embodiment provides a control device of a cleaning apparatus, as shown in fig. 3. The present embodiment is applied to the controller in the cleaning apparatus shown in fig. 1, and the apparatus includes at least the following modules: a status acquisition module 310, a mode determination module 320, and a cleaning control module 330.

A state acquisition module 310, configured to acquire a moving state of the cleaning device, where the moving state includes a forward state and a backward state, and working modes of the cleaning mechanism and the wheel body in the forward state are different from working modes in the backward state;

a mode determination module 320 for selectively determining an operating mode of at least one of the cleaning mechanism and the wheel on the cleaning device based on the movement status;

and a cleaning control module 330 for controlling the cleaning device to perform a cleaning operation according to the operation mode determined by the selection. For relevant details reference is made to the above-described method and apparatus embodiments.

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.

The present embodiment provides an electronic device, as shown in fig. 4. The electronic device may be the cleaning device of fig. 1. The electronic device comprises at least a processor 401 and a memory 402.

Processor 401 may include one or more processing cores such as: 4 core processors, 8 core processors, etc. The processor 401 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 401 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 401 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 401 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 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 402 is used to store at least one instruction for execution by processor 401 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 401, memory 402, and peripheral interfaces may be connected by buses 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 also provides a cleaning device, including: the cleaning mechanism, the wheel body, the processor and the memory; the cleaning mechanism comprises a cleaning member and a cleaning driving member; the wheel body can drive the cleaning equipment to advance or retreat; the processor is in communication with the cleaning drive; the memory stores therein a program that is loaded and executed by the processor to realize the control method of the cleaning apparatus of the above-described method embodiment.

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.

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.

Claims

1. A control method of a cleaning device, characterized in that the cleaning device comprises a cleaning mechanism and a wheel body; the wheel body can drive the cleaning equipment to advance or retreat; the cleaning mechanism comprises a cleaning piece and a cleaning driving piece connected with the cleaning piece; the cleaning driving piece drives the cleaning piece to rotate towards the advancing direction of the cleaning device under the condition that the cleaning device executes cleaning work on the surface to be cleaned; the method comprises the following steps:

2. The method of claim 1, wherein the cleaning apparatus further comprises a movement drive mechanism coupled to the wheel body, the movement drive mechanism for rotating the wheel body, the movement drive mechanism having different modes of operation in the forward state and the reverse state; the method further comprises the steps of:

3. The method of claim 2, wherein the operating mode of the mobile drive mechanism comprises:

4. The method of claim 2, wherein the operating mode of the mobile drive mechanism comprises:

wherein the second drive power is greater than the first drive power.

5. The method of claim 1, wherein the cleaning apparatus further comprises a water spray mechanism, the method further comprising: selecting and determining the working mode of the water spraying mechanism based on the acquired movement state;

6. The method of claim 1, wherein the cleaning apparatus further comprises a water absorbing mechanism, the method further comprising: selecting and determining the working mode of the water absorbing mechanism based on the acquired moving state;

7. The method of claim 1, wherein the operating mode of the cleaning drive comprises:

8. The method of claim 1, wherein said controlling the cleaning apparatus after performing a cleaning operation in accordance with the operation mode further comprises:

9. A cleaning apparatus, the cleaning apparatus comprising:

a cleaning mechanism including a cleaning member and a cleaning drive member;

the wheel body can drive the cleaning equipment to advance or retreat;

a processor and a memory; the processor is in communication with the cleaning drive; the memory stores therein a program loaded and executed by the processor to realize the control method of the cleaning apparatus as claimed in any one of claims 1 to 8.

10. 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 8.