CN117414083A - Cleaning apparatus, control method and device thereof - Google Patents
Cleaning apparatus, control method and device thereof Download PDFInfo
- Publication number
- CN117414083A CN117414083A CN202311301105.6A CN202311301105A CN117414083A CN 117414083 A CN117414083 A CN 117414083A CN 202311301105 A CN202311301105 A CN 202311301105A CN 117414083 A CN117414083 A CN 117414083A
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- Prior art keywords
- cleaning
- assembly
- stop
- cleaning assembly
- controlling
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- 238000004140 cleaning Methods 0.000 title claims abstract description 555
- 238000000034 method Methods 0.000 title claims abstract description 58
- 230000004044 response Effects 0.000 claims description 41
- 238000005096 rolling process Methods 0.000 claims description 16
- 238000011065 in-situ storage Methods 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 50
- 239000010865 sewage Substances 0.000 abstract description 44
- 230000001276 controlling effect Effects 0.000 description 45
- 230000007246 mechanism Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 239000002351 wastewater Substances 0.000 description 2
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005108 dry cleaning Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a cleaning device, a control method and a device thereof, wherein the control method of the cleaning device comprises the following steps of responding to a stop operation instruction of the cleaning device, controlling the cleaning component to move; acquiring working information of the cleaning assembly, and judging whether the cleaning assembly reaches a movement stopping condition according to the working information; and controlling the cleaning assembly to stop moving when the cleaning assembly reaches the stop moving condition. In the invention, when the cleaning equipment receives the operation stopping instruction, the cleaning component continues to move for a certain distance to drag and scrape residual water on the nearby cleaning surface, and can also be matched with the negative pressure of the suction component to suck the residual water into the sewage tank so as to reduce the residual of sewage on the cleaning surface, thereby improving the water stain residual condition of the cleaning surface after the cleaning equipment stops operating.
Description
Technical Field
The invention belongs to the technical field of cleaning appliances, and particularly relates to cleaning equipment, a control method and a control device thereof.
Background
In the current household cleaning equipment, the floor washing machine is an indispensable household cleaning equipment, and can clean dry stains and wet stains, and the main working principle is that liquid in a liquid storage tank is sprayed to a cleaning object, and then the floor washing machine is rotationally cleaned by a floor brush assembly arranged at the bottom, and sewage generated by a fan component is sucked into a sewage tank through a sewage suction pipe after cleaning. In the cleaning equipment in the prior art, a user shuts down the corresponding equipment after cleaning is finished, but often the user can find residual sewage on the ground after removing the cleaning equipment after stopping.
Disclosure of Invention
Accordingly, the present invention is directed to a cleaning apparatus capable of improving water stain residue on a cleaning surface in the vicinity of the cleaning apparatus after the cleaning apparatus is stopped, and a control method and apparatus thereof.
In order to solve the above technical problems, the present invention provides a control method of a cleaning device, including:
controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning device;
acquiring working information of the cleaning assembly, and judging whether the cleaning assembly reaches a movement stopping condition according to the working information;
and controlling the cleaning assembly to stop moving when the cleaning assembly reaches the stop moving condition.
Further, before the step of controlling the movement of the cleaning assembly in response to the stop operation instruction of the cleaning apparatus, the control method of the cleaning apparatus includes:
receiving a stop operation instruction of the cleaning equipment, and taking the moving direction of the cleaning assembly when the stop operation instruction of the cleaning equipment is received as a reference moving direction if the cleaning assembly is in a moving operation state when the stop operation instruction of the cleaning equipment is received;
the step of controlling the movement of the cleaning assembly in response to a stop job command of the cleaning apparatus includes:
In response to a stop operation instruction of the cleaning apparatus, the cleaning assembly is controlled to move in a direction opposite to the reference moving direction.
Further, the control method of the cleaning apparatus before the step of controlling the movement of the cleaning assembly in response to the stop operation instruction of the cleaning apparatus includes:
receiving a stop operation instruction of the cleaning equipment, and taking the latest moving direction of the cleaning assembly before receiving the stop operation instruction of the cleaning equipment as a reference moving direction if the cleaning assembly is in an in-situ operation state when receiving the stop operation instruction of the cleaning equipment;
the step of controlling the movement of the cleaning assembly in response to a stop job command of the cleaning apparatus includes:
in response to a stop operation instruction of the cleaning apparatus, the cleaning assembly is controlled to move in a direction opposite to the reference moving direction.
Further, before the step of controlling the movement of the cleaning assembly in response to the stop operation instruction of the cleaning apparatus, the control method of the cleaning apparatus includes:
receiving a stop operation instruction of the cleaning equipment, and identifying the current operation mode of the cleaning equipment;
The step of controlling the movement of the cleaning assembly in response to a stop job command of the cleaning apparatus includes:
controlling the cleaning assembly to move backwards when the current operation mode is a forward operation mode in response to a stop operation instruction of the cleaning device; or,
controlling the cleaning assembly to move forward when the current operation mode is a backward operation mode in response to a stop operation instruction of the cleaning device; or,
and responding to a stop operation instruction of the cleaning equipment, and controlling the cleaning assembly to move backwards and forwards or forwards and backwards when the current operation mode is an in-situ operation mode or a pause operation mode.
Further, the step of acquiring the working information of the cleaning assembly and judging whether the cleaning assembly reaches the condition of stopping moving according to the working information includes:
and after detecting that a stop operation instruction of the cleaning equipment is received, acquiring the moving distance of the cleaning assembly as the working information, and judging that the cleaning assembly reaches the stop moving condition when the moving distance is greater than or equal to a preset distance threshold.
Further, the step of acquiring the working information of the cleaning assembly and judging whether the cleaning assembly reaches the condition of stopping moving according to the working information includes:
And after receiving a stop operation instruction of the cleaning equipment, acquiring a humidity value of a target area as the operation information, and judging that the cleaning assembly reaches the stop movement condition when the humidity value is smaller than a preset humidity threshold value.
Further, the cleaning device includes a driving motor, the driving motor drives the cleaning assembly to move, the step of obtaining working information of the cleaning assembly, and judging whether the cleaning assembly reaches a condition of stopping movement according to the working information includes:
and acquiring the rotation number of the output shaft of the driving motor as the working information after receiving a stop operation instruction of the cleaning equipment, and judging that the stop movement condition is reached when the rotation number of the output shaft reaches a preset number of turns threshold.
Further, the cleaning device includes a driving motor, the driving motor drives the cleaning assembly to move, the step of obtaining working information of the cleaning assembly, and judging whether the cleaning assembly reaches a condition of stopping movement according to the working information includes:
and acquiring the operation time length of the driving motor as the working information after receiving a stop operation instruction of the cleaning equipment, and judging that the stop movement condition is reached when the operation time length reaches a preset operation time length threshold value.
Further, the step of controlling the movement of the cleaning assembly in response to a stop job instruction of the cleaning apparatus includes:
and responding to the stop operation instruction of the cleaning equipment, controlling the cleaning assembly to move at a first moving speed, wherein the first moving speed is smaller than a previous moving speed, if the cleaning assembly is in a moving operation state when the stop operation instruction of the cleaning equipment is received, the previous moving speed is the instantaneous moving speed of the cleaning assembly when the stop operation instruction of the cleaning equipment is received, and if the cleaning assembly is in an in-situ operation state when the stop operation instruction of the cleaning equipment is received, the previous moving speed is the nearest moving speed of the cleaning assembly before the stop operation instruction of the cleaning equipment is received.
Further, the cleaning apparatus further comprises a suction assembly, and the step of controlling the movement of the cleaning assembly in response to a stop operation instruction of the cleaning apparatus comprises:
controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning equipment, and controlling the suction assembly to continue to work;
After the step of controlling the cleaning assembly to stop moving when the cleaning assembly reaches the stop moving condition, the control method of the cleaning apparatus includes:
and controlling the suction assembly to stop working.
Further, the step of controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning device, and controlling the suction assembly to continue to operate includes:
and controlling the cleaning assembly to move in response to a stop operation command of the cleaning equipment, and controlling the suction assembly to continuously work at a first suction power, wherein the first suction power is larger than a previous suction power, and the previous suction power is the instantaneous suction power of the suction assembly when the stop operation command of the cleaning equipment is received.
Further, the cleaning assembly includes a power wheel and a roller brush, and the step of controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning apparatus includes:
controlling the power-assisted wheel to rotate in response to a stop operation instruction of the cleaning equipment so as to drive the cleaning assembly to move, and controlling the rolling brush to rotate in the same direction as the power-assisted wheel; or,
And responding to a stop operation instruction of the cleaning equipment, controlling the power-assisted wheel to rotate so as to drive the cleaning assembly to move, and controlling the rolling brush to stop rotating.
In addition, in order to achieve the above object, the present invention also provides a control apparatus including a memory, a processor, and a control program of a cleaning device stored on the memory and executable on the processor, the control program of the cleaning device being configured to implement the steps of the control method of the cleaning device as described above.
In addition, to achieve the above object, the present invention also provides a cleaning apparatus comprising:
a main body;
a suction assembly provided to the main body for providing suction to suck the liquid in the target area;
a cleaning assembly rotatably coupled to a lower end of the main body for adsorbing the liquid in the target area during the movement of the target area; the method comprises the steps of,
the control device as described above, wherein the control device is electrically connected to the suction assembly and the cleaning assembly, respectively.
The technical scheme provided by the invention has the following advantages:
the invention provides a control method and a device of cleaning equipment, wherein the control method of the cleaning equipment comprises the following steps: controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning device; acquiring working information of the cleaning assembly, and judging whether the cleaning assembly reaches a movement stopping condition according to the working information; and controlling the cleaning assembly to stop moving when the cleaning assembly reaches the stop moving condition. In the embodiment provided by the invention, when the cleaning equipment receives the operation stopping instruction, the cleaning component continues to move for a certain distance so as to drag and scrape residual water on the nearby cleaning surface, thereby reducing residual water on the cleaning surface, improving the water stain residual condition of the cleaning surface after the cleaning equipment stops operation, and preferably, the residual water can be sucked into the sewage tank by matching with the negative pressure of the suction component, and further improving the dryness of the cleaning surface after the cleaning equipment stops operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a control method of a cleaning apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 3 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 4 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 5 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 6 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
FIG. 7 is a schematic diagram of an alternative embodiment of the present invention providing a control method for a cleaning apparatus;
fig. 8 is a schematic structural diagram of an embodiment of a control device provided by the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The invention will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
In the present invention, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be understood by those of ordinary skill in the art that in various embodiments of the present invention, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the claimed technical solution of the present invention can be realized without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not be construed as limiting the specific implementation of the present invention, and the embodiments can be mutually combined and referred to without contradiction.
The invention provides cleaning equipment, which mainly adopts a cleaning piece to clean a surface to be cleaned and is combined with a suction component to adsorb dirt and foreign matters on the surface to be cleaned. Specifically, the cleaning apparatus includes a main body, a suction assembly, a cleaning assembly, and a control device.
The form of the cleaning apparatus is not limited, and in practical use, the cleaning apparatus may be operated in an upright state, in a horizontal state, or may be operated in a manner that is switched between an upright state and a horizontal state. The cleaning device can be a hand-held walking device operated by a user or a walking device which can realize autonomous planning of a path under the cooperative action of a preset control program and related drive. The cleaning device can be used for dry cleaning of the surface to be cleaned, such as a sweeping robot, or wet cleaning of the surface to be cleaned, such as a mopping robot, or a floor cleaning machine, a window cleaning machine, etc. The cleaning device provided by the invention has the function of adsorbing the liquid reserved on the surface to be cleaned, and particularly in one embodiment, the cleaning device can spray the cleaning liquid or clear water to the surface to be cleaned in operation, the cleaning liquid or clear water is mixed with dirt on the surface to be cleaned to form sewage, and then the suction assembly is used for providing negative pressure to suck the sewage on the surface to be cleaned so as to achieve the aim of wet cleaning the surface to be cleaned. In another embodiment, the cleaning device may not have a spraying function, but the suction component can be used for providing negative pressure to absorb the sewage existing on the surface to be cleaned, so as to achieve the function of sucking and cleaning the surface to be cleaned.
The suction assembly is arranged on the main body and comprises a fan and an air duct, and the fan is used for driving air flow to flow into the air duct from the suction opening so as to provide negative pressure for adsorbing dirt and foreign matters on the surface to be cleaned. The main body is also provided with a sewage tank and a sewage suction pipeline. Specifically, can offer suction port and advance dirty mouthful on the sewage case, the fan passes through the wind channel intercommunication suction port, makes sewage incasement produce the negative pressure, and dirt suction pipe then communicates into dirty mouthful and the dirt suction mouth that is close to the clean surface setting, and when cleaning equipment operation, sewage flows into the sewage case from the clean surface of waiting to inhale dirt suction mouth inflow dirt suction pipe back under the effect of negative pressure in the sewage case.
The cleaning assembly comprises a cleaning member, the cleaning member can comprise a rolling brush, a rag, a rubber strip and/or the like, so as to have the functions of absorbing water and scraping, the cleaning member is used for absorbing sewage on a surface to be cleaned, and the sewage absorbing port is preferably arranged towards the cleaning member, so that the sewage absorbed by the cleaning member is absorbed into the sewage tank through the sewage absorbing port, the suction force provided by the suction assembly can be understood, the sewage on the cleaning surface can be driven to flow to the cleaning member to be absorbed and then absorbed into the sewage tank, and the sewage on the cleaning surface part can be directly absorbed into the sewage absorbing port without passing through the cleaning member and then flows into the sewage tank. Preferably, the cleaning member is rotatably mounted at the lower end of the main body such that the main body is rotated substantially perpendicular to the cleaning surface or at an angle greater than 60 degrees to the cleaning surface in the upright state, and the main body is rotated substantially parallel to the cleaning surface or at an angle less than 30 degrees to the cleaning surface in the horizontal state.
Further, the cleaning assembly may further include a driving mechanism for driving the cleaning member to move, and the driving mechanism is used for driving the cleaning member to move so that the cleaning apparatus walks. Specifically, in an embodiment, the cleaning assembly may include a booster wheel, and the driving mechanism is drivingly connected to the booster wheel to drive the booster wheel to rotate, so as to drive the cleaning member to move, where the cleaning member may be a rolling brush, and may also be rotated autonomously or passively under the action of the booster wheel. In another embodiment, the cleaning member comprises a rolling brush, and the driving mechanism is in driving connection with the rolling brush to drive the rolling brush to rotate, so that the rolling friction of the rolling brush is utilized to realize the dragging and washing or scraping of the surface to be cleaned, and the cleaning device is driven to travel. For driving the booster wheel roller brush to rotate relative to the main body, the driving mechanism may be directly constituted by a driver, for example, a driving motor; alternatively, the driving mechanism may be formed by combining a driver with a transmission assembly, and the transmission assembly may perform reversing, speed regulation, and the like on the rotation output of the driver, for example, a gear assembly, a worm and gear assembly, and the like; the linear output of the actuator may be converted into a rotational output and transmitted, for example, a rack-and-pinion assembly, a screw nut mechanism, a rocker mechanism, or the like.
Referring to fig. 8, the present invention further provides a control device 10, where the control device 10 may be separately configured to be modularized and adapted to be universal for cleaning devices of various specifications; alternatively, the control device may be installed in a specific cleaning apparatus of a certain specification.
In practical application, the control device is electrically connected with the suction assembly and the driving mechanism respectively. The control means comprise a control unit comprising a memory 102, a processor 101 and a control program of the cleaning device stored on said memory and being operable on said processor, the control program of the cleaning device being configured to implement the steps of the control method of the cleaning device as described in the various embodiments below.
Where the memory 102 and the processor 101 are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting the various circuits of the one or more processors 101 and the memory 102 together. The bus may also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or may be a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 101 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 101.
The processor 101 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And memory 102 may be used to store data used by processor 101 in performing operations.
Based on the above, implementation details of the control method of the cleaning apparatus according to an embodiment of the present invention are described below, and the following description provides implementation details only for convenience of understanding, and is not necessary to implement the present embodiment.
Referring to fig. 1, the control method of the cleaning apparatus includes:
and step S10, controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning equipment.
In this embodiment, the instruction to stop the cleaning apparatus refers to an instruction to stop the cleaning apparatus, and in another embodiment may include an instruction to stop the cleaning apparatus. The generation mode of the operation stopping instruction is not limited, and the operation stopping instruction can be triggered and generated by various input units, such as a key arranged on the equipment, a key on a remote controller, an input instruction on a remote operation equipment and the like, or can be generated based on a preset control program, such as reaching a preset operation time, or receiving a sewage tank water full signal, or receiving a low-power signal and the like, or can be generated by receiving an operation stopping sound control command and the like sent by a user in a voice interaction function.
In a specific implementation, the time point when the operation stopping instruction is received is determined by the control device to receive the corresponding electric signal. Generally, in the operation process of the device, the suction assembly continuously provides negative pressure, the cleaning device may be in a walking state or an in-situ operation state, and after receiving the operation stopping instruction, the cleaning assembly is controlled to move to drive the cleaning member to adsorb water on a nearby cleaning surface. In one embodiment, the suction assembly can stop working at the same time after receiving the operation stopping command, and only the cleaning piece is used for adsorbing water. In another embodiment, the suction assembly can be controlled to continuously work after receiving the operation stopping instruction to provide negative pressure for assisting in sucking the water in the target area, the cleaning piece and the dirt sucking pipeline.
In particular implementations, the manner in which the cleaning assembly is controlled to move varies depending on the particular type of cleaning assembly.
For example, in one embodiment, the cleaning assembly does not include a booster wheel, but rather the cleaning member is directly driven to rotate by the driving mechanism to realize the movement of the cleaning assembly, so that the cleaning member is controlled to directly rotate to realize the movement of the cleaning assembly, and the cleaning member is moved, so that the cleaning surface can be better cleaned by the pressurizing rolling action of the cleaning member.
In another embodiment, the cleaning assembly includes a power wheel and a roller brush, where movement of the cleaning assembly is accomplished by driving the power wheel through a drive mechanism. In this embodiment, when driving the rotation of helping hand wheel, preferably control the round brush and stop rotating to make clean subassembly downshift low-speed removal, perhaps control round brush and helping hand wheel synchronous rotation, thereby utilize the rotation friction of round brush can adsorb more liquid on the clean face, further promote the remaining effect of water on the clean face of improvement.
And step S20, acquiring working information of the cleaning assembly, and judging whether the cleaning assembly reaches a movement stopping condition according to the working information.
In this step, the operation information of the cleaning member includes a moving direction and/or a moving distance, a moving speed, and the like of the cleaning member. In an alternative embodiment, the working information of the cleaning assembly includes a moving distance of the cleaning assembly after receiving a stop operation instruction of the cleaning apparatus, and the cleaning assembly may be controlled to stop moving when the moving distance of the cleaning assembly reaches a preset distance threshold. In another embodiment, the operation information of the cleaning assembly may further include a residual sewage condition of the surface to be cleaned, and the cleaning assembly is controlled to stop moving when the surface to be cleaned is substantially free of residual sewage.
And step S30, controlling the cleaning assembly to stop moving when the cleaning assembly reaches the stop moving condition.
In this step, the cleaning assembly may be controlled to stop moving by controlling the driving motor of the cleaning assembly to be powered off. If the suction assembly still continuously works in the moving process of the cleaning assembly, the suction assembly can be controlled to stop working when the cleaning assembly stops moving, and the suction assembly can be controlled to stop working after the suction assembly continues to work for a preset time period. A specific way to control the stopping of the suction assembly may be to control the de-energization of the blower components in the suction assembly. In this embodiment, the suction of the suction assembly may be stopped simultaneously with the movement of the cleaning assembly, or may be stopped after a certain time has elapsed after the movement of the cleaning assembly is stopped, so as to achieve the effect of sucking the residual water in the cleaning member, and better avoiding the water stain.
It will be appreciated that a typical cleaning device will tend to drag and scrape accumulated residual water in the vicinity of the device when it is stopped, and will not be able to suck the waste water into the tank, resulting in a clean surface with residual waste water. In this embodiment, when the cleaning device receives the operation stopping command, the cleaning assembly continues to move a distance to drag and scrape the residual water on the nearby cleaning surface, so as to reduce the residual water on the cleaning surface. Preferably, the negative pressure of the suction assembly can be matched to suck residual water into the sewage tank, so that the residual of sewage on the cleaning surface is further reduced, the water stain residual condition of the cleaning surface after the cleaning equipment stops working is improved, and the use experience of a user is improved.
Based on the above embodiments, further, the following is merely implementation details provided for ease of understanding and is not necessary to implement the present embodiment.
Referring to fig. 2, optionally, before the step S10, the control method of the cleaning apparatus further includes:
step S01, receiving a stop operation instruction of the cleaning equipment, and if the cleaning assembly is in a moving operation state when receiving the stop operation instruction of the cleaning equipment, taking the moving direction of the cleaning assembly when receiving the stop operation instruction of the cleaning equipment as a reference moving direction.
In the present embodiment, the reference movement direction is used to be referred to the movement direction of the cleaning member after receiving the stop operation instruction, so that the cleaning member is moved in the opposite direction to the direction in which the cleaning member walks before the cleaning device, to more pertinently absorb the residual water of the area through which the cleaning member moves. In particular, the reference movement direction can be obtained from a travel record of the cleaning device, or can be obtained from data recorded by a displacement sensor on the cleaning device.
However, when receiving the command for stopping the cleaning apparatus, the cleaning assembly may be in an in-situ working state, so in a parallel embodiment, the control method of the cleaning apparatus further includes:
And receiving a stop operation instruction of the cleaning equipment, wherein if the cleaning component is in an in-situ operation state when the stop operation instruction of the cleaning equipment is received, the latest moving direction of the cleaning component before the stop operation instruction of the cleaning equipment is received is taken as a reference moving direction.
The step of S10 includes:
s11, responding to a stop operation instruction of the cleaning equipment, and controlling the cleaning assembly to move in a direction opposite to the reference moving direction.
In this embodiment, considering that sewage often exists in an area through which the cleaning assembly moves in the operation process of the cleaning device, by detecting the running direction of the cleaning device when or before receiving the operation stopping instruction, the running direction is taken as a reference direction, and then after receiving the operation stopping instruction of the cleaning device, the cleaning assembly is controlled to move in a direction opposite to the reference direction, so that residual water in the vicinity area through which the cleaning assembly moves can be effectively adsorbed, and then the residual water is sucked into the sewage tank by matching with the suction assembly, so that the water stain residual condition of the cleaning surface after the operation stopping of the cleaning device can be effectively improved, and the user experience is improved.
Based on the above embodiments, further, the following is merely implementation details provided for ease of understanding and is not necessary to implement the present embodiment.
Referring to fig. 3, optionally, before the step S10, the method for controlling the cleaning apparatus includes:
and step S02, receiving a job stopping instruction of the cleaning equipment, and identifying the current operation mode of the cleaning equipment.
In this step, the current operation mode may be a forward operation mode, a backward operation mode, or an in-place operation mode.
The step of S10 includes:
step S12, responding to a stop operation instruction of the cleaning equipment, and controlling the cleaning assembly to move backwards when the current operation mode is a forward operation mode; or,
controlling the cleaning assembly to move forward when the current operation mode is a backward operation mode in response to a stop operation instruction of the cleaning device; or,
and responding to a stop operation instruction of the cleaning equipment, and controlling the cleaning assembly to move backwards and forwards or forwards and backwards when the current operation mode is an in-situ operation mode or a pause operation mode.
In this step, the operation direction of the cleaning device before receiving the stop job instruction is confirmed by recognizing the operation mode of the cleaning device when receiving the stop job instruction, and then the cleaning assembly is controlled to move in the direction opposite to the previous operation direction after receiving the stop job instruction.
In this embodiment, considering that sewage often exists in a region through which the cleaning component moves in the operation process of the cleaning device, by identifying an operation mode of the cleaning device when receiving a stop operation instruction, when the cleaning device receives the stop operation instruction, or a previous walking direction is used as a reference direction, and then after receiving the stop operation instruction of the cleaning device, the cleaning component is controlled to move in a direction opposite to the reference direction, so that residual water in a nearby region through which the cleaning component moves can be effectively adsorbed, suction force is provided by matching with the suction component, residual water is sucked into the sewage tank, water stain residual condition of a cleaning surface after the cleaning device stops operation can be effectively improved, and user experience is improved.
Based on the above embodiments, further, the following is merely implementation details provided for ease of understanding and is not necessary to implement the present embodiment.
Optionally, in order to control the cleaning component to move a set distance after receiving a stop operation command of the cleaning device, in an embodiment, referring to fig. 4, the step S20 includes:
and S21, after a job stopping instruction of the cleaning equipment is received, acquiring the moving distance of the cleaning component as the working information, and judging that the cleaning component reaches the condition of stopping movement when the moving distance is greater than or equal to a preset distance threshold.
In this embodiment, the distance that the cleaning assembly moves after receiving the stop operation instruction of the cleaning apparatus is detected by a displacement sensor or the like, and when the moving distance is equal to or greater than a preset distance threshold value, it is determined that the cleaning assembly reaches the stop movement condition. The preset distance threshold may be 1-30cm.
Alternatively, in another embodiment, the step of S20 includes:
and after receiving a stop operation instruction of the cleaning equipment, acquiring a humidity value of a target area as the working information, and judging that the cleaning assembly reaches the stop moving condition when the humidity value is smaller than a preset humidity threshold value.
In this step, the target area refers to a portion of the area through which the cleaning assembly is moving, so as to determine whether the cleaning assembly needs to continue to move to absorb the water in the target area. The cleaning assembly may be controlled to stop moving when the target area is free of water or when the target humidity level is not reached. Therefore, the cleaning assembly is controlled to move by a corresponding distance according to the actual condition of the water liquid residue on the cleaning surface, and the treatment of the sewage residue on the cleaning surface is more accurate.
Alternatively, in another embodiment, the cleaning apparatus includes a driving motor that drives the cleaning assembly to move, and the step S20 includes:
And acquiring the rotation number of the output shaft of the driving motor as the working information after receiving a stop operation instruction of the cleaning equipment, and judging that the stop movement condition is reached when the rotation number of the output shaft reaches a preset number threshold value.
In the step, the number of rotation turns of the output shaft of the driving motor can be obtained through a counter arranged in the driving motor, counting is started after a stop operation instruction of the cleaning equipment is received, and when a preset turn threshold value is reached, the cleaning assembly moves to reach a preset distance, so that the cleaning assembly can be controlled to stop working. Preferably, when the cleaning assembly includes a roller brush, the roller brush is controlled to rotate 1-3 times and then stops rotating so as to drive the cleaning assembly to move a corresponding distance.
Alternatively, in another embodiment, the cleaning apparatus includes a driving motor that drives the cleaning assembly to move, and the step S20 includes:
and acquiring the operation time length of the driving motor as the working information after receiving a stop operation instruction of the cleaning equipment, and judging that the stop movement condition is reached when the operation time length reaches a preset operation time length threshold.
In the step, the control of the moving distance of the cleaning assembly is realized in a timing mode, in the specific implementation, the timing module can be arranged in the control device, the timing is started after the operation stopping instruction of the cleaning equipment is received, and when the preset operation duration threshold is reached, the movement of the cleaning assembly reaches the preset distance, so that the cleaning assembly can be judged to reach the condition of stopping movement.
In this embodiment, the movement stroke of the cleaning assembly after receiving the operation stopping instruction of the cleaning device is controlled in a reliable manner, so that the cleaning assembly continues to move nearby for a certain distance after the cleaning device is stopped, preferably, the cleaning assembly retreats for a certain distance to effectively adsorb residual water in the area nearby the cleaning assembly, and then the suction assembly is matched to provide suction force to suck the residual water into the sewage tank, so that the water stain residual condition of the cleaning surface after the cleaning device stops operating can be effectively improved, and the user experience is improved.
Based on any of the above embodiments, further, the following description provides implementation details only for ease of understanding, and is not a necessity to implement the present embodiment.
Optionally, the step of S10 includes:
and responding to the stop operation instruction of the cleaning equipment, controlling the cleaning assembly to move at a first moving speed, wherein the first moving speed is smaller than a previous moving speed, if the cleaning assembly is in a moving operation state when the stop operation instruction of the cleaning equipment is received, the previous moving speed is the instantaneous moving speed of the cleaning assembly when the stop operation instruction of the cleaning equipment is received, and if the cleaning assembly is in an in-situ operation state when the stop operation instruction of the cleaning equipment is received, the previous moving speed is the nearest moving speed of the cleaning assembly before the stop operation instruction of the cleaning equipment is received. Preferably, the first moving speed is about 1/5 to 1/4 of the moving speed of the cleaning assembly in the normal operation mode, for example, when the cleaning assembly includes the rolling brush and the cleaning device is driven to move by the rotation of the rolling brush, the rolling brush rotates at 400r/min in the normal operation mode, and after receiving the stop operation instruction of the cleaning device, the rolling brush rotates at 100r/min to drive the cleaning device to slowly move.
In this embodiment, after receiving the operation stopping instruction of the cleaning device, the cleaning assembly is controlled to move at a low speed in a downshifting manner, and finally the cleaning assembly is controlled to stop moving. The cleaning component can move at a low speed in a downshifting way after receiving the operation stopping instruction of the cleaning equipment, and can avoid the toppling of the cleaning equipment in a state without being supported by external force. Therefore, when the cleaning equipment receives the operation stopping instruction, the cleaning assembly is controlled to move at a reduced speed, and the cleaning assembly is not easy to topple under the condition of no external force support, so that residual water on a nearby cleaning surface is dragged and scraped, the residual of sewage on the cleaning surface is reduced, the water stain residual condition of the cleaning surface after the cleaning equipment stops operation is improved, and the user experience is improved.
Further, on the basis of any of the above embodiments, the following description merely provides implementation details for facilitating understanding, and is not necessary to implement the present embodiment.
Optionally, referring to fig. 5, the step S10 includes:
and step S101, responding to a stop operation instruction of the cleaning equipment, controlling the cleaning assembly to move, and controlling the suction assembly to continue to work.
In the step, after receiving the operation stopping instruction, the suction assembly is controlled to continuously work, and residual water on the cleaning assembly and the cleaning surface is continuously sucked in the moving process of the cleaning assembly.
After the step S30, the method includes:
and S31, controlling the suction assembly to stop working.
In this step, the suction assembly may stop the suction at the same time when the cleaning assembly stops moving, or may continue to operate after a predetermined period of time has elapsed after the cleaning assembly stops moving, and stop after a period of time. The preset time period can be preset in a control program of the cleaning device, and can also control the suction assembly to stop working under other conditions, and the stopping action of the main suction assembly is after the cleaning assembly stops moving, so that part of sewage can be continuously adsorbed through the delay stop of the suction assembly. Therefore, the residual water on the cleaning surface is further pumped, the cleaning effect is improved, and the residual water on the cleaning surface after the cleaning equipment stops working is reduced.
Preferably, the step of S101 may further include:
referring to fig. 6, in step S102, in response to a stop operation instruction of the cleaning apparatus, the cleaning assembly is controlled to move, and the suction assembly is controlled to continue to operate at a first suction power, wherein the first suction power is greater than a previous suction power, and the previous suction power is an instantaneous suction power of the suction assembly when the stop operation instruction of the cleaning apparatus is received.
In this embodiment, in response to a stop operation instruction of the cleaning apparatus, the cleaning assembly is controlled to move, and the suction assembly is controlled to provide a larger suction force during the upshift operation, so that more residual water near the cleaning apparatus can be sucked, during which the cleaning assembly can move at a low speed in a downshift manner, and the cleaning apparatus can be prevented from being toppled over without being supported by an external force. Therefore, when the cleaning equipment receives a stop operation instruction, the cleaning assembly continues to move for a certain distance, the suction assembly is controlled to move up in the process, the cleaning assembly is controlled to move to drag residual water on a nearby cleaning surface, and meanwhile, the residual water is sucked into the sewage tank by matching with the negative pressure of the suction assembly, so that the residual of sewage on the cleaning surface is reduced, the water stain residual condition of the cleaning surface after the cleaning equipment stops operation is improved, and the user experience is improved.
Based on any of the above embodiments, alternative embodiments of the control method of the cleaning device of the present invention are presented, and the following provides implementation details only for ease of understanding, and is not necessary to implement the present embodiment.
In this embodiment, referring to fig. 7, before the step S10, the control method of the cleaning apparatus includes:
S1, responding to a suspending operation instruction of the cleaning equipment in the operation process of the cleaning equipment, and controlling the cleaning assembly to stop moving.
In this step, the movement of the cleaning assembly is stopped immediately after receiving a command for suspending the cleaning apparatus, and if the cleaning assembly includes a roller brush and a booster wheel, both the rotation of the booster wheel and the rotation of the roller brush are stopped when the cleaning assembly stops moving.
The operation suspension command of the cleaning device may be generated in various manners, for example, may be triggered and generated by various input units, such as a button provided on the device, a button provided on a remote controller, an input command provided on a remote operation device, etc., or may be based on a preset control program, such as reaching a preset operation time, or receiving a sewage tank water full signal, or receiving a low-power signal, etc., or may be in a voice interaction function, receiving an operation suspension sound control command sent by a user, etc. In a preferred embodiment, the suspending operation instruction of the cleaning apparatus may be generated by an upstanding limit switch provided between the main body and the cleaning member, and when the user is ready to suspend operation, the main body may be rotated to an upstanding state with respect to the cleaning member, at which time the upstanding limit switch is triggered to issue the suspending operation instruction.
S2, controlling the cleaning assembly to stop moving, and then controlling the suction assembly to stop working after a second time period passes.
In this step, the second time period may be preset in a control program of the cleaning device, or may be set by a manufacturer or a user, and after the cleaning assembly stops moving, the cleaning device continues to operate in situ, and the suction assembly is controlled to continue to operate for a period of time, so that residual water in the cleaning assembly is sucked into the sewage tank and then is stopped in a delayed manner.
And S3, responding to a restarting operation instruction of the cleaning equipment, and controlling the suction assembly and the cleaning assembly to start working.
In this step, the restart job instruction instructs to control the cleaning apparatus to restart the job after suspending the job. It can also have various generation modes, and is not described in detail herein. In a preferred embodiment, this may be generated by an upstanding limit switch provided between the main body and the cleaning member, which may be triggered to issue the restart instruction when the user is ready to restart the operation, by rotating the main body to an inclined condition with respect to the cleaning member.
In this embodiment, the operation stopping command of the cleaning device includes only the operation stopping command of the cleaning device, and when the operation stopping command is received, the cleaning component is controlled to stop moving, and then the suction component stops working, and the user can restart the cleaning device to absorb residual water on the cleaning surface when restarting the cleaning operation in a short time. When the cleaning equipment receives the operation stopping instruction, a user can not continue to clean by using the cleaning equipment in a short time, so that the cleaning equipment is required to be controlled to execute the control of the cleaning assembly to move in a certain range, and meanwhile, the suction assembly cooperates to adsorb residual water on the cleaning surface, so that the condition that water stain residues exist on the cleaning surface near the cleaning surface after the cleaning equipment is stopped is improved. In this embodiment, the pause operation instruction and the restart operation instruction of the cleaning device are generated by standing and limiting the pause operation instruction and the stop operation instruction received by the cleaning device, so that the user can make different actions, and the user experience is improved.
It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. Based on the embodiments of the present invention, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present invention.
Claims (14)
1. A control method of a cleaning apparatus, characterized in that the cleaning apparatus includes a cleaning assembly, the control method of the cleaning apparatus comprising:
controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning device;
acquiring working information of the cleaning assembly, and judging whether the cleaning assembly reaches a movement stopping condition according to the working information;
and controlling the cleaning assembly to stop moving when the cleaning assembly reaches the stop moving condition.
2. The control method of a cleaning apparatus according to claim 1, wherein the control method of the cleaning apparatus, before the step of controlling the movement of the cleaning assembly in response to a stop operation instruction of the cleaning apparatus, includes:
receiving a stop operation instruction of the cleaning equipment, and taking the moving direction of the cleaning assembly when the stop operation instruction of the cleaning equipment is received as a reference moving direction if the cleaning assembly is in a moving operation state when the stop operation instruction of the cleaning equipment is received;
The step of controlling the movement of the cleaning assembly in response to a stop job command of the cleaning apparatus includes:
in response to a stop operation instruction of the cleaning apparatus, the cleaning assembly is controlled to move in a direction opposite to the reference moving direction.
3. The control method of a cleaning apparatus according to claim 1, wherein the control method of the cleaning apparatus before the step of controlling the movement of the cleaning assembly in response to a stop operation instruction of the cleaning apparatus comprises:
receiving a stop operation instruction of the cleaning equipment, and taking the latest moving direction of the cleaning assembly before receiving the stop operation instruction of the cleaning equipment as a reference moving direction if the cleaning assembly is in an in-situ operation state when receiving the stop operation instruction of the cleaning equipment;
the step of controlling the movement of the cleaning assembly in response to a stop job command of the cleaning apparatus includes:
in response to a stop operation instruction of the cleaning apparatus, the cleaning assembly is controlled to move in a direction opposite to the reference moving direction.
4. The control method of a cleaning apparatus according to claim 1, wherein the control method of the cleaning apparatus, before the step of controlling the movement of the cleaning assembly in response to a stop operation instruction of the cleaning apparatus, includes:
Receiving a stop operation instruction of the cleaning equipment, and identifying the current operation mode of the cleaning equipment;
the step of controlling the movement of the cleaning assembly in response to a stop job command of the cleaning apparatus includes:
controlling the cleaning assembly to move backwards when the current operation mode is a forward operation mode in response to a stop operation instruction of the cleaning device; or,
controlling the cleaning assembly to move forward when the current operation mode is a backward operation mode in response to a stop operation instruction of the cleaning device; or,
and responding to a stop operation instruction of the cleaning equipment, and controlling the cleaning assembly to move backwards and forwards or forwards and backwards when the current operation mode is an in-situ operation mode or a pause operation mode.
5. The control method of a cleaning apparatus according to any one of claims 1 to 4, wherein the step of acquiring operation information of the cleaning assembly, and judging whether the cleaning assembly reaches a stop movement condition based on the operation information comprises:
and after detecting that a stop operation instruction of the cleaning equipment is received, acquiring the moving distance of the cleaning assembly as the working information, and judging that the cleaning assembly reaches the stop moving condition when the moving distance is greater than or equal to a preset distance threshold.
6. The control method of a cleaning apparatus according to any one of claims 1 to 4, wherein the step of acquiring operation information of the cleaning assembly, and judging whether the cleaning assembly reaches a stop movement condition based on the operation information comprises:
and after receiving a stop operation instruction of the cleaning equipment, acquiring a humidity value of a target area as the operation information, and judging that the cleaning assembly reaches the stop movement condition when the humidity value is smaller than a preset humidity threshold value.
7. The control method of a cleaning apparatus according to any one of claims 1 to 4, wherein the cleaning apparatus includes a driving motor that drives the cleaning assembly to move, the step of acquiring operation information of the cleaning assembly, and determining whether the cleaning assembly reaches a stop movement condition based on the operation information includes:
and acquiring the rotation number of the output shaft of the driving motor as the working information after receiving a stop operation instruction of the cleaning equipment, and judging that the stop movement condition is reached when the rotation number of the output shaft reaches a preset number of turns threshold.
8. The control method of a cleaning apparatus according to any one of claims 1 to 4, wherein the cleaning apparatus includes a driving motor that drives the cleaning assembly to move, the step of acquiring operation information of the cleaning assembly, and determining whether the cleaning assembly reaches a stop movement condition based on the operation information includes:
and acquiring the operation time length of the driving motor as the working information after receiving a stop operation instruction of the cleaning equipment, and judging that the stop movement condition is reached when the operation time length reaches a preset operation time length threshold value.
9. The control method of a cleaning apparatus according to any one of claims 1 to 4, wherein the step of controlling the movement of the cleaning assembly in response to a stop operation instruction of the cleaning apparatus comprises:
and responding to the stop operation instruction of the cleaning equipment, controlling the cleaning assembly to move at a first moving speed, wherein the first moving speed is smaller than a previous moving speed, if the cleaning assembly is in a moving operation state when the stop operation instruction of the cleaning equipment is received, the previous moving speed is the instantaneous moving speed of the cleaning assembly when the stop operation instruction of the cleaning equipment is received, and if the cleaning assembly is in an in-situ operation state when the stop operation instruction of the cleaning equipment is received, the previous moving speed is the nearest moving speed of the cleaning assembly before the stop operation instruction of the cleaning equipment is received.
10. The control method of a cleaning apparatus according to any one of claims 1 to 4, wherein the cleaning apparatus further comprises a suction assembly, and the step of controlling the movement of the cleaning assembly in response to a stop operation instruction of the cleaning apparatus comprises:
controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning equipment, and controlling the suction assembly to continue to work;
after the step of controlling the cleaning assembly to stop moving when the cleaning assembly reaches the stop moving condition, the control method of the cleaning apparatus includes:
and controlling the suction assembly to stop working.
11. The method of controlling a cleaning apparatus as claimed in claim 10, wherein the step of controlling the cleaning assembly to move in response to a stop operation command of the cleaning apparatus, and controlling the suction assembly to continue operation comprises:
and controlling the cleaning assembly to move in response to a stop operation command of the cleaning equipment, and controlling the suction assembly to continuously work at a first suction power, wherein the first suction power is larger than a previous suction power, and the previous suction power is the instantaneous suction power of the suction assembly when the stop operation command of the cleaning equipment is received.
12. The control method of a cleaning apparatus according to any one of claims 1 to 4, wherein the cleaning assembly includes a power wheel and a roller brush, and the step of controlling the cleaning assembly to move in response to a stop operation instruction of the cleaning apparatus includes:
controlling the power-assisted wheel to rotate in response to a stop operation instruction of the cleaning equipment so as to drive the cleaning assembly to move, and controlling the rolling brush to rotate in the same direction as the power-assisted wheel; or,
and responding to a stop operation instruction of the cleaning equipment, controlling the power-assisted wheel to rotate so as to drive the cleaning assembly to move, and controlling the rolling brush to stop rotating.
13. A control apparatus comprising a memory, a processor and a control program for a cleaning device stored on the memory and operable on the processor, the control program for a cleaning device being configured to implement the steps of the control method for a cleaning device according to any one of claims 1 to 12.
14. A cleaning apparatus, comprising:
a main body;
a suction assembly provided to the main body for providing suction to suck the liquid in the target area;
The cleaning component is arranged on the main body and is used for adsorbing liquid in the target area in the process of moving the target area; the method comprises the steps of,
the control device of claim 13, wherein the control device is electrically connected to the suction assembly and the cleaning assembly, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202311301105.6A CN117414083A (en) | 2023-10-09 | 2023-10-09 | Cleaning apparatus, control method and device thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311301105.6A CN117414083A (en) | 2023-10-09 | 2023-10-09 | Cleaning apparatus, control method and device thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117426725A (en) * | 2023-10-20 | 2024-01-23 | 深圳赤马人工智能有限公司 | Control method and device for floor washing machine, floor washing machine and storage medium |
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- 2023-10-09 CN CN202311301105.6A patent/CN117414083A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117426725A (en) * | 2023-10-20 | 2024-01-23 | 深圳赤马人工智能有限公司 | Control method and device for floor washing machine, floor washing machine and storage medium |
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