WO2023078079A1 - 清洁设备的控制方法、及清洁设备 - Google Patents
清洁设备的控制方法、及清洁设备 Download PDFInfo
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- WO2023078079A1 WO2023078079A1 PCT/CN2022/125813 CN2022125813W WO2023078079A1 WO 2023078079 A1 WO2023078079 A1 WO 2023078079A1 CN 2022125813 W CN2022125813 W CN 2022125813W WO 2023078079 A1 WO2023078079 A1 WO 2023078079A1
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- Prior art keywords
- cleaning mechanism
- cleaning
- rotate
- drive
- preset direction
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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
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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
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
Definitions
- the present application belongs to the technical field of automatic control, and in particular relates to a cleaning equipment control method and the cleaning equipment.
- the cleaning equipment has the function of self-moving and automatic cleaning.
- the cleaning device cleans the ground through a cleaning mechanism (such as a rolling brush, etc.) installed on the cleaning device while moving.
- the technical problem to be solved in the present application includes solving the problem that the service life of the cleaning equipment is reduced and the cleaning effect is not good due to the stuck cleaning mechanism.
- the present application provides a control method for cleaning equipment, the cleaning equipment includes a cleaning mechanism, and a drive motor for driving the cleaning mechanism, the method includes:
- controlling the driving motor In response to receiving a cleaning instruction, controlling the driving motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism can clean the surface to be cleaned;
- the driving motor drives the cleaning mechanism to rotate in a preset direction, monitor the working parameters of the driving motor, and judge whether there is any foreign object in the cleaning mechanism that affects the operation of the cleaning mechanism according to the working parameters;
- the driving motor is controlled to drive the cleaning mechanism to rotate in a direction opposite to the preset direction, so that the foreign matter leaves the cleaning mechanism.
- control method of the cleaning equipment also includes:
- the driving motor drives the cleaning mechanism to rotate in the opposite direction to the preset direction, it is judged according to the working parameters whether the foreign matter leaves the cleaning mechanism;
- the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned.
- the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned ,include:
- the cleaning device further includes a displacement mechanism for driving the displacement of the cleaning device
- the method for controlling the cleaning device further includes:
- controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes:
- control the cleaning device When it is judged that the foreign matter has left the cleaning mechanism, control the cleaning device to stay in place for a preset period of time, and control the drive motor to drive the cleaning mechanism to rotate in the preset direction, so that the cleaning mechanism can The foreign matter is cleaned.
- judging whether the foreign matter leaves the cleaning mechanism according to the working parameters includes:
- the duration reaches the first duration, the step of controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction again.
- control method of the cleaning device before controlling the driving motor again to drive the cleaning mechanism to rotate in the opposite direction to the preset direction, the control method of the cleaning device further includes:
- the step of controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction to the preset direction is triggered.
- control method of the cleaning equipment also includes:
- an alarm signal is output to prompt that the cleaning mechanism is stuck.
- controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction to the preset direction includes:
- the present application also provides a kind of cleaning equipment, and described cleaning equipment comprises:
- controlling the drive motor In response to receiving a cleaning instruction, controlling the drive motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism cleans the surface to be cleaned;
- the driving motor drives the cleaning mechanism to rotate in a preset direction, monitor the working parameters of the driving motor, and judge whether there is any foreign object in the cleaning mechanism that affects the operation of the cleaning mechanism according to the working parameters;
- the driving motor is controlled to drive the cleaning mechanism to rotate in a direction opposite to the preset direction, so that the foreign matter leaves the cleaning mechanism.
- controller is also used for:
- the driving motor drives the cleaning mechanism to rotate in the opposite direction to the preset direction, it is judged according to the working parameters whether the foreign matter leaves the cleaning mechanism;
- the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned.
- the driving motor is controlled to drive the cleaning mechanism to rotate in the preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned ,include:
- the cleaning device also includes a displacement mechanism for driving the displacement of the cleaning device, and the controller is also used for:
- controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction so that the cleaning mechanism continues to clean the surface to be cleaned includes:
- control the cleaning device When it is judged that the foreign matter has left the cleaning mechanism, control the cleaning device to stay in place for a preset period of time, and control the drive motor to drive the cleaning mechanism to rotate in the preset direction, so that the cleaning mechanism can The foreign matter is cleaned.
- judging whether the foreign matter leaves the cleaning mechanism according to the working parameters includes:
- the duration reaches the first duration, the step of controlling the drive motor to drive the cleaning mechanism to rotate in the preset direction again.
- the controller before controlling the driving motor again to drive the cleaning mechanism to rotate in the opposite direction to the preset direction, the controller is further used for:
- the step of controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction to the preset direction is triggered.
- controller is also used for:
- an alarm signal is output to prompt that the cleaning mechanism is stuck.
- controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction to the preset direction includes:
- controlling the driving motor In response to receiving a cleaning command, controlling the driving motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism can clean the surface to be cleaned; when the driving motor drives the cleaning mechanism to rotate in a preset direction, monitor the operating parameters of the driving motor, and According to the working parameters, it is judged whether there are foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism; when it is judged that there are foreign objects in the cleaning mechanism, the driving motor is controlled to drive the cleaning mechanism to rotate in the opposite direction to the preset direction, so that the foreign objects leave the cleaning mechanism; The cleaning mechanism is stuck, resulting in reduced service life of the cleaning equipment and poor cleaning effect; when it is judged that there are foreign objects in the cleaning mechanism, the cleaning mechanism can be rotated in reverse to allow the cleaning mechanism to carry large particles of dust out of the dust In this way, the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the cleaning effect and service life of the cleaning equipment.
- the cleaning mechanism rotates in a preset direction
- the probability of dust being brought into the dust box is high.
- the cleaning mechanism rotates counterclockwise the dust will fall to the dust box due to inertia.
- the cleaning mechanism rotates clockwise the direction of inertia of the dust is opposite to the direction of the dust box, and at this time, the dust collection effect is not good. Based on this, when the foreign matter leaves the cleaning mechanism, the dust collection effect of the cleaning device can be improved by driving the cleaning mechanism to rotate in a preset direction again instead of continuing to rotate in the opposite direction of the preset direction.
- the jamming of the cleaning mechanism may not be eliminated by reversing, it is only triggered to execute the control drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction when the number of switching times does not reach the preset threshold.
- the steps can avoid the problem that the cleaning mechanism keeps cycling between forward rotation and reverse rotation, and improve the working efficiency of the cleaning equipment.
- Fig. 1 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
- Fig. 2 is a schematic structural view of a cleaning device provided by another embodiment of the present application.
- Fig. 3 is a schematic diagram of a cleaning mechanism and a dust box in a cleaning device provided by an embodiment of the present application;
- Fig. 4 is a flowchart of a control method for cleaning equipment provided by an embodiment of the present application.
- Fig. 5 is a flowchart of a control method for cleaning equipment provided in another embodiment of the present application.
- Fig. 6 is a block diagram of a control device for cleaning equipment provided by an embodiment of the present application.
- Fig. 7 is a block diagram of a cleaning device provided by an embodiment of the present application.
- orientation words such as “upper, lower, top, bottom” are generally used for the directions shown in the drawings, or for the parts themselves in the vertical, In terms of vertical or gravitational direction; similarly, for the convenience of understanding and description, “inside and outside” refer to inside and outside relative to the outline of each component itself, but the above orientation words are not used to limit the present application.
- Fig. 1 is a schematic structural diagram of a cleaning device provided by an embodiment of the present application.
- the cleaning device may be an electronic device with a cleaning function such as a sweeper, a vacuum cleaner, and a mopping machine. This embodiment does not limit the implementation of the cleaning device.
- the cleaning device at least includes: a cleaning mechanism 110 , a driving motor 120 for driving the cleaning mechanism 110 , and a controller (not shown) connected to the driving motor 120 .
- the driving motor 120 is used to drive the cleaning mechanism 110 to rotate.
- the driving motor 120 is installed inside the cleaning device.
- the driving motor 120 is connected with the cleaning mechanism 110 through a transmission mechanism.
- the cleaning mechanism 110 can be a rolling brush, a mop, or a structure with adsorption capacity, etc., and this embodiment does not limit the implementation of the cleaning mechanism 110.
- the cleaning mechanism 110 is installed at the bottom of the cleaning device.
- the cleaning mechanism 110 is installed at the bottom center of the cleaning equipment as an example.
- the cleaning mechanism 110 can also be installed at the bottom front end or the bottom edge of the cleaning equipment. The installation position is limited.
- a mechanism accommodating cavity 130 is provided at the bottom of the cleaning device, and the mechanism accommodating cavity 130 is used for accommodating the cleaning mechanism 110 .
- the cleaning mechanism 110 can move in the mechanism accommodating cavity 130 .
- Mechanism accommodating cavity 130 has dust inlet 131, and this dust inlet 131 is opposite to the surface to be cleaned (such as the ground) of cleaning equipment, so that cleaning mechanism 110 is exposed, and contacts with surface to be cleaned when cleaning mechanism 110 runs, to The surface to be cleaned is cleaned.
- the size of the mechanism accommodating cavity 130 is determined based on the size of the cleaning mechanism 110 .
- the size of the mechanism accommodating cavity 130 is larger than that of the cleaning mechanism 110 so that the cleaning mechanism 110 can operate in the mechanism accommodating cavity 130 .
- the shape of the mechanism receiving chamber 130 is determined based on the shape of the cleaning mechanism 110 . For example, if the cleaning mechanism 110 is cylindrical, the mechanism accommodating cavity 130 is also cylindrical.
- the cleaning mechanism 110 is taken as an example of a roller brush. As shown in FIG. 1 , the roller brush can rotate around the central axis of the roller brush in the mechanism accommodating cavity 130 .
- a dust box 140 is also installed in the cleaning device.
- the mechanism accommodating chamber 130 is further provided with a dust outlet 132 , and the dust outlet 132 is connected with the dust box 140 .
- the dust box 140 is used to collect dust carried by the cleaning mechanism 110 during operation.
- the cleaning mechanism 110 is a roller brush, and the roller brush rotates counterclockwise during the working process.
- the roller brush rotates counterclockwise in the mechanism accommodation chamber 130 to remove dust from the dust inlet.
- the dust outlet 131 is carried to the dust outlet 132, and then the dust enters the dust box 140 from the dust outlet 132.
- the large dust particles carried by the cleaning mechanism 110 may be caught between the cleaning mechanism 110 and the mechanism accommodating cavity 130 , resulting in the cleaning mechanism 110 being stuck. At this time, it will cause the cleaning mechanism 110 to stop, and the cleaning equipment will work abnormally, thereby causing the service life of the cleaning equipment to be reduced and the cleaning effect to be poor.
- the cleaning mechanism 110 may also be stuck by large particles. 130 as an example, and does not limit the scenario where the cleaning mechanism 110 is stuck.
- the controller is used to: in response to receiving a cleaning instruction, control the driving motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism can clean the surface to be cleaned; When rotating in the set direction, monitor the working parameters of the driving motor, and judge whether there are foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism according to the working parameters; direction to keep foreign objects away from the cleaning mechanism.
- the controller can reversely rotate the cleaning mechanism when judging that there is foreign matter in the cleaning mechanism, so that the cleaning mechanism can carry large particles of dust out of the dust inlet 131, like this, the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the cleaning of the cleaning equipment. effect and service life.
- the cleaning instruction can be sent by a control device (such as a remote controller, a mobile phone, a tablet computer, etc.) connected to the cleaning device; or, it can also be generated when the start button installed on the cleaning device is triggered; or, it can also be It is automatically generated within a certain period of time after the cleaning device is turned on, and this embodiment does not limit the way of obtaining the cleaning instruction.
- a control device such as a remote controller, a mobile phone, a tablet computer, etc.
- the preset direction refers to the default direction of rotation of the cleaning mechanism.
- the preset direction may be counterclockwise or clockwise.
- the preset direction is counterclockwise as an example for illustration, and this embodiment does not limit the implementation of the preset direction.
- Controlling the drive motor to drive the cleaning mechanism to rotate in a preset direction includes: outputting a positive power supply voltage to the drive motor, so that the drive motor rotates forward to drive the cleaning mechanism to rotate in a preset direction.
- the working parameter of the driving motor 120 may be the working current of the driving motor.
- the cleaning device is also provided with a current collection circuit, one end of the current collection circuit is connected to the drive motor 120, and the other end is connected to the controller.
- the current collection circuit collects the working current of the driving motor 120 and sends the working current to the controller.
- the controller receives the working current collected by the current collecting circuit.
- the working parameter of the driving motor 120 may also be the working power of the driving motor.
- a power collection circuit is also provided in the cleaning device, one end of the power collection circuit is connected to the drive motor 120 , and the other end is connected to the controller. In this way, when the driving motor 120 is working, the power collection circuit collects the working power of the driving motor 120 and sends the working power to the controller.
- the controller receives the working power collected by the power collection circuit.
- the driving motor 120 cannot normally drive the cleaning mechanism 110 to rotate. At this time, the working current of the driving motor 120 will increase, and the working power will also increase accordingly. Based on this, judge whether there are foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism according to the working parameters, including but not limited to the following methods:
- the first method determine whether the working parameter is greater than the parameter threshold; if the working parameter is greater than the parameter threshold, it is determined that there is a foreign object affecting the operation of the cleaning mechanism; if the working parameter is less than or greater than the parameter threshold, it is determined that there is no foreign object affecting the operation of the cleaning mechanism.
- the parameter threshold is determined based on the stuck working parameters of the driving motor 120 when the cleaning mechanism 110 is stuck.
- the parameter threshold is equal to the stuck working parameter, or the parameter threshold is slightly larger than the stuck working parameter, and the value of the parameter threshold is not limited in this embodiment.
- the second method determine whether the working parameter is greater than the parameter threshold; if the working parameter is greater than the parameter threshold, determine whether the duration of the working parameter continuously greater than the parameter threshold reaches the preset duration; if the continuous duration greater than the parameter threshold reaches the preset duration, determine that there is Foreign objects that affect the operation of the cleaning mechanism; if the duration of time continuously greater than the parameter threshold does not reach the preset duration, then perform the step of determining whether the working parameter is greater than the parameter threshold; of foreign matter.
- the preset duration is pre-stored in the cleaning device, and the preset duration may be 3 seconds (s), 5s, etc., and this embodiment does not limit the value of the preset duration.
- the stuck Since the rolling brush is stuck instantly, the stuck may be eliminated by the long-term driving of the drive motor 120. Therefore, in the second method, only the stuck for a preset duration is used as the condition for the controller to finally determine the stuck , can reduce the number of reverse rotations of the driving motor 120, and save driving resources of the cleaning device.
- control the driving motor 120 to drive the cleaning mechanism to rotate in the opposite direction to the preset direction including: switching the voltage direction of the power supply voltage of the driving motor to control the driving motor to output a reverse driving force to drive the cleaning mechanism Rotate in the opposite direction to the preset direction.
- the forward power supply voltage of the driving motor is 11 volts (V)
- the controller when controlling the driving motor 120 to output the reverse driving force, the controller outputs the reverse power supply voltage -11V to the driving motor, so as to control the driving motor to output reverse driving
- the force drives the cleaning mechanism to rotate in the opposite direction to the preset direction.
- the cleaning mechanism rotates in a preset direction, the probability of dust being brought into the dust box 140 is relatively high. Specifically referring to FIG. 3 , when the cleaning mechanism rotates counterclockwise, the dust will fall to the dust box 140 due to inertial force. However, when the cleaning mechanism rotates clockwise, the direction of inertia of the dust is opposite to the direction where the dust box 140 is located. At this time, the dust collection effect is not good. Based on this, when the foreign matter leaves the cleaning mechanism, it is necessary to drive the cleaning mechanism to rotate in a preset direction again, so as to improve the dust collection effect.
- the controller is also used to: after the drive motor drives the cleaning mechanism to rotate in the opposite direction to the preset direction, judge whether the foreign matter has left the cleaning mechanism according to the working parameters; Rotates in a preset direction so that the cleaning mechanism continues to clean the surface to be cleaned.
- the drive motor drives the cleaning mechanism to rotate in the opposite direction to the preset direction
- it is determined according to the working parameters whether the foreign matter leaves the cleaning mechanism including: when the cleaning mechanism rotates in the opposite direction for a first duration, Control the driving motor to drive the cleaning mechanism to rotate again according to the preset direction; after the cleaning mechanism rotates again according to the preset direction for a second period of time, judge whether there are still foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism according to the working parameters; When there is a foreign object that affects the operation of the cleaning mechanism, control the driving motor again to drive the cleaning mechanism to rotate in the opposite direction of the preset direction, and trigger execution. Steps to rotate in preset direction.
- the first time length is the same as or different from the second time length, the first time length may be 3s or 5s, etc., and the second time length may also be 3s or 5s, etc. This embodiment does not make any adjustments to the values of the first time length and the second time length. limited.
- the controller in order to prevent the cleaning mechanism from always cycling between forward rotation and reverse rotation, in another example, before controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction to the preset direction, the controller is also used to: determine Whether the number of times the rotation direction of the cleaning mechanism is switched from the preset direction to the opposite direction of the preset direction reaches the preset number threshold; if the number of switching times does not reach the preset number threshold, trigger execution to control the drive motor again to drive the cleaning mechanism according to Steps to rotate in the opposite direction of the preset direction.
- the controller is further configured to: when the number of switching times does not reach the preset number threshold, output an alarm signal to prompt that the cleaning mechanism is stuck.
- the alarm signal includes but is not limited to: an audio alarm signal, a light alarm signal, and/or a communication alarm signal, etc., and this embodiment does not limit the implementation of the alarm signal.
- the cleaning equipment also has a self-moving function.
- the cleaning device further includes a displacement mechanism 150 for driving the displacement of the cleaning device.
- the displacement mechanism 150 includes a wheel body and a driving member for driving the wheel body to rotate.
- the wheel body can be a universal wheel, or consist of a driving wheel and a driven wheel, and this embodiment does not limit the implementation of the wheel body.
- the cleaning equipment with self-moving function When the cleaning equipment with self-moving function performs cleaning work, it generally drives the cleaning mechanism to rotate while moving to clean the surface to be cleaned. Based on this, in order to ensure that the cleaning device can clean the location where the cleaning device is located when the cleaning mechanism is stuck, in one example, when it is judged that the foreign matter has left the cleaning mechanism, the controller controls the drive motor to drive the cleaning mechanism in a preset direction Rotate so that the cleaning mechanism continues to clean the surface to be cleaned, including: when it is judged that the foreign matter leaves the cleaning mechanism, record the real-time position of the cleaning device when the foreign object leaves the cleaning mechanism; control the cleaning device to return to the real-time position and control the drive motor to drive the cleaning mechanism according to the preset Rotate in the opposite direction so that the cleaning mechanism can clean foreign objects.
- the controller is further used to control the cleaning device to stop displacement when it is judged that there is a foreign object in the cleaning mechanism.
- the driving motor is controlled to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned, including: when it is judged that the foreign matter has left the cleaning mechanism, controlling the cleaning device to stay in place for a predetermined time Set a time period, and control the driving motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism can clean the foreign matter.
- the cleaning mechanism when the controller judges that there is foreign matter in the cleaning mechanism, the cleaning mechanism can be reversely rotated so that the cleaning mechanism can carry large particles of dust out of the dust inlet 131, so that the jamming phenomenon of the cleaning mechanism can be eliminated, thereby Improve the cleaning effect and service life of cleaning equipment.
- the cleaning mechanism rotates in a preset direction
- the probability of dust being brought into the dust box 140 is relatively high.
- the cleaning mechanism rotates counterclockwise
- the dust will fall to the dust box 140 due to the force of inertia.
- the cleaning mechanism rotates clockwise
- the direction of inertia of the dust is opposite to the direction where the dust box 140 is located.
- the dust collection effect is not good. Based on this, when the foreign matter leaves the cleaning mechanism, the dust collection effect of the cleaning device can be improved by driving the cleaning mechanism to rotate in a preset direction again instead of continuing to rotate in the opposite direction of the preset direction.
- the jamming of the cleaning mechanism may not be eliminated by reversing, it is only triggered to execute the control drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction when the number of switching times does not reach the preset threshold.
- the steps can avoid the problem that the cleaning mechanism keeps cycling between forward rotation and reverse rotation, and improve the working efficiency of the cleaning equipment.
- Fig. 4 is a flow chart of a control method for cleaning equipment provided by an embodiment of the present application. This embodiment uses the method in the controller of the cleaning equipment shown in Fig. 1 as an example for illustration. The method includes at least the following: step:
- Step 401 in response to receiving a cleaning instruction, control the driving motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism can clean the surface to be cleaned.
- Step 402 when the driving motor drives the cleaning mechanism to rotate in a preset direction, monitor the working parameters of the driving motor, and judge whether there are foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism according to the working parameters.
- Step 403 when it is judged that there are foreign objects in the cleaning mechanism, control the drive motor to drive the cleaning mechanism to rotate in the opposite direction to the preset direction, so as to make the foreign objects leave the cleaning mechanism.
- controlling the drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction includes: switching the voltage direction of the power supply voltage of the drive motor to control the drive motor to output a reverse driving force to drive the cleaning mechanism to rotate in the reverse direction of the preset direction. direction rotation.
- the controller judges whether the foreign matter has left the cleaning mechanism according to the working parameters; Rotate so the cleaning mechanism continues to clean the surface to be cleaned.
- the driving motor is controlled to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned, including: when it is judged that the foreign object has left the cleaning mechanism, recording that the foreign object has left the cleaning mechanism Real-time position of the cleaning device; control the cleaning device to return to the real-time position and control the drive motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism can clean foreign objects.
- the cleaning device further includes a displacement mechanism for driving the cleaning device to displace
- the controller is further configured to control the cleaning device to stop the displacement when it is judged that there is a foreign object in the cleaning mechanism.
- the driving motor is controlled to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism continues to clean the surface to be cleaned, including: when it is judged that the foreign matter has left the cleaning mechanism, controlling the cleaning device to stay in place for a predetermined time Set a time period, and control the driving motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism can clean the foreign matter.
- the driving motor drives the cleaning mechanism to rotate in the opposite direction to the preset direction
- it is judged according to the working parameters whether the foreign matter has left the cleaning mechanism including: when the cleaning mechanism rotates in the opposite direction for a first duration, control The drive motor drives the cleaning mechanism to rotate again according to the preset direction; after the cleaning mechanism rotates again according to the preset direction for a second period of time, judge whether there are still foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism according to the working parameters;
- control the drive motor again to drive the cleaning mechanism to rotate in the opposite direction to the preset direction, and trigger execution. Steps to set direction rotation.
- the controller before controlling the drive motor again to drive the cleaning mechanism to rotate in the opposite direction to the preset direction, the controller is also used to: determine whether the number of times the rotation direction of the cleaning mechanism is switched from the preset direction to the reverse direction of the preset direction reaches the preset value. Setting a threshold value of times; when the number of times of switching does not reach the threshold value of preset times, the step of controlling the driving motor to drive the cleaning mechanism to rotate in the opposite direction to the preset direction is triggered again.
- an alarm signal is output to prompt that the cleaning mechanism is stuck.
- the cleaning device control method controls the driving motor to drive the cleaning mechanism to rotate in a preset direction in response to receiving a cleaning instruction, so that the cleaning mechanism can clean the surface to be cleaned;
- the mechanism rotates in the preset direction, monitor the working parameters of the drive motor, and judge whether there are foreign objects in the cleaning mechanism that affect the operation of the cleaning mechanism according to the working parameters; Rotate in the opposite direction of the direction to make the foreign matter leave the cleaning mechanism; it can solve the problem that the service life of the cleaning equipment is reduced and the cleaning effect is not good because the cleaning mechanism is stuck; when it is judged that there is a foreign object in the cleaning mechanism, it can reverse Rotate the cleaning mechanism so that the cleaning mechanism can carry large particles of dust out of the dust inlet. In this way, the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the cleaning effect and service life of the cleaning equipment.
- the cleaning mechanism rotates in a preset direction
- the probability of dust being brought into the dust box is high.
- the cleaning mechanism rotates counterclockwise the dust will fall to the dust box due to inertia.
- the cleaning mechanism rotates clockwise the direction of inertia of the dust is opposite to the direction of the dust box, and at this time, the dust collection effect is not good. Based on this, when the foreign matter leaves the cleaning mechanism, the dust collection effect of the cleaning device can be improved by driving the cleaning mechanism to rotate in a preset direction again instead of continuing to rotate in the opposite direction of the preset direction.
- the jamming of the cleaning mechanism may not be eliminated by reversing, it is only triggered to execute the control drive motor to drive the cleaning mechanism to rotate in the opposite direction of the preset direction when the number of switching times does not reach the preset threshold.
- the steps can avoid the problem that the cleaning mechanism keeps cycling between forward rotation and reverse rotation, and improve the working efficiency of the cleaning equipment.
- the cleaning mechanism is a roller brush
- the forward power supply voltage of the roller brush is 11V
- the working parameter is current
- the parameter threshold value is 0.2 ampere (A)
- the preset time length is 3s
- the first time length and the second time length are both 3s
- the frequency threshold value is 5 times as an example, referring to Figure 5, the method includes at least the following steps:
- Step 52 determine whether the working current exceeds 2A within 3 consecutive seconds; if yes, execute step 53; if not, execute step 58;
- Step 53 control the cleaning device to stop moving, and provide the drive motor with a reverse power supply voltage -11V, so that the cleaning mechanism reverses;
- Step 54 after the cleaning mechanism is reversed for 3 seconds, provide a forward power supply voltage +11V to the drive motor to make the cleaning mechanism rotate forward;
- Step 56 determine whether the value of n reaches 5; If so, then perform step 57; if not, then perform step 53;
- step 57 an alarm signal is output, and the process ends.
- Step 58 determine whether the cleaning is completed; if yes, the process ends; if not, execute step 52 again.
- the cleaning mechanism when it is judged that there is a foreign object in the cleaning mechanism, the cleaning mechanism can be rotated in reverse so that the cleaning mechanism can carry large particles of dust out of the dust inlet, so that the jamming phenomenon of the cleaning mechanism can be eliminated, thereby improving the efficiency of the cleaning equipment. Cleaning effect and service life.
- Fig. 6 is a block diagram of a control device for cleaning equipment provided by an embodiment of the present application.
- the device is used as an example in the controller of the cleaning equipment shown in FIG. .
- the first control module 610 is configured to, in response to receiving a cleaning instruction, control the drive motor to drive the cleaning mechanism to rotate in a preset direction, so that the cleaning mechanism can clean the surface to be cleaned;
- the foreign matter judging module 620 is configured to monitor the working parameters of the driving motor when the driving motor drives the cleaning mechanism to rotate in a preset direction, and judge whether there is any influence on the cleaning mechanism according to the working parameters. Foreign matter in the operation of the cleaning mechanism;
- the second control module 630 is configured to control the drive motor to drive the cleaning mechanism to rotate in the opposite direction to the preset direction when it is judged that the foreign matter exists in the cleaning mechanism, so that the foreign matter leaves the cleaning mechanism.
- control device of the cleaning equipment provided in the above-mentioned embodiments controls the cleaning equipment, it only uses the division of the above-mentioned functional modules for illustration. In practical applications, the above-mentioned functions can be assigned by different The functional modules are completed, that is, the internal structure of the control device of the cleaning equipment is divided into different functional modules to complete all or part of the functions described above.
- the cleaning device control device provided in the above embodiments and the cleaning device control method embodiment belong to the same idea, and the specific implementation process thereof is detailed in the method embodiment, and will not be repeated here.
- Fig. 7 is a block diagram of a cleaning device provided by an embodiment of the present application.
- the device may be the cleaning device described in FIG. 1 , and the device includes at least a processor 701 and a memory 702 .
- the processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like.
- Processor 701 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish.
- Processor 701 may also include a main processor and a coprocessor, and the main processor is a processor for processing data in a wake-up state, also called a CPU (Central Processing Unit, central processing unit); the coprocessor is Low-power processor for processing data in standby state.
- CPU Central Processing Unit, central processing unit
- the coprocessor is Low-power processor for processing data in standby state.
- the processor 701 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen.
- the processor 701 may also include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is configured to process computing operations related to machine learning.
- AI Artificial Intelligence, artificial intelligence
- Memory 702 may include one or more computer-readable storage media, which may be non-transitory.
- the memory 702 may also include high-speed random access memory, and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
- the non-transitory computer-readable storage medium in the memory 702 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 701 to realize the cleaning device provided by the method embodiment of the present application control method.
- the external reference calibration device may optionally further include: a peripheral device interface and at least one peripheral device.
- the processor 701, the memory 702, and the peripheral device interface may be connected through a bus or a signal line.
- Each peripheral device can be connected with the peripheral device interface through a bus, a signal line or a circuit board.
- peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.
- the external reference calibration device may also include fewer or more components, which is not limited in this embodiment.
- the present application also provides a computer-readable storage medium, where a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the cleaning device control method of the above method embodiment.
- the present application also provides a computer product, the computer product includes a computer-readable storage medium, and a program is stored in the computer-readable storage medium, and the program is loaded and executed by a processor to implement the above method embodiments Control methods for cleaning equipment.
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- Cleaning In General (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
一种清洁设备的控制方法、及清洁设备，属于自动控制技术领域。控制方法包括响应于接收到清洁指令，控制驱动电机（120）驱动清洁机构（110）按照预设方向旋转；在驱动电机（120）驱动清洁机构（110）按照预设方向旋转时，监控驱动电机（120）的工作参数，并根据工作参数判断清洁机构（110）中是否存在影响清洁机构（110）运转的异物；在判断清洁机构（110）中存在异物时，控制驱动电机（120）驱动清洁机构（110）按照预设方向的反方向旋转，以使异物离开清洁机构（110）；可以解决由于清洁机构（110）被卡住，导致的清洁设备的使用寿命降低、且清洁效果不佳的问题；在判断清洁机构（110）中存在异物时，可以反向旋转清洁机构（110）以使清洁机构（110）将大颗粒灰尘携带出进尘口（131），消除清洁机构（110）的卡顿现象，从而提高清洁设备的清洁效果和使用寿命。
Description
本公开要求如下专利申请的优先权：于2021年11月05日提交中国专利局、申请号为202111323164.4、发明名称为“清洁设备的控制方法、及清洁设备”的中国专利申请，上述专利申请的全部内容通过引用结合在本公开中。
本申请属于自动控制技术领域，具体涉及一种清洁设备的控制方法、及清洁设备。
目前，清洁设备具有自移动功能和自动清洁功能。在执行清洁工作时，清洁设备在移动的同时，通过该清洁设备上安装的清洁机构(如滚刷等)对地面进行清洁。
然而，地面上可能存在大体积颗粒(如花生壳)灰尘，清洁机构清洁该大体积颗粒灰尘时可能会出现大体积颗粒灰尘卡住清洁机构，从而导致清洁机构停转、清洁设备的使用寿命降低、且清洁效果不佳的问题。
发明内容
本申请所要解决的技术问题包括可以解决由于清洁机构被卡住，导致的清洁设备的使用寿命降低、且清洁效果不佳的问题。
为解决上述技术问题，本申请提供一种清洁设备的控制方法，所述清洁设备包括清洁机构、和用于驱动所述清洁机构的驱动电机，所述方法包括：
响应于接收到清洁指令，控制所述驱动电机驱动所述清洁机构按照预设方向旋转，以便所述清洁机构对待清洁表面进行清洁；
在所述驱动电机驱动所述清洁机构按照预设方向旋转时，监控所述驱动电机的工作参数，并根据所述工作参数判断所述清洁机构中是否存在影响所述清洁机构运转的异物；
在判断所述清洁机构中存在所述异物时，控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，以使所述异物离开所述清洁机构。
可选地，所述清洁设备的控制方法还包括：
在所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转后，根据所述工作参数判断所述异物是否离开所述清洁机构；
在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁。
可选地，所述在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁，包括：
在判断所述异物离开所述清洁机构时，记录所述异物离开所述清洁机构时所述清洁设备的实时位置；
控制所述清洁设备返回所述实时位置并控制驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构对所述异物进行清洁。
可选地，所述清洁设备还包括用于驱动所述清洁设备位移的位移机构，所述清洁设备的控制方法还包括：
在判断所述清洁机构中存在所述异物时，控制所述清洁设备停止位移；
所述在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁，包括：
在判断所述异物离开所述清洁机构时，控制所述清洁设备在原地停留预设时间段，并控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构对所述异物进行清洁。
可选地，所述在所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转后，根据所述工作参数判断所述异物是否离开所述清洁机 构，包括：
在所述清洁机构按照所述反方向旋转的时长达到第一时长的情况下，控制所述驱动电机驱动所述清洁机构再次按照所述预设方向旋转；
在所述清洁机构再次按照预设方向旋转第二时长后，根据所述工作参数判断所述清洁机构中是否仍然存在影响所述清洁机构运转的异物；
在判断所述清洁机构中仍然存在影响所述清洁机构运转的异物时，再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，并触发执行所述在反方向旋转的时长达到第一时长的情况下，控制所述驱动电机驱动所述清洁机构再次按照所述预设方向旋转的步骤。
可选地，所述再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转之前，所述清洁设备的控制方法还包括：
确定所述清洁机构的旋转方向从所述预设方向切换至所述预设方向的反方向的次数是否达到预设次数阈值；
在切换的次数未达到所述预设次数阈值的情况下，触发执行所述再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转的步骤。
可选地，所述清洁设备的控制方法还包括：
在切换的次数达到所述预设次数阈值的情况下，输出警报信号，以提示所述清洁机构发生卡顿。
可选地，所述控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，包括：
切换所述驱动电机的供电电压的电压方向，以控制所述驱动电机输出反向驱动力，带动所述清洁机构按照所述预设方向的反方向旋转。
另一方面，本申请还提供一种清洁设备，所述清洁设备包括：
清洁机构；
用于驱动所述清洁机构的驱动电机；以及
与所述驱动电机相连的控制器，所述控制器用于：
响应于接收到清洁指令，控制所述驱动电机驱动所述清洁机构按照 预设方向旋转，以便所述清洁机构对待清洁表面进行清洁；
在所述驱动电机驱动所述清洁机构按照预设方向旋转时，监控所述驱动电机的工作参数，并根据所述工作参数判断所述清洁机构中是否存在影响所述清洁机构运转的异物；
在判断所述清洁机构中存在所述异物时，控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，以使所述异物离开所述清洁机构。
可选地，所述控制器还用于：
在所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转后，根据所述工作参数判断所述异物是否离开所述清洁机构；
在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁。
可选地，所述在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁，包括：
在判断所述异物离开所述清洁机构时，记录所述异物离开所述清洁机构时所述清洁设备的实时位置；
控制所述清洁设备返回所述实时位置并控制驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构对所述异物进行清洁。
可选地，所述清洁设备还包括用于驱动所述清洁设备位移的位移机构，所述控制器还用于：
在判断所述清洁机构中存在所述异物时，控制所述清洁设备停止位移；
所述在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁，包括：
在判断所述异物离开所述清洁机构时，控制所述清洁设备在原地停 留预设时间段，并控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构对所述异物进行清洁。
可选地，所述在所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转后，根据所述工作参数判断所述异物是否离开所述清洁机构，包括：
在所述清洁机构按照所述反方向旋转的时长达到第一时长的情况下，控制所述驱动电机驱动所述清洁机构再次按照所述预设方向旋转；
在所述清洁机构再次按照预设方向旋转第二时长后，根据所述工作参数判断所述清洁机构中是否仍然存在影响所述清洁机构运转的异物；
在判断所述清洁机构中仍然存在影响所述清洁机构运转的异物时，再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，并触发执行所述在反方向旋转的时长达到第一时长的情况下，控制所述驱动电机驱动所述清洁机构再次按照所述预设方向旋转的步骤。
可选地，所述再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转之前，所述控制器还用于：
确定所述清洁机构的旋转方向从所述预设方向切换至所述预设方向的反方向的次数是否达到预设次数阈值；
在切换的次数未达到所述预设次数阈值的情况下，触发执行所述再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转的步骤。
可选地，所述控制器还用于：
在切换的次数达到所述预设次数阈值的情况下，输出警报信号，以提示所述清洁机构发生卡顿。
可选地，所述控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，包括：
切换所述驱动电机的供电电压的电压方向，以控制所述驱动电机输出反向驱动力，带动所述清洁机构按照所述预设方向的反方向旋转。
本申请提供的技术方案，具有以下优点：
通过响应于接收到清洁指令，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构对待清洁表面进行清洁；在驱动电机驱动清洁机构按照预设方向旋转时，监控驱动电机的工作参数，并根据工作参数判断清洁机构中是否存在影响清洁机构运转的异物；在判断清洁机构中存在异物时，控制驱动电机驱动清洁机构按照预设方向的反方向旋转，以使异物离开清洁机构；可以解决由于清洁机构被卡住，导致的清洁设备的使用寿命降低、且清洁效果不佳的问题；在判断清洁机构中存在异物时，可以反向旋转清洁机构以使清洁机构将大颗粒灰尘携带出进尘口，这样，可以消除清洁机构的卡顿现象，从而提高清洁设备的清洁效果和使用寿命。
另外，由于清洁机构按照预设方向旋转时，将灰尘带入尘盒的概率较大。在清洁机构逆时针旋转时，灰尘由于惯力作用会降落至尘盒。然而，在清洁机构顺时针旋转时，灰尘的惯力方向与尘盒所在方向相反，此时，集尘效果不佳。基于此，在异物离开清洁机构的情况下，通过再次驱动清洁机构按照预设方向旋转，而不是继续按照预设方向的反方向旋转，可以提高清洁设备的集尘效果。
另外，由于清洁机构的卡顿可能无法通过反转消除，因此，通过在切换的次数未达到预设次数阈值的情况下，才触发执行再次控制驱动电机驱动清洁机构按照预设方向的反方向旋转的步骤，可以避免清洁机构在正转和反转之间一直循环的问题，提高清洁设备的工作效率。
另外，通过在异物离开清洁机构后，对清洁机构发生卡顿时的位置进行清洁，可以避免清洁设备漏扫的问题，提高清洁设备的清洁效果。
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一个实施例提供的清洁设备的结构示意图；
图2是本申请另一个实施例提供的清洁设备的结构示意图；
图3是本申请一个实施例提供的清洁设备中清洁机构和尘盒的示意图；
图4是本申请一个实施例提供的清洁设备的控制方法的流程图；
图5是本申请另一个实施例提供的清洁设备的控制方法的流程图；
图6是本申请一个实施例提供的清洁设备的控制装置的框图；
图7是本申请一个实施例提供的清洁设备的框图。
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。下文中将参考附图并结合实施例来详细说明本申请。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
在本申请中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的，或者是针对部件本身在竖直、垂直或重力方向上而言的；同样地，为便于理解和描述，“内、外”是指相对于各部件本身的轮廓的内、外，但上述方位词并不用于限制本申请。
图1是本申请一个实施例提供的清洁设备的结构示意图，该清洁设备可以为扫地机、吸尘器、拖地机等具有清洁功能的电子设备，本实施例不对清洁设备的实现的方式作限定。如图1所示，清洁设备至少包括：清洁机构110、用于驱动清洁机构110的驱动电机120、以及驱动电机120相连的控制器(图中未示出)。
驱动电机120用于驱动清洁机构110进行旋转运动。驱动电机120安装于清洁设备内部。可选地，驱动电机120通过传动机构与清洁机构110相连。
清洁机构110可以为滚刷、抹布、或者具有吸附能力的结构等，本实 施例不对清洁机构110的实现方式作限定。
可选地，参考图2，清洁机构110安装在清洁设备的底部。图2中，以清洁机构110安装在清洁设备的底部中心位置为例进行说明，在实际实现时，清洁机构110也可以安装在清洁设备的底部前端，或者底部边缘，本实施例不对清洁机构110的安装位置作限定。
可选地，清洁设备底部设置有机构容纳腔130，该机构容纳腔130用于容纳清洁机构110。在清洁设备执行清洁工作时，清洁机构110可在机构容纳腔130中运动。
机构容纳腔130具有进尘口131，该进尘口131与清洁设备的待清洁表面(比如地面)相对，以使清洁机构110暴露，并在清洁机构110运行时与待清洁表面接触，以对该待清洁表面进行清洁。
可选地，机构容纳腔130的尺寸基于清洁机构110的尺寸确定。具体地，机构容纳腔130的尺寸大于清洁机构110的尺寸，以使清洁机构110能够在机构容纳腔130中运行。机构容纳腔130的形状基于清洁机构110的形状确定。比如：清洁机构110为圆柱形，则机构容纳腔130也为圆柱形。
图1中以清洁机构110为滚刷为例，如图1所示，滚刷可以在机构容纳腔130内绕滚刷的中心轴转动。
可选地，清洁设备中还设备有尘盒140，相应地，机构容纳腔130还设置有出尘口132，该出尘口132与尘盒140相连。尘盒140用于收集清洁机构110运行过程中携带的灰尘。
具体地，参考图3以清洁机构110为滚刷，且滚刷在工作过程中沿逆时针方向旋转为例进行说明，滚刷在机构容纳腔130中沿逆时针方向旋转，将灰尘从进尘口131携带至出尘口132，然后，灰尘从出尘口132进入尘盒140。
根据图3的工作示意图可知，若清洁机构110携带的灰尘颗粒较大，可能会发生颗粒大的灰尘夹在清洁机构110与机构容纳腔130之间，导致清洁机构110卡住的情况。此时，会导致清洁机构110停转、清洁设备工 作异常，从而导致清洁设备的使用寿命降低、且清洁效果不佳的问题。
需要补充说明的是，对于不具有机构容纳腔130的清洁设备，可能也会产生清洁机构110被大颗粒卡住的情况，本实施例仅以颗粒大的灰尘夹在清洁机构110与机构容纳腔130之间为例进行说明，并不对清洁机构110发生卡顿的场景作限定。
基于上述技术问题，本实施例中，控制器用于：响应于接收到清洁指令，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构对待清洁表面进行清洁；在驱动电机驱动清洁机构按照预设方向旋转时，监控驱动电机的工作参数，并根据工作参数判断清洁机构中是否存在影响清洁机构运转的异物；在判断清洁机构中存在异物时，控制驱动电机驱动清洁机构按照预设方向的反方向旋转，以使异物离开清洁机构。
由于控制器在判断清洁机构中存在异物时，可以反向旋转清洁机构以使清洁机构将大颗粒灰尘携带出进尘口131，这样，可以消除清洁机构的卡顿现象，从而提高清洁设备的清洁效果和使用寿命。
其中，清洁指令可以是与清洁设备通信相连的控制设备(如遥控器、手机、平板电脑等)发送的；或者，也可以是清洁设备上安装的启动按钮被触发时生成的；或者，还可以是清洁设备开机后一定时长内自动生成的，本实施例不对清洁指令的获取方式作限定。
预设方向是指清洁机构的默认旋转方向。可选地，预设方向可以是逆时针方向或者顺时针方向，图3中以预设方向为逆时针方向为例进行说明，本实施例不对预设方向的实现方式作限定。
控制驱动电机驱动清洁机构按照预设方向旋转，包括：向驱动电机输出正向供电电压，以使驱动电机正向旋转带动清洁机构按照预设方向旋转。
可选地，驱动电机120的工作参数可以为驱动电机的工作电流。此时，清洁设备中还设置有电流采集电路，该电流采集电路的一端与驱动电机120相连，另一端与控制器相连。这样，在驱动电机120在工作过程中，电流采集电路采集该驱动电机120的工作电流，并将该工作电流发送至控制器。相应地，控制器接收电流采集电路采集的工作电流。
或者，驱动电机120的工作参数还可以为驱动电机的工作功率。此时，清洁设备中还设置有功率采集电路，该功率采集电路的一端与驱动电机120相连，另一端与控制器相连。这样，在驱动电机120在工作过程中，功率采集电路采集该驱动电机120的工作功率，并将该工作功率发送至控制器。相应地，控制器接收功率采集电路采集的工作功率。
由于清洁机构110发生卡顿时，驱动电机120无法正常带动清洁机构110旋转，此时，驱动电机120的工作电流会上升，相应地工作功率也会上升。基于此，根据工作参数判断清洁机构中是否存在影响清洁机构运转的异物，包括但不限于以下几种方式：
第一种：确定工作参数是否大于参数阈值；若工作参数大于参数阈值，则确定存在影响清洁机构运转的异物；若工作参数小于或大于参数阈值，则确定不存在影响清洁机构运转的异物。
其中，参数阈值是基于清洁机构110发生卡顿时，驱动电机120的卡顿工作参数确定的。示意性地，参数阈值等于卡顿工作参数，或者参数阈值略大于卡顿工作参数，本实施例不对参数阈值的取值作限定。
第二种：确定工作参数是否大于参数阈值；若工作参数大于参数阈值，则确定工作参数连续大于参数阈值的时长是否达到预设时长；若连续大于参数阈值的时长达到预设时长，则确定存在影响清洁机构运转的异物；若连续大于参数阈值的时长未达到预设时长，则再次执行确定工作参数是否大于参数阈值的步骤；若工作参数小于或大于参数阈值，则确定不存在影响清洁机构运转的异物。
其中，预设时长预存在清洁设备中，预设时长可以为3秒(s)、5s等，本实施例不对预设时长的取值作限定。
由于滚刷发生瞬间卡顿时，该卡顿可能通过驱动电机120的长时驱动消除，因此，在第二种方式中，仅将时长达到预设时长的卡顿作为控制器最终判定卡顿的条件，可以减少驱动电机120的反转次数，节省清洁设备的驱动资源。
在判断清洁机构中存在异物时，控制驱动电机120驱动清洁机构按照 预设方向的反方向旋转，包括：切换驱动电机的供电电压的电压方向，以控制驱动电机输出反向驱动力，带动清洁机构按照预设方向的反方向旋转。
比如：驱动电机的正向供电电压为11伏(V)，在控制驱动电机120输出反向驱动力时，控制器向驱动电机输出反向的供电电压-11V，以控制驱动电机输出反向驱动力，带动清洁机构按照预设方向的反方向旋转。
由于清洁机构按照预设方向旋转时，将灰尘带入尘盒140的概率较大。具体参考图3，在清洁机构逆时针旋转时，灰尘由于惯力作用会降落至尘盒140。然而，在清洁机构顺时针旋转时，灰尘的惯力方向与尘盒140所在方向相反，此时，集尘效果不佳。基于此，在异物离开清洁机构的情况下，需要再次驱动清洁机构按照预设方向旋转，以提高集尘效果。
相应地，控制器还用于：在驱动电机驱动清洁机构按照预设方向的反方向旋转后，根据工作参数判断异物是否离开清洁机构；在判断异物离开清洁机构时，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构继续对待清洁表面进行清洁。
在一个示例中，在驱动电机驱动清洁机构按照预设方向的反方向旋转后，根据工作参数判断异物是否离开清洁机构，包括：在清洁机构按照反方向旋转的时长达到第一时长的情况下，控制驱动电机驱动清洁机构再次按照预设方向旋转；在清洁机构再次按照预设方向旋转第二时长后，根据工作参数判断清洁机构中是否仍然存在影响清洁机构运转的异物；在判断清洁机构中仍然存在影响清洁机构运转的异物时，再次控制驱动电机驱动清洁机构按照预设方向的反方向旋转，并触发执行在反方向旋转的时长达到第一时长的情况下，控制驱动电机驱动清洁机构再次按照预设方向旋转的步骤。
其中，第一时长与第二时长相同或不同，第一时长可以为3s、或者5s等，第二时长也可以3s、或者5s等，本实施例不对第一时长和第二时长的取值作限定。
由于清洁机构的卡顿可能无法通过反转消除。基于此，为了防止清洁机构在正转和反转之间一直循环的问题，在另一个示例中，再次控制 驱动电机驱动清洁机构按照预设方向的反方向旋转之前，控制器还用于：确定清洁机构的旋转方向从预设方向切换至预设方向的反方向的次数是否达到预设次数阈值；在切换的次数未达到预设次数阈值的情况下，触发执行再次控制驱动电机驱动清洁机构按照预设方向的反方向旋转的步骤。
可选地，控制器还用于：在切换的次数未达到预设次数阈值的情况下，输出警报信号，以提示清洁机构发生卡顿。
其中，警报信号包括但不限于：音频报警信号、灯光报警信号、和/或通信报警信号等，本实施例不对警报信号的实现方式作限定。
一般地，清洁设备还具有自移动功能。此时，清洁设备还包括用于驱动清洁设备位移的位移机构150。位移机构150包括轮体和用于驱动轮体转动的驱动件。轮体可以为万向轮，或者由主动轮和从动轮构成，本实施例不对轮体的实现方式作限定。
具有自移动功能的清洁设备在执行清洁工作时，一般是一边移动，一边驱动清洁机构旋转以对待清洁表面进行清洁。基于此，为了保证清洁设备能够在清洁机构发生卡顿时，对该清洁设备所在的位置进行清洁，在一个示例中，在判断异物离开清洁机构时，控制器控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构继续对待清洁表面进行清洁，包括：在判断异物离开清洁机构时，记录异物离开清洁机构时清洁设备的实时位置；控制清洁设备返回实时位置并控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构对异物进行清洁。
在另一个示例中，控制器还用于：在判断清洁机构中存在异物时，控制清洁设备停止位移。相应地，在判断异物离开清洁机构时，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构继续对待清洁表面进行清洁，包括：在判断异物离开清洁机构时，控制清洁设备在原地停留预设时间段，并控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构对异物进行清洁。
本实施例中，由于控制器在判断清洁机构中存在异物时，可以反向旋 转清洁机构以使清洁机构将大颗粒灰尘携带出进尘口131，这样，可以消除清洁机构的卡顿现象，从而提高清洁设备的清洁效果和使用寿命。
另外，由于清洁机构按照预设方向旋转时，将灰尘带入尘盒140的概率较大。在清洁机构逆时针旋转时，灰尘由于惯力作用会降落至尘盒140。然而，在清洁机构顺时针旋转时，灰尘的惯力方向与尘盒140所在方向相反，此时，集尘效果不佳。基于此，在异物离开清洁机构的情况下，通过再次驱动清洁机构按照预设方向旋转，而不是继续按照预设方向的反方向旋转，可以提高清洁设备的集尘效果。
另外，由于清洁机构的卡顿可能无法通过反转消除，因此，通过在切换的次数未达到预设次数阈值的情况下，才触发执行再次控制驱动电机驱动清洁机构按照预设方向的反方向旋转的步骤，可以避免清洁机构在正转和反转之间一直循环的问题，提高清洁设备的工作效率。
另外，通过在异物离开清洁机构后，对清洁机构发生卡顿时的位置进行清洁，可以避免清洁设备漏扫的问题，提高清洁设备的清洁效果。
下面对该清洁设备的控制方法进行介绍。
图4是本申请一个实施例提供的清洁设备的控制方法的流程图，本实施例以该方法用于图1所示的清洁设备的控制器中为例进行说明，该方法至少包括以下几个步骤：
步骤401，响应于接收到清洁指令，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构对待清洁表面进行清洁。
步骤402，在驱动电机驱动清洁机构按照预设方向旋转时，监控驱动电机的工作参数，并根据工作参数判断清洁机构中是否存在影响清洁机构运转的异物。
步骤403，在判断清洁机构中存在异物时，控制驱动电机驱动清洁机构按照预设方向的反方向旋转，以使异物离开清洁机构。
示意性地，控制驱动电机驱动清洁机构按照预设方向的反方向旋转，包括：切换驱动电机的供电电压的电压方向，以控制驱动电机输出反向 驱动力，带动清洁机构按照预设方向的反方向旋转。
可选地，在驱动电机驱动清洁机构按照预设方向的反方向旋转后，控制器根据工作参数判断异物是否离开清洁机构；在判断异物离开清洁机构时，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构继续对待清洁表面进行清洁。
在一个示例中，在判断异物离开清洁机构时，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构继续对待清洁表面进行清洁，包括：在判断异物离开清洁机构时，记录异物离开清洁机构时清洁设备的实时位置；控制清洁设备返回实时位置并控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构对异物进行清洁。
在另一个示例中，清洁设备还包括用于驱动清洁设备位移的位移机构，控制器还用于在判断清洁机构中存在异物时，控制清洁设备停止位移。相应地，在判断异物离开清洁机构时，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构继续对待清洁表面进行清洁，包括：在判断异物离开清洁机构时，控制清洁设备在原地停留预设时间段，并控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构对异物进行清洁。
示意性地，在驱动电机驱动清洁机构按照预设方向的反方向旋转后，根据工作参数判断异物是否离开清洁机构，包括：在清洁机构按照反方向旋转的时长达到第一时长的情况下，控制驱动电机驱动清洁机构再次按照预设方向旋转；在清洁机构再次按照预设方向旋转第二时长后，根据工作参数判断清洁机构中是否仍然存在影响清洁机构运转的异物；在判断清洁机构中仍然存在影响清洁机构运转的异物时，再次控制驱动电机驱动清洁机构按照预设方向的反方向旋转，并触发执行在反方向旋转的时长达到第一时长的情况下，控制驱动电机驱动清洁机构再次按照预设方向旋转的步骤。
可选地，再次控制驱动电机驱动清洁机构按照预设方向的反方向旋转之前，控制器还用于：确定清洁机构的旋转方向从预设方向切换至预 设方向的反方向的次数是否达到预设次数阈值；在切换的次数未达到预设次数阈值的情况下，触发执行再次控制驱动电机驱动清洁机构按照预设方向的反方向旋转的步骤。
可选地，在切换的次数达到预设次数阈值的情况下，输出警报信号，以提示清洁机构发生卡顿。
本实施例的相关说明详见上述清洁设备的实施例，本实施例在此不再赘述。
综上所述，本实施例提供的清洁设备的控制方法，通过响应于接收到清洁指令，控制驱动电机驱动清洁机构按照预设方向旋转，以便清洁机构对待清洁表面进行清洁；在驱动电机驱动清洁机构按照预设方向旋转时，监控驱动电机的工作参数，并根据工作参数判断清洁机构中是否存在影响清洁机构运转的异物；在判断清洁机构中存在异物时，控制驱动电机驱动清洁机构按照预设方向的反方向旋转，以使异物离开清洁机构；可以解决由于清洁机构被卡住，导致的清洁设备的使用寿命降低、且清洁效果不佳的问题；在判断清洁机构中存在异物时，可以反向旋转清洁机构以使清洁机构将大颗粒灰尘携带出进尘口，这样，可以消除清洁机构的卡顿现象，从而提高清洁设备的清洁效果和使用寿命。
另外，由于清洁机构按照预设方向旋转时，将灰尘带入尘盒的概率较大。在清洁机构逆时针旋转时，灰尘由于惯力作用会降落至尘盒。然而，在清洁机构顺时针旋转时，灰尘的惯力方向与尘盒所在方向相反，此时，集尘效果不佳。基于此，在异物离开清洁机构的情况下，通过再次驱动清洁机构按照预设方向旋转，而不是继续按照预设方向的反方向旋转，可以提高清洁设备的集尘效果。
另外，由于清洁机构的卡顿可能无法通过反转消除，因此，通过在切换的次数未达到预设次数阈值的情况下，才触发执行再次控制驱动电机驱动清洁机构按照预设方向的反方向旋转的步骤，可以避免清洁机构在正转和反转之间一直循环的问题，提高清洁设备的工作效率。
另外，通过在异物离开清洁机构后，对清洁机构发生卡顿时的位置进 行清洁，可以避免清洁设备漏扫的问题，提高清洁设备的清洁效果。
为了更方便地理解本申请提供的清洁设备的控制方法，下面对该方法举一个实例进行介绍，本实例中以清洁机构为滚刷、滚刷的正向供电电压为11V，工作参数为工作电流，且参数阈值为0.2安培(A)、预设时长为3s、第一时长和第二时长均为3s、且次数阈值为5次为例进行说明，参考图5，该方法至少包括如下几个步骤：
步骤51，清洁设备开始工作后，初始化驱动电机的供电电压为+11V，工作电流为0.15A，正转次数n＝1；
步骤52，确定工作电流是否连续3s内均超过2A；若是，则执行步骤53；若否，则执行步骤58；
步骤53，控制清洁设备停止移动，为驱动电机提供反向的供电电压-11V，以使清洁机构反转；
步骤54，在清洁机构反转3s后，为驱动电机提供正向的供电电压+11V，以使清洁机构正转；
步骤55，在清洁机构正转3s后，确定工作电流是否超过2A；若是，则令n＝n+1，并执行步骤56；若否，则令n＝1，并控制清洁设备继续移动，执行步骤52；
步骤56，确定n的值是否达到5；若是，则执行步骤57；若否，则执行步骤53；
步骤57，输出警报信号，流程结束。
步骤58，确定是否清洁完成；若是，则流程结束；若否，则再次执行步骤52。
本实施例中，在判断清洁机构中存在异物时，可以反向旋转清洁机构以使清洁机构将大颗粒灰尘携带出进尘口，这样，可以消除清洁机构的卡顿现象，从而提高清洁设备的清洁效果和使用寿命。
图6是本申请一个实施例提供的清洁设备的控制装置的框图。本实施 例以该装置用于图1所示的清洁设备中的控制器中为例进行说明，该装置至少包括以下几个模块：第一控制模块610、异物判断模块620和第二控制模块630。
第一控制模块610，用于响应于接收到清洁指令，控制所述驱动电机驱动所述清洁机构按照预设方向旋转，以便所述清洁机构对待清洁表面进行清洁；
异物判断模块620，用于在所述驱动电机驱动所述清洁机构按照预设方向旋转时，监控所述驱动电机的工作参数，并根据所述工作参数判断所述清洁机构中是否存在影响所述清洁机构运转的异物；
第二控制模块630，用于在判断所述清洁机构中存在所述异物时，控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，以使所述异物离开所述清洁机构。
相关细节参考上述实施例。
需要说明的是：上述实施例中提供的清洁设备的控制装置在进行清洁设备的控制时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将清洁设备的控制装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的清洁设备的控制装置与清洁设备的控制方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
图7是本申请一个实施例提供的清洁设备的框图。该设备可以是图1所述的清洁设备，该设备至少包括处理器701和存储器702。
处理器701可以包括一个或多个处理核心，比如：4核心处理器、8核心处理器等。处理器701可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器701也可以包括主处理器和协处理器，主处理器是用于对 在唤醒状态下的数据进行处理的处理器，也称CPU(Central Processing Unit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器701可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器701还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器702可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器702还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器702中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器701所执行以实现本申请中方法实施例提供的清洁设备的控制方法。
在一些实施例中，外参标定设备还可选包括有：外围设备接口和至少一个外围设备。处理器701、存储器702和外围设备接口之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口相连。示意性地，外围设备包括但不限于：射频电路、触摸显示屏、音频电路、和电源等。
当然，外参标定设备还可以包括更少或更多的组件，本实施例对此不作限定。
可选地，本申请还提供有一种计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的清洁设备的控制方法。
可选地，本申请还提供有一种计算机产品，该计算机产品包括计算机可读存储介质，所述计算机可读存储介质中存储有程序，所述程序由处理器加载并执行以实现上述方法实施例的清洁设备的控制方法。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。
显然，上述所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下，可以做出其它不同形式的变化或变动，都应当属于本申请保护的范围。
Claims (12)
- 一种清洁设备的控制方法，所述清洁设备包括清洁机构、和用于驱动所述清洁机构的驱动电机，其特征在于，所述清洁设备的控制方法包括：响应于接收到清洁指令，控制所述驱动电机驱动所述清洁机构按照预设方向旋转，以便所述清洁机构对待清洁表面进行清洁；在所述驱动电机驱动所述清洁机构按照预设方向旋转时，监控所述驱动电机的工作参数，并根据所述工作参数判断所述清洁机构中是否存在影响所述清洁机构运转的异物；在判断所述清洁机构中存在所述异物时，控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，以使所述异物离开所述清洁机构。
- 根据权利要求1所述的清洁设备的控制方法，其中，所述清洁设备的控制方法还包括：在所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转后，根据所述工作参数判断所述异物是否离开所述清洁机构；在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁。
- 根据权利要求2所述的清洁设备的控制方法，其中，所述在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁，包括：在判断所述异物离开所述清洁机构时，记录所述异物离开所述清洁机构时所述清洁设备的实时位置；控制所述清洁设备返回所述实时位置并控制驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构对所述异物进行清洁。
- 根据权利要求2所述的清洁设备的控制方法，其中，所述清洁设备还包括用于驱动所述清洁设备位移的位移机构，所述清洁设备的控制 方法还包括：在判断所述清洁机构中存在所述异物时，控制所述清洁设备停止位移；所述在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁，包括：在判断所述异物离开所述清洁机构时，控制所述清洁设备在原地停留预设时间段，并控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构对所述异物进行清洁。
- 根据权利要求2至4中任一项所述的清洁设备的控制方法，其中，所述在所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转后，根据所述工作参数判断所述异物是否离开所述清洁机构，包括：在所述清洁机构按照所述反方向旋转的时长达到第一时长的情况下，控制所述驱动电机驱动所述清洁机构再次按照所述预设方向旋转；在所述清洁机构再次按照所述预设方向旋转第二时长后，根据所述工作参数判断所述清洁机构中是否仍然存在影响所述清洁机构运转的异物；在判断所述清洁机构中仍然存在影响所述清洁机构运转的异物时，再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，并触发执行所述在反方向旋转的时长达到第一时长的情况下，控制所述驱动电机驱动所述清洁机构再次按照所述预设方向旋转的步骤。
- 根据权利要求5所述的清洁设备的控制方法，其中，所述再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转之前，所述清洁设备的控制方法还包括：确定所述清洁机构的旋转方向从所述预设方向切换至所述预设方向的反方向的次数是否达到预设次数阈值；在切换的次数未达到所述预设次数阈值的情况下，触发执行所述再次控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转 的步骤。
- 根据权利要求6所述的清洁设备的控制方法，其中，所述清洁设备的控制方法还包括：在切换的次数达到所述预设次数阈值的情况下，输出警报信号，以提示所述清洁机构发生卡顿。
- 根据权利要求1至4中任一项所述的清洁设备的控制方法，其中，所述控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，包括：切换所述驱动电机的供电电压的电压方向，以控制所述驱动电机输出反向驱动力，带动所述清洁机构按照所述预设方向的反方向旋转。
- 根据权利要求1至4中任一项所述的清洁设备的控制方法，其特征在于，所述在所述驱动电机驱动所述清洁机构按照预设方向旋转时，监控所述驱动电机的工作参数，并根据所述工作参数判断所述清洁机构中是否存在影响所述清洁机构运转的异物，包括：确定所述工作参数是否大于参数阈值；若工作参数大于所述参数阈值，则判断存在影响清洁机构运转的异物；若所述工作参数小于所述参数阈值，则判断不存在影响清洁机构运转的异物。
- 根据权利要求1至4中任一项所述的清洁设备的控制方法，其特征在于，所述在所述驱动电机驱动所述清洁机构按照预设方向旋转时，监控所述驱动电机的工作参数，并根据所述工作参数判断所述清洁机构中是否存在影响所述清洁机构运转的异物，包括：确定所述工作参数是否大于参数阈值；若所述工作参数大于参数阈值，则确定所述工作参数连续大于所述参数阈值的时长是否达到预设时长；若连续大于所述参数阈值的时长达到预设时长，则确定存在影响清洁机构运转的异物；若连续大于参数阈值的时长未达到预设时长，则再次执行确定所述工作参数是否大于参数阈值的步骤；若所述工作参数小于所述参数阈值，则确定不存在影响清洁机构运转的异物。
- 一种清洁设备，其特征在于，所述清洁设备包括：清洁机构；用于驱动所述清洁机构的驱动电机；以及与所述驱动电机相连的控制器，所述控制器用于：响应于接收到清洁指令，控制所述驱动电机驱动所述清洁机构按照预设方向旋转，以便所述清洁机构对待清洁表面进行清洁；在所述驱动电机驱动所述清洁机构按照预设方向旋转时，监控所述驱动电机的工作参数，并根据所述工作参数判断所述清洁机构中是否存在影响所述清洁机构运转的异物；在判断所述清洁机构中存在所述异物时，控制所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转，以使所述异物离开所述清洁机构。
- 根据权利要求11所述的清洁设备，其中，所述控制器还用于：在所述驱动电机驱动所述清洁机构按照所述预设方向的反方向旋转后，根据所述工作参数判断所述异物是否离开所述清洁机构；在判断所述异物离开所述清洁机构时，控制所述驱动电机驱动所述清洁机构按照所述预设方向旋转，以便所述清洁机构继续对所述待清洁表面进行清洁。
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