CN118948158A

CN118948158A - Cleaning apparatus, cleaning control method thereof, and computer-readable storage medium

Info

Publication number: CN118948158A
Application number: CN202310498967.6A
Authority: CN
Inventors: 黄水长; 胡洪伟; 张军歌; 廖瑞云
Original assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Current assignee: Yunjing Intelligent Innovation Shenzhen Co ltd; Yunjing Intelligent Shenzhen Co Ltd
Filing date: 2023-05-05
Publication date: 2024-11-15

Abstract

The application discloses a cleaning control method of a cleaning device, the cleaning device and a computer readable storage medium. The cleaning control method of the cleaning device comprises the following steps: acquiring sensing data acquired by a sensor in the cleaning device; analyzing whether the cleaning device is performing a locking operation according to the sensing data; and reducing a traction force of the cleaning apparatus in a case where the cleaning apparatus performs the locking operation. According to the cleaning control method of the cleaning device, the cleaning device and the computer readable storage medium, the cleaning device can analyze whether the cleaning device is executing locking operation according to the sensing data collected by the sensor, and the traction force of the cleaning device is reduced under the condition that the cleaning device is executing locking operation, so that the situation that the locking operation is difficult to implement because the cleaning device still keeps in a moving state when the cleaning device is required to be locked is avoided, and the locking operation is facilitated.

Description

Cleaning apparatus, cleaning control method thereof, and computer-readable storage medium

Technical Field

The present application relates to the field of cleaning technologies, and in particular, to a cleaning control method for a cleaning device, and a computer readable storage medium.

Background

The cleaning device is mainly used for automatically cleaning the ground and is generally applied to the fields of household indoor cleaning, large-scale place cleaning and the like. Currently, cleaning devices on the market generally comprise a chassis and a lever connected to the chassis, and generally comprise a locked state and an operating state. The locking state means that the operating rod is in an almost vertical state and is locked with the chassis, and the cleaning equipment can still be in the vertical state without manual assistance; the operating state means that the operating rod and the chassis of the cleaning device are unlocked, the operating rod and the chassis can be connected in a rotating mode, and a user can control the forward movement, the backward movement or the steering of the chassis through operating the operating rod so as to clean an area to be cleaned.

The rolling brush is arranged below the chassis and driven by the motor to rotate relative to the ground, friction is generated relative to the ground, forward traction force is generated on the cleaning equipment due to the rotation of the rolling brush, and in the normal cleaning process (namely in a working state), a user normally pushes the cleaning equipment forward through the operating rod, at the moment, the traction force can save labor for the user, however, due to the traction force, when the user wants to lock the cleaning equipment, the user is required to operate the operating rod to enable the operating rod to stand upright relative to the chassis so as to realize locking. However, before the lever is not upright, the traction of the roller brush can move the chassis forward, which can make it difficult for the user to lock the lever upright, resulting in a very laborious locking of the cleaning device.

Disclosure of Invention

The embodiment of the application provides a cleaning control method of a cleaning device, the cleaning device and a computer readable storage medium, which are at least used for solving the problem that locking of the cleaning device is very laborious.

The cleaning control method of the cleaning device of the embodiment of the application comprises the following steps: acquiring sensing data acquired by a sensor in the cleaning device; analyzing whether the cleaning device is performing a locking operation according to the sensing data; in the case where the cleaning apparatus performs the locking operation, the traction force of the cleaning apparatus is reduced.

In certain embodiments, the cleaning device comprises a chassis and a lever rotatably connected to the chassis, the sensor comprises an angle detection sensor, and the sensed data comprises a pitch angle between the lever of the cleaning device and the chassis; the analyzing whether the cleaning device is performing a locking operation according to the sensing data includes: determining that the cleaning device is executing the locking operation under the condition that the current pitch angle of the operating rod is larger than a preset first angle threshold value; and under the condition that the cleaning equipment is in a locking state, a pitch angle between the operating rod and the chassis is a locking angle, and the first angle threshold is smaller than the locking angle.

In certain embodiments, the cleaning device comprises a chassis and a lever rotatably connected to the chassis, the sensor comprises an angle detection sensor, and the sensed data comprises a pitch angle between the lever of the cleaning device and the chassis; the analyzing whether the cleaning device is performing a locking operation according to the sensing data includes: determining that the cleaning device is executing the locking operation under the condition that the current pitch angle of the operating rod is larger than a preset second angle threshold value and the duration time of the current pitch angle of the operating rod being larger than the preset second angle threshold value is longer than a preset duration time; and under the condition that the cleaning equipment is in a locking state, a pitch angle between the operating rod and the chassis is a locking angle, and the second angle threshold value is smaller than the locking angle.

In certain embodiments, the cleaning device comprises a chassis and a lever rotatably connected to the chassis, the sensor comprises an angle detection sensor, and the sensed data comprises a pitch angle between the lever of the cleaning device and the chassis; the analyzing whether the cleaning device is performing a locking operation according to the sensing data includes: determining that the cleaning equipment is executing the locking operation under the condition that the current pitch angle of the operating rod is larger than a preset third angle threshold value and the change rate of the pitch angle of the operating rod is larger than a pitch angle change rate threshold value; and under the condition that the cleaning equipment is in a locking state, a pitch angle between the operating rod and the chassis is a locking angle, and the third angle threshold is smaller than the locking angle.

In some embodiments, the cleaning device comprises a chassis and a lever rotatably connected to the chassis, the sensor comprises an angle detection sensor and an acceleration sensor, and the sensing data comprises a pitch angle between the lever of the cleaning device and the chassis and an acceleration of the lever; the analyzing whether the cleaning device is performing a locking operation according to the sensing data includes: determining that the cleaning device is executing the locking operation under the condition that the current pitch angle of the operating rod is larger than a preset fourth angle threshold value, the change rate of acceleration increase of the operating rod in a first direction is larger than a preset first change rate threshold value, and/or the change rate of acceleration decrease of the operating rod in a second direction is larger than a preset second change rate threshold value, wherein the first direction is a direction vertical to the chassis upwards, and the second direction is a forward direction of the cleaning device; and under the condition that the cleaning equipment is in a locking state, a pitch angle between the operating rod and the chassis is a locking angle, and the fourth angle threshold value is smaller than the locking angle.

In certain embodiments, the reducing the traction of the cleaning device comprises: generating a reverse pulling force opposite to the pulling force.

In some embodiments, the cleaning apparatus comprises a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly rotating relative to the surface to be cleaned and having a traction on the cleaning apparatus; the generating a reverse pulling force opposite to the pulling force comprises: and controlling the cleaning assembly to reversely rotate.

In some embodiments, the cleaning device comprises a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly comprising a cleaning member and a rotating member provided on the chassis, the rotating member being rotatable relative to the chassis; the generating a reverse pulling force opposite to the pulling force comprises: the rotating member is driven to rotate in a direction opposite to the rotating direction of the cleaning member.

In certain embodiments, the reverse traction force is greater than the traction force.

In certain embodiments, the reverse pulling force and/or the pulling force is lost after the cleaning device is locked.

In some embodiments, the cleaning apparatus includes a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly including a cleaning member, the reducing traction of the cleaning apparatus comprising: and stopping the rotation of the cleaning piece relative to the chassis.

In some embodiments, the cleaning device comprises a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly comprising a cleaning member comprising a first cleaning unit and a second cleaning unit, the first cleaning unit and the second cleaning unit being both disposed on the chassis and both rotating the surface to be cleaned and having traction on the cleaning device, the cleaning assembly further comprising a lifting assembly disposed on the chassis; said reducing the traction of said cleaning device comprising: the lifting assembly lifts at least one of the first cleaning unit and the second cleaning unit, reducing pressure of the at least one of the first cleaning unit and the second cleaning unit to a surface to be cleaned.

In some embodiments, the cleaning device comprises a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly comprising a cleaning member comprising a first cleaning unit and a second cleaning unit, the first cleaning unit and the second cleaning unit being both disposed on the chassis and both rotating the surface to be cleaned and having traction on the cleaning device, the cleaning assembly further comprising a lifting assembly disposed on the chassis; said reducing the traction of said cleaning device comprising: one of the first cleaning unit and/or the second cleaning unit is rotated reversely.

In some embodiments, the cleaning device comprises a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly comprises a cleaning member, the cleaning member comprises a first cleaning unit and a second cleaning unit, the first cleaning unit and the second cleaning unit are both arranged on the chassis, the first cleaning unit rotates relative to the surface to be cleaned and has traction force on the cleaning device, the second cleaning unit rotates relative to the surface to be cleaned to generate traction force for driving the cleaning device to move backwards, and the cleaning assembly further comprises a lifting assembly arranged on the chassis; said reducing the traction of said cleaning device comprising: the lifting assembly lifts the first cleaning unit so that the pressure of the first cleaning unit on the surface to be cleaned is reduced.

In some embodiments, the cleaning device comprises a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly comprises a cleaning member, the cleaning member comprises a first cleaning unit and a second cleaning unit, the first cleaning unit and the second cleaning unit are both arranged on the chassis, the first cleaning unit rotates relative to the surface to be cleaned and has traction force on the cleaning device, the second cleaning unit rotates relative to the surface to be cleaned to generate traction force for driving the cleaning device to move backwards, and the cleaning assembly further comprises a lifting assembly arranged on the chassis; said reducing the traction of said cleaning device comprising: the lifting assembly drives the second cleaning unit to descend so that the pressure of the second cleaning unit on the surface to be cleaned is increased.

In some embodiments, the cleaning apparatus comprises a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly comprising a cleaning member that rotates relative to the surface to be cleaned and has a traction on the cleaning apparatus; the cleaning control method further includes: in the case where the cleaning apparatus performs the lock operation, the rotational speed at which the cleaning member rotates with respect to the chassis is reduced.

In some embodiments, the cleaning device comprises a chassis, the cleaning device comprises a cleaning component, a dirt sucking component and a water supply component, the cleaning component is arranged on the chassis, the cleaning component comprises a cleaning piece, the cleaning piece can rotate relative to a surface to be cleaned to clean dirt and has traction force on the cleaning device, the dirt sucking component is used for providing power for collecting the dirt cleaned by the cleaning piece, and the water supply component is used for supplying water to the cleaning piece and/or the surface to be cleaned; in the case where the cleaning apparatus is performing the lock operation, the cleaning control method further includes: and stopping the water supply assembly from supplying water to the cleaning piece and/or the surface to be cleaned.

In some embodiments, the cleaning device comprises a chassis, the cleaning device comprises a cleaning component, a dirt sucking component and a water supply component, the cleaning component is arranged on the chassis, the cleaning component comprises a cleaning piece, the cleaning piece can rotate relative to a surface to be cleaned to clean dirt and has traction force on the cleaning device, the dirt sucking component is used for providing power for collecting the dirt cleaned by the cleaning piece, and the water supply component is used for supplying water to the cleaning piece and/or the surface to be cleaned; in the case where the cleaning apparatus is performing the lock operation, the cleaning control method further includes: and stopping the dirt sucking assembly to provide power for collecting the dirt.

The cleaning device of the embodiment of the application comprises a chassis, a operating rod, a cleaning assembly, a sensor and one or more processors which are arranged on the chassis or the operating rod. The operating rod is rotationally connected with the chassis. The cleaning component is used for cleaning a surface to be cleaned, the cleaning component is arranged on the chassis, and rotates relative to the surface to be cleaned and has traction force on the cleaning equipment. The sensor is arranged on the chassis and/or the operating rod. One or more of the processors are configured to perform the cleaning control method of any of the embodiments described above.

The computer-readable storage medium of an embodiment of the present application stores a computer program that, when executed by one or more processors, implements the cleaning control method of any of the above embodiments.

According to the cleaning control method of the cleaning device, the cleaning device and the computer readable storage medium, the cleaning device can analyze whether the cleaning device is executing locking operation according to the sensing data collected by the sensor, and the traction force of the cleaning device is reduced under the condition that the cleaning device is executing locking operation, so that the locking operation is difficult to implement due to the fact that the cleaning device still keeps in a working state when the cleaning device is required to be locked, and the cleaning device is beneficial to realizing the locking operation.

Additional aspects and advantages of embodiments of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a flow chart of a cleaning control method of a cleaning apparatus according to some embodiments of the present application;

FIG. 2 is a schematic view of the structure of a cleaning apparatus according to some embodiments of the present application from various perspectives;

FIG. 3 is a flow chart of a cleaning control method of a cleaning apparatus according to some embodiments of the present application;

FIG. 4 is a schematic illustration of a cleaning apparatus of some embodiments of the present application in a push-pull cleaning position;

FIG. 5 is a schematic view of a cleaning apparatus according to some embodiments of the present application in a locked position;

FIG. 6 is a flow chart of a cleaning control method of a cleaning apparatus according to certain embodiments of the present application;

FIG. 7 is a flow chart of a cleaning control method of a cleaning apparatus according to certain embodiments of the present application;

FIG. 8 is a flow chart of a cleaning control method of a cleaning apparatus according to certain embodiments of the present application;

FIG. 9 is a flow chart of a cleaning control method of a cleaning apparatus according to certain embodiments of the present application;

FIG. 10 is a schematic structural view of a cleaning apparatus according to some embodiments of the present application;

FIG. 11 is a flow chart of a cleaning control method of a cleaning apparatus according to some embodiments of the present application;

FIG. 12 is a flow chart of a cleaning control method of a cleaning apparatus according to some embodiments of the present application;

FIG. 13 is a flow chart of a cleaning control method of a cleaning apparatus according to certain embodiments of the present application;

FIG. 14 is a flow chart of a cleaning control method of a cleaning apparatus according to certain embodiments of the present application;

FIG. 15 is a schematic view of the structure of a cleaning apparatus according to other embodiments of the present application;

FIG. 16 is a schematic view of the structure of a cleaning apparatus according to still other embodiments of the present application;

FIG. 17 is a schematic diagram of a computer readable storage medium coupled to a processor in accordance with some embodiments of the application.

Description of main reference numerals:

a cleaning device 100; a surface to be cleaned 200;

a chassis 10, an upper surface 11; an operation lever 20, a main body 21, and an extension lever 23; a sensor 30; a processor 40; a cleaning assembly 50, a cleaning member 51, a first cleaning unit 511, a second cleaning unit 513, a rotating member 53, a lifting assembly 55; a soil pick-up assembly 60; a dirt box 70; a water supply assembly 80; a handle 90.

Detailed Description

Embodiments of the present application are further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings refer to the same or similar elements or elements having the same or similar functions throughout. In addition, the embodiments of the present application described below with reference to the drawings are exemplary only for explaining the embodiments of the present application and are not to be construed as limiting the present application.

Cleaning devices on the market generally comprise a chassis and a lever connected to the chassis, and generally comprise a locked state and an operating state. The locking state means that the operating rod is in an almost vertical state and is locked with the chassis, and the cleaning equipment can still be in the vertical state without manual assistance; the operating state means that the operating rod and the chassis of the cleaning device are unlocked, the operating rod and the chassis can be connected in a rotating mode, and a user can control the forward movement, the backward movement or the steering of the chassis through operating the operating rod so as to clean an area to be cleaned. The rolling brush is arranged below the chassis and driven by the motor to rotate relative to the ground, friction is generated relative to the ground, forward traction force is generated on the cleaning equipment due to the rotation of the rolling brush, in a normal cleaning process, a user normally pushes the cleaning equipment forward through the operating rod, at this time, the traction force can save labor for the user, however, due to the traction force, when the user wants to lock the cleaning equipment, the user is required to operate the operating rod to enable the operating rod to stand relative to the chassis so as to realize locking. However, before the lever is not upright, the traction of the roller brush can move the chassis forward, which can make it difficult for the user to lock the lever upright, resulting in a very laborious locking of the cleaning device. In order to solve the problem of the very laborious locking of the cleaning device, the present application provides a cleaning control method of the cleaning device (shown in fig. 1), the cleaning device 100 (shown in fig. 2), and a computer-readable storage medium 300 (shown in fig. 16).

Referring to fig. 1 and 2, a cleaning control method of a cleaning apparatus according to an embodiment of the application includes:

01: acquiring sensing data acquired by the sensor 30 in the cleaning device 100;

03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data; and

05: In the case where the cleaning apparatus 100 performs the locking operation, the traction force of the cleaning apparatus 100 is reduced.

The above-described cleaning control method of the cleaning apparatus can be applied to the cleaning apparatus 100 as shown in fig. 2, in which fig. (a) is a side view of the cleaning apparatus 100 and fig. (b) is a front view of the cleaning apparatus 100 when the cleaning apparatus 100 is being operated by a user to perform cleaning. The cleaning apparatus 100 includes, among other things, a chassis 10, a lever 20, a cleaning assembly 50 for cleaning a surface 200 to be cleaned, a sensor 30, and one or more processors 40. The operating lever 20 is rotatably connected to the chassis 10. The cleaning assembly 50 is disposed on the chassis 10, and the cleaning assembly 20 rotates relative to the surface 200 to be cleaned and has traction on the cleaning apparatus 100. The sensor 30 is provided to the chassis 10 and/or the lever 20. One or more processors 40 are mounted to the chassis 10 or the lever 20. The cleaning device 100 includes a hand-held cleaning device, i.e., any device requiring an artificial locking lever 20 and having traction on the chassis 10, including, but not limited to, a sweeper, scrubber, mop, cleaner, etc.

The cleaning apparatus 100 may further include, among other things, a soil pick-up assembly 60, a soil box 70, and a water supply assembly 80. The cleaning assembly 50 may include a cleaning member 51. In the case that the chassis 10 is carried on the surface to be cleaned 200, the cleaning member 51 can rotate relative to the surface to be cleaned 200 to clean dirt on the surface to be cleaned 200, and has a traction force to the cleaning apparatus 100 to draw the cleaning apparatus 100 to move relative to the surface to be cleaned 200. The dirt pickup assembly 60 may be mounted on the lever 20, and the dirt pickup assembly 60 may be capable of powering the collection of dirt from the cleaning member 51 to collect the dirt on the surface 200 to be cleaned into the dirt box 70. The water supply assembly 80 may be mounted on the lever 20 or the chassis 10, and the water supply assembly 80 may supply water to the cleaning member 51 and/or the surface 200 to be cleaned so that the cleaning member 51 may drag and wash the surface 200 to be cleaned. Illustratively, the surface 200 to be cleaned may be a floor within a building; alternatively, the surface 200 to be cleaned may be a surface of another object to be cleaned, such as a wall surface or a bed surface. It should be noted that, in some embodiments, the cleaning member 51 may be a rolling brush. It should be noted that in some embodiments, the mounting locations of the components of the cleaning apparatus 100 shown in FIG. 2 are merely exemplary. In other embodiments, the mounting locations of the components of the cleaning apparatus 100 may also be in other forms.

The lever 20 may include a main body 21, and the main body 21 may be a housing, which may be approximately in a cylindrical structure, such as a cylindrical structure, a triangular prism structure, or the like. The body portion 21 may include oppositely disposed first and second ends. The first end is rotatably connected to the chassis 10, and the second end of the main body 21 is an end far from the surface 200 to be cleaned when the lever 20 is perpendicular or approximately perpendicular to the surface 200 to be cleaned. Wherein the rotation of the lever 20 relative to the chassis 10 includes rotation about the Pitch axis shown in fig. 2 (a). From the perspective of a user who uses the cleaning apparatus 100 to perform cleaning, it is shown that the user pushes or pulls the operation lever 20 forward or backward as the operation lever 20 rotates about the Pitch axis.

In addition, if a reference coordinate system is established, which is a cartesian rectangular coordinate system, the positive direction of the Z axis is the forward direction of the cleaning apparatus 100, and the negative direction of the Z axis is the backward direction of the cleaning apparatus 100; the positive direction of the Y axis is the left direction when the user performs the cleaning operation, and the opposite direction of the Y axis is the right direction when the user performs the cleaning operation; when the Z axis is perpendicular to the upper surface 11 of the chassis 10 (the surface of the chassis 10 opposite to the surface 200 to be cleaned), the YZ plane may be parallel to the upper surface 11 of the chassis 10; the X-axis is perpendicular to the YZ plane, and the direction facing upward away from the upper surface 11 of the chassis 10 is a positive direction, and the direction facing downward away from the upper surface 11 of the chassis 10 is a negative direction. Wherein the angle between the long axis of the lever 20 and the opposite direction of the Z-axis is defined as the pitch angle P between the lever 20 and the chassis 10.

Further, in order to adjust the length of the operation rod 20 to meet the use requirements of different users, the operation rod 20 may further include an extension rod 23, and the extension rod 23 is mounted on the second end of the main body 21. Further, in order to facilitate the user's operation of the cleaning apparatus 100 when cleaning the surface 200 to be cleaned, the operation lever 20 may further include a handle 90, and the handle 90 may be mounted to the second end of the main body 21 through the extension rod 23.

The sensor 30 is a component for detecting an operating parameter of the cleaning device 100 when the components are in operation. Among them, data detected by the sensor 30 will be hereinafter collectively referred to as "sensing data". The sensor 30 may include an angle detection sensor, an acceleration sensor or a distance sensor, a timer, or the like. An angle detection sensor may be mounted to the chassis 10 and/or the lever 20 and used to detect a pitch angle P between the lever 20 and the chassis 10, and in this case, "sensor data" may include the pitch angle P. For example, in the case where the angle detection sensor includes a magnet and a hall, one of the magnet and the hall may be mounted to the chassis 10, and the other one may be mounted to the operation lever 20. The acceleration sensor may be mounted to the lever 20 and used to detect the acceleration of the lever 20, and at this time, "sensing data" may include acceleration data. The distance sensor may be mounted to the lever 20 and/or the chassis 10 and configured to detect a distance between a first point on the chassis 10 and a second point on the lever 20, or a perpendicular distance from a certain point on the lever 20 to a plane of the chassis 10, where the "sensor data" may include distance data. Among them, the acceleration sensor includes, but is not limited to, an accelerometer, a gyroscope, or an inertial measurement unit, etc. The distance sensor includes, but is not limited to, a laser distance sensor, an ultrasonic distance sensor, an infrared distance sensor, or the like.

The processor 40 is a component of the cleaning device 100 that analyzes/processes data and issues commands to or controls the actuators, such as the lever 20 and the cleaning elements 51. The processor 40 may be one or a plurality of processors. The processor 40 may be mounted to the chassis 10 and/or the lever 20 and communicatively coupled (wired or wireless) to the sensor 30. The processor 40 obtains the sensing data detected by the sensor 30, analyzes and processes the sensing data to obtain analysis and processing results, and further gives an execution instruction to the execution mechanism or controls the execution mechanism according to the analysis and processing results, so that the execution mechanism performs related operations according to the execution instruction or controls. Referring to fig. 1 and 2 together, in an embodiment of the present application, one or more processors 40 are capable of performing the methods 01, 03, and 05, i.e., acquiring sensor data collected by the sensor 30 in the cleaning apparatus 100; analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data; and reducing the traction of the cleaning apparatus 100 in the case where the cleaning apparatus 100 performs the locking operation.

In the cleaning control method of the cleaning device according to the embodiment of the application, the cleaning device 100 can analyze whether the cleaning device 100 is performing the locking operation according to the sensing data collected by the sensor 30, and in the case that the cleaning device 100 is performing the locking operation, the traction force of the cleaning device 100 is reduced, and the locking operation is prevented from being difficult to implement because the cleaning device 100 is still kept in the working state when the cleaning device 100 is required to be locked, thereby being beneficial to the cleaning device 100 to implement the locking operation. In the application, because the existence of the traction force is found, the user is difficult to operate when the cleaning equipment 100 is locked, so that the control method of the cleaning equipment 100 is improved, the locking is realized by adjusting the working state of at least one of the relevant parts of the cleaning equipment 100, the user experience is improved, and the intelligence of the handheld cleaning equipment is also improved.

Referring to fig. 2 and 3, in some embodiments, 03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data includes:

031: in the case where the current pitch angle P of the operation lever 20 is greater than a preset first angle threshold value, it is determined that the cleaning apparatus 100 is performing a locking operation; with the cleaning apparatus 100 in the locked state, the pitch angle P between the lever 20 and the chassis 10 is a lock angle, and the first angle threshold value is smaller than the lock angle.

The one or more processors 40 are capable of performing the method in 031, i.e. the one or more processors 40 are configured to determine that the cleaning device 100 is performing a locking operation in case the current pitch angle P of the lever 20 is greater than a preset first angle threshold value; with the cleaning apparatus 100 in the locked state, the pitch angle P between the lever 20 and the chassis 10 is a lock angle, and the first angle threshold value is smaller than the lock angle.

In the present embodiment, the sensor 30 may include an angle detection sensor for detecting a pitch angle P between the lever 20 and the chassis 10. The sensed data may include a pitch angle P between the lever 20 and the chassis 10.

Wherein the preset first angle threshold is a critical angle for determining whether the cleaning apparatus 100 is performing a locking operation. The preset first angle threshold may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input when the cleaning apparatus 100 is manually used after the cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the cleaning apparatus 100 is shipped. In certain embodiments, the first angle threshold is less than the lock-up angle (pitch angle P between the lever 20 and the chassis 10 with the cleaning apparatus 100 in the locked-up state). Specifically, the first angle threshold is smaller than the pitch angle P between the lever 20 and the chassis 10 when the cleaning apparatus 100 is locked, i.e., it is ensured that the cleaning apparatus 100 "senses" that the user wants to perform the locking operation on the cleaning apparatus 100 before locking, and thus adjusts various components of the cleaning apparatus 100 to assist the user in performing the locking more easily.

Specifically, referring to fig. 4, when the cleaning apparatus 100 performs a cleaning operation on the surface 200 to be cleaned, a user can perform a "push-pull" operation on the chassis 10 through the operation lever 20, and the "push-pull" includes two actions of "push-forward" and "pull-back", so that the pitch angle P between the operation lever 20 and the chassis 10 is continuously changed. Wherein, when the user performs a "push-forward" operation of the chassis 10 through the lever 20, the pitch angle P between the lever 20 and the chassis 10 decreases. Referring to fig. 4 (a), when the user does not perform the "push-forward" operation of the chassis 10 by the lever 20, the pitch angle between the lever 20 and the chassis 10 is the pitch angle P, and when the user performs the "push-forward" operation of the chassis 10 by the lever 20, the pitch angle between the lever 20 and the chassis 10 is changed to the pitch angle P ', and the pitch angle P' is smaller than the pitch angle P. When the user performs a "pull-back" operation on the chassis 10 through the lever 20, the pitch angle P between the lever 20 and the chassis 10 increases. Referring to fig. 4 (b), when the user does not perform the "pull-back" operation of the chassis 10 by the lever 20, the pitch angle between the lever 20 and the chassis 10 is the pitch angle P, and when the user performs the "pull-back" operation of the chassis 10 by the lever 20, the pitch angle between the lever 20 and the chassis 10 is changed to the pitch angle P ', and the pitch angle P' is greater than the pitch angle P. In case that the current pitch angle P of the operation lever 20 is greater than a preset first angle threshold value, the processor 40 can determine that the cleaning apparatus 100 is performing a locking operation. For example, the preset first angle threshold value is 70 °, and in case the current pitch angle P of the operation lever 20 is greater than 70 °, the processor 40 can determine that the cleaning apparatus 100 is performing a locking operation, i.e., that the user is performing a locking operation on the operation lever 20 of the cleaning apparatus 100.

It should be noted that, when the pitch angle P of the lever 20 is greater than the preset first angle threshold, the working states of the cleaning assembly 50, the dirt sucking assembly 60, the water supply assembly 80 and other components in the cleaning apparatus 100 can be changed, but the lever 20 does not reach the locking degree, and at this time, if the user releases his hand, the pitch angle P of the lever 20 is reduced. For example, assuming that the pitch angle P shown in fig. 2 (a) is already greater than the preset first angle threshold, the operation state of each component in the cleaning apparatus 100 can be changed at this time, but since the lever 20 does not reach the degree of locking, at this time, if the user loosens his hand, the pitch angle P of the lever 20 is reduced. Referring to fig. 5, fig. 5 is a side view of the cleaning apparatus 100 in a locked state when the cleaning apparatus 100 is being operated by a user to perform cleaning. The locked state of the cleaning apparatus 100 means that the operation lever 20 is in an upright state (the long axis of the operation lever 20 is closer to the plane of the vertical chassis 10), and at this time, if the user releases his or her hand, the operation lever 20 can be kept upright, which is the locked state. Therefore, before the operation lever 20 is not erected, compared with the traction force of the cleaning device 100 which remains unchanged, when the pitch angle P of the operation lever 20 is greater than the preset first angle threshold value, the traction force of the cleaning device 100 is reduced, the operation lever 20 can be erected by a user conveniently to lock the cleaning device 100, and the user does not need to press a key to adjust the traction force of the cleaning device 100, so that manual operation can be reduced, and the intelligent attribute of the cleaning device 100 is improved.

Referring to fig. 2 and 6, in some embodiments, 03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data includes:

032: determining that the cleaning apparatus 100 is performing a locking operation in a case where the current pitch angle P of the operation lever 20 is greater than a preset second angle threshold value and a duration time for which the current pitch angle P of the operation lever 20 is greater than the preset second angle threshold value is greater than a preset duration time; with the cleaning apparatus 100 in the locked state, the pitch angle P between the lever 20 and the chassis 10 is a lock angle, and the second angle threshold value is smaller than the lock angle.

The one or more processors 40 are capable of performing 032 a method, i.e. the one or more processors 40 are configured to determine that the cleaning device 100 is performing a locking operation in case the current pitch angle P of the lever 20 is greater than a preset second angle threshold value and the duration of the current pitch angle P of the lever 20 being greater than the preset second angle threshold value is longer than a preset duration.

Wherein the preset time period is a critical time period for determining whether the cleaning device 100 is performing the locking operation. The preset time period may be known data, which may be an empirical value obtained before the shipment of the cleaning apparatus 100, a set value input by the cleaning apparatus 100 when the cleaning apparatus 100 is manually used after the shipment of the cleaning apparatus 100, or an empirical value obtained by the processor 40 processing the historical data after the shipment of the cleaning apparatus 100.

Specifically, assuming that the preset second angle threshold is 60 °, the preset duration is 2 seconds, if the current pitch angle P of the lever 20 is greater than 60 °, and the duration of the current pitch angle P of the lever 20 is greater than 60 ° is greater than 2 seconds, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. It should be noted that, in some embodiments, in the case where the current pitch angle P of the lever 20 is greater than the second angle threshold value, the current pitch angle P of the lever 20 can still be changed, and in the case where the changed current pitch angles P of the lever 20 are both greater than the second angle threshold value, and the duration of the changed current pitch angles P of the lever 20 are both greater than the second angle threshold value is greater than the preset duration, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. For example, assuming that the preset second angle threshold is 60 ° and the preset duration is 2 seconds, if the current pitch angle P of the lever 20 is greater than 60 °, the current pitch angle P of the lever 20 is varied within a range of 60 ° -70 ° within 2 seconds, and after 2 seconds, the current pitch angle P of the lever 20 is still greater than 60 °, the processor 40 can determine that the cleaning apparatus 100 is performing a locking operation.

In some embodiments, the first angle threshold and the second angle threshold may be the same, e.g., the first angle threshold and the second angle threshold may both be 60 °. Since the user may increase the pitch angle P of the operating lever 20 to be greater than the preset first angle threshold or the second angle threshold during the cleaning process of the cleaning device 100, the processor 40 determines that the cleaning device 100 is performing the locking operation, so as to reduce the traction force of the cleaning device 100, but the user does not want to perform the locking operation on the cleaning device 100, so that the normal use of the user is affected, and the intelligentization of the cleaning device 100 is poor. Thus, compared to the processor 40 analyzing whether the current pitch angle P is greater than the preset first angle threshold to determine whether the cleaning apparatus 100 is performing the locking operation, the processor 40 simultaneously analyzes whether the current pitch angle P is greater than the preset second angle threshold, and whether the duration of the current pitch angle P of the operation lever 20 is greater than the preset second angle threshold is longer than the preset duration, so as to determine whether the cleaning apparatus 100 is performing the locking operation, so that the accuracy of the analysis result of the processor 40 can be improved, the processor 40 is prevented from misjudging to affect the normal use of the user, and the intellectualization of the cleaning apparatus 100 is enhanced.

In other embodiments, the first angle threshold and the second angle threshold may be different. Specifically, in certain embodiments, the first angle threshold is greater than the second angle threshold. For example, the first angular threshold may be 70 ° and the second angular threshold may be 60 °. Thus, when the processor 40 determines whether the cleaning apparatus 100 is performing the locking operation only according to whether the current pitch angle P of the operation lever 20 is greater than the first angle threshold value, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation, the current pitch angle P of the operation lever 20 needs to be greater than 70 °. When the processor 40 determines whether the cleaning device 100 is performing the locking operation according to whether the current pitch angle P of the operating rod 20 is greater than the second angle threshold value and whether the duration of the current pitch angle P of the operating rod 20 is greater than the preset duration of the preset second angle threshold value, the processor 40 can determine that the cleaning device 100 is performing the locking operation only when the current pitch angle P of the operating rod 20 needs to be greater than 60 ° (i.e., the second angle threshold value is less than the first angle threshold value), so that on one hand, the processing efficiency of the processor 40 can be improved; on the other hand, when the current pitch angle P of the lever 20 is greater than 60 °, the traction force in the cleaning apparatus 100 has been changed, and the user does not need to continuously manipulate the lever 20 so that the pitch angle P becomes 70 °, thereby enabling the locking efficiency of the cleaning apparatus 100 to be improved.

Referring to fig. 2 and 7, in some embodiments, 03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data includes:

033: in the case where the current pitch angle P of the operation lever 20 is greater than a preset third angle threshold value and the rate of change of the pitch angle P of the operation lever 20 is greater than a pitch angle rate of change threshold value, determining that the cleaning apparatus 100 is performing a locking operation; in the case where the cleaning apparatus 100 is in the locked state, the pitch angle P between the lever 20 and the chassis 10 is the lock angle, and the third angle threshold value is smaller than the lock angle.

The one or more processors 40 are capable of performing the method in 033, i.e. the one or more processors 40 are configured to determine that the cleaning apparatus 100 is performing a locking operation in case the current pitch angle P of the lever 20 is greater than a preset third angle threshold and the rate of change of the pitch angle P of the lever 20 is greater than a pitch angle rate threshold.

In the present embodiment, the sensor 30 may include an angle detection sensor, and the sensing data may include a pitch angle P between the lever 20 and the chassis 10, and a rate of change of the pitch angle P between the lever 20 and the chassis 10.

The preset third angle threshold may be a critical angle for determining whether the cleaning apparatus 100 is performing a locking operation. The preset third angle threshold may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input when the cleaning apparatus 100 is manually used after the cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the cleaning apparatus 100 is shipped. Similarly, the pitch angle change rate threshold may be a critical value that determines whether the cleaning apparatus 100 is performing a locking operation. The preset pitch angle change rate threshold may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input when the cleaning apparatus 100 is manually used after the cleaning apparatus 100 is shipped, or an empirical value obtained by processing historical data by the processor 40 after the cleaning apparatus 100 is shipped. In some embodiments, the third angle threshold is less than the lock-up angle (pitch angle P between the lever 20 and the chassis 10 with the cleaning apparatus 100 in the locked-up state). Specifically, the third angle threshold is smaller than the pitch angle P between the lever 20 and the chassis 10 when the cleaning apparatus 100 is locked, i.e., it is ensured that the cleaning apparatus 100 "senses" that the user wants to perform the locking operation on the cleaning apparatus 100 before locking, and thus adjusts various components of the cleaning apparatus 100 to assist the user in performing the locking more easily.

Specifically, in the case where the current pitch angle P of the lever 20 is greater than a preset third angle threshold value and the rate of change of the pitch angle P of the lever 20 is greater than a pitch angle rate of change threshold value, the processor 40 can determine that the cleaning apparatus 100 is performing a locking operation. For example, the preset third angle threshold is 60 °, and the pitch angle change rate threshold is R. If the pitch angle P of the lever 20 is changed from 45 ° to 70 ° in the time t, the change rate R of the pitch angle P is (70 ° -45 °)/t, and (70 ° -45 °)/t > R, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation since the current pitch angle P (70 °) of the lever 20 is greater than the preset third angle threshold value (60 °) and the change rate R of the pitch angle P > the pitch angle change rate threshold value R.

In some embodiments, the first and third angle thresholds may be the same, e.g., the first and third angle thresholds may each be 60 °. Since the user may increase the pitch angle P of the operating lever 20 to be greater than the preset first angle threshold or the third angle threshold during the cleaning process of the cleaning device 100, the processor 40 determines that the cleaning device 100 is performing the locking operation, so as to reduce the traction force of the cleaning device 100, but the user does not want to perform the locking operation on the cleaning device 100, so that the normal use of the user is affected, and the intelligentization of the cleaning device 100 is poor. Thus, compared to the processor 40 analyzing whether the current pitch angle P is greater than the preset first angle threshold to determine whether the cleaning apparatus 100 is performing the locking operation, the processor 40 simultaneously analyzes whether the current pitch angle P is greater than the preset third angle threshold and whether the change rate of the pitch angle P is greater than the pitch angle change rate threshold to determine whether the cleaning apparatus 100 is performing the locking operation, which can improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging that the normal use of the user is affected, and enhance the intellectualization of the cleaning apparatus 100.

In other embodiments, the first angle threshold and the third angle threshold may be different. Specifically, in certain embodiments, the first angle threshold is greater than the third angle threshold. For example, the first angle threshold may be 70 ° and the third angle threshold may be 60 °. Thus, when the processor 40 determines whether the cleaning apparatus 100 is performing the locking operation only according to whether the current pitch angle P of the operation lever 20 is greater than the first angle threshold value, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation, the current pitch angle P of the operation lever 20 needs to be greater than 70 °. When the processor 40 determines whether the cleaning apparatus 100 is performing the locking operation according to whether the current pitch angle P of the operation lever 20 is greater than the third angle threshold value and whether the change rate of the pitch angle P is greater than the pitch angle change rate threshold value (i.e., the third angle threshold value is smaller than the first angle threshold value), the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation, thereby improving the processing efficiency of the processor 40 on the one hand; on the other hand, when the current pitch angle P of the lever 20 is greater than 60 °, the traction force of the cleaning apparatus 100 has been changed, and the user does not need to continuously manipulate the lever 20 so that the pitch angle P becomes 70 °, thereby enabling the locking efficiency of the cleaning apparatus 100 to be improved.

Referring to fig. 2 and 8, in some embodiments, 03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data includes:

035: determining that the cleaning apparatus 100 is performing a locking operation in a case where the current pitch angle P of the operation lever 20 is greater than a preset fourth angle threshold value, and a rate of change of an increase in acceleration of the operation lever 20 in a first direction, which is an upward direction of the vertical chassis 10, is greater than a preset first rate of change threshold value, and/or a rate of change of a decrease in acceleration of the operation lever 20 in a second direction, which is a forward direction of the cleaning apparatus 100, is greater than a preset second rate of change threshold value; in the case where the cleaning apparatus 100 is in the locked state, the pitch angle P between the lever 20 and the chassis 10 is the lock angle, and the fourth angle threshold value is smaller than the lock angle.

The one or more processors 40 are capable of performing the method in 035, i.e. the one or more processors 40 are configured to determine that the cleaning device 100 is performing a locking operation in case the current pitch angle P of the lever 20 is greater than a preset fourth angle threshold and the rate of change of the acceleration increase of the lever 20 in a first direction is greater than a preset first rate of change threshold and/or the rate of change of the acceleration decrease of the lever 20 in a second direction is greater than a preset second rate of change threshold, wherein the first direction is the upward direction of the vertical chassis 10 and the second direction is the forward direction of the cleaning device 100; in the case where the cleaning apparatus 100 is in the locked state, the pitch angle P between the lever 20 and the chassis 10 is the lock angle, and the fourth angle threshold value is smaller than the lock angle.

In the present embodiment, the sensor 30 may include an angle detection sensor and an acceleration sensor, and the sensing data may include a pitch angle P between the lever 20 and the chassis 10, and an acceleration of the lever 20. The first direction is the upward direction of the vertical chassis 10, and is the same as the positive direction of the X-axis. The second direction is the forward direction of the cleaning apparatus 100, and is the same as the positive direction of the Z-axis.

Wherein the preset fourth angle threshold may be a critical angle for determining whether the cleaning apparatus 100 is performing a locking operation. The preset fourth angle threshold may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input when the cleaning apparatus 100 is manually used after the cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the cleaning apparatus 100 is shipped. Similarly, the preset first rate of change threshold and the preset second rate of change threshold may each be a critical value that determines whether the cleaning apparatus 100 is performing a locking operation. The preset first change rate threshold value and the preset second change rate threshold value may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input by manually using the cleaning apparatus 100 after the cleaning apparatus 100 is shipped, or an empirical value obtained by processing historical data by the processor 40 after the cleaning apparatus 100 is shipped. In some embodiments, the first rate of change threshold and the second rate of change threshold may be the same. In other embodiments, the first rate of change threshold and the second rate of change threshold may be different.

In certain embodiments, the fourth angle threshold is less than the lock-up angle (pitch angle P between the lever 20 and the chassis 10 with the cleaning apparatus 100 in the locked-up state). Specifically, the fourth angular threshold is smaller than the pitch angle P between the lever 20 and the chassis 10 when the cleaning apparatus 100 is locked, i.e., it is ensured that the cleaning apparatus 100 "senses" that the user wants to perform the locking operation on the cleaning apparatus 100 before locking, and thus adjusts various components of the cleaning apparatus 100 to assist the user in performing the locking more easily.

Since the user increases the force applied to the lever 20 when the user wants to lock the cleaning apparatus 100, the lever 20 rotates relative to the chassis 10 faster than in the operating state, so that the pitch angle P between the lever 20 and the chassis 10 increases to the locking angle, thereby locking the cleaning apparatus 100. Thereby, the acceleration of the operation lever 20 in the first direction and the second direction can be changed. Therefore, in the present embodiment, in the case where the current pitch angle P of the lever 20 is greater than the preset fourth angle threshold, and the rate of change of the acceleration increase of the lever 20 in the first direction is greater than the preset first rate of change threshold, and/or the rate of change of the acceleration decrease of the lever 20 in the second direction is greater than the preset second rate of change threshold, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. For example, the preset fourth angle threshold value is 60 °, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation in case that the current pitch angle P of the operation lever 20 is greater than the preset fourth angle threshold value (60 °), and the rate of change of the acceleration increase of the operation lever 20 in the first direction is greater than the preset first rate of change threshold value, and/or the rate of change of the acceleration decrease of the operation lever 20 in the second direction is greater than the preset second rate of change threshold value.

In some embodiments, the first and fourth angle thresholds may be the same, e.g., the first and fourth angle thresholds may each be 60 °. Since the user may increase the pitch angle P of the operating lever 20 to be greater than the preset first or fourth angle threshold during the cleaning process of the cleaning device 100, the processor 40 determines that the cleaning device 100 is performing the locking operation, so as to reduce the traction force of the cleaning device 100, but the user does not want to perform the locking operation on the cleaning device 100, so that the normal use of the user is affected, and the intelligentization of the cleaning device 100 is poor. Also, in general, when the user wants to lock the cleaning apparatus 100, the force applied to the operation lever 20 by the user becomes large, so that the acceleration of the operation lever 20 is changed. Thus, compared to the processor 40 analyzing whether the current pitch angle P is greater than the preset first angle threshold to determine whether the cleaning apparatus 100 is performing the locking operation, the processor 40 simultaneously analyzes whether the current pitch angle P is greater than the preset fourth angle threshold, and whether the change rate of the acceleration of the operation lever 20 in the first direction is greater than the change rate of the acceleration of the operation lever 20 in the second direction, so as to determine whether the cleaning apparatus 100 is performing the locking operation, which can improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging to affect the normal use of the user, and enhance the intelligence of the cleaning apparatus 100.

In other embodiments, the first and fourth angle thresholds may be different. Specifically, in certain embodiments, the first angle threshold is greater than the fourth angle threshold. For example, the first angle threshold may be 70 ° and the fourth angle threshold may be 60 °. Thus, when the processor 40 determines whether the cleaning apparatus 100 is performing the locking operation only according to whether the current pitch angle P of the operation lever 20 is greater than the first angle threshold value, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation, the current pitch angle P of the operation lever 20 needs to be greater than 70 °. And when the processor 40 determines whether the cleaning apparatus 100 is performing the locking operation according to whether the current pitch angle P of the operation lever 20 is greater than the fourth angle threshold value and whether the rate of change of the acceleration of the operation lever 20 in the first direction is greater than the rate of change of the acceleration of the operation lever 20 in the second direction, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation when the current pitch angle P of the operation lever 20 only needs to be greater than 60 °, so that on the one hand, when the current pitch angle P of the operation lever 20 is greater than 60 °, the traction force of the cleaning apparatus 100 has been changed, and the user does not need to continuously manipulate the operation lever 20 until the pitch angle P becomes 70 °, thereby being capable of improving the locking efficiency of the cleaning apparatus 100; on the other hand, the processor 40 can be prevented from misjudging to affect the normal use of the user, and the intellectualization of the cleaning device 100 is enhanced.

Referring to fig. 2 and 9, in some embodiments, 03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data includes:

037: in case that the distance D between the first point and the second point is smaller than a preset first distance threshold value, it is determined that the cleaning apparatus 100 is performing the locking operation.

The one or more processors 40 are capable of performing the method in 037, i.e. the one or more processors 40 are configured to determine that the cleaning device 100 is performing a locking operation if the distance D between the first point and the second point is less than a preset first distance threshold.

Referring to fig. 10, in the present embodiment, the sensor 30 may include a distance sensor, and the sensing data may include a distance D between a first point on the chassis 10 and a second point on the lever 20. Wherein the distance D between the first point on the chassis 10 and the second point on the lever 20 is a varying value, since the lever 20 is rotatable relative to the chassis 10 when the cleaning device 100 performs a cleaning operation on the surface 200 to be cleaned. It should be noted that, in some embodiments, the distance D between the first point and the second point may be a straight line distance between the first point and the second point. The first point may be located on the chassis 10 and forward of the connection of the lever 20 to the chassis 10 (to the left of the connection of the lever 20 to the chassis 10 in fig. 10).

The preset first distance threshold may be a critical distance for determining whether the cleaning apparatus 100 is performing a locking operation. The preset first distance threshold may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input when the cleaning apparatus 100 is manually used after the cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the cleaning apparatus 100 is shipped.

Specifically, in the case that the distance D between the first point and the second point is smaller than a preset first distance threshold, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. For example, the preset first distance threshold is 10mm, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation when the distance D between the first point and the second point is less than 10 mm.

It should be noted that, when the distance D between the first point and the second point is smaller than the preset first distance threshold, the traction force in the cleaning device 100 can be reduced, but the lever 20 does not reach the locking degree, and at this time, if the user releases his hand, the distance D between the first point and the second point increases. Thus, when the distance D between the first point and the second point is smaller than the preset first distance threshold value, the traction force of the cleaning device 100 is reduced, compared to the traction force of the cleaning device 100 remains unchanged before the operation lever 20 is not erected, so that the user can conveniently erect the operation lever 20 to lock the cleaning device 100, and the user does not need to press a key to adjust the traction force of the cleaning device 100, thereby reducing manual operations and improving the intelligent attribute of the cleaning device 100.

Referring to fig. 10 and 11, in some embodiments, 03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data includes:

038: in the case that the distance D between the first point and the second point is smaller than the preset second distance threshold value and the rate of change of the distance D between the first point and the second point is greater than the distance rate threshold value, it is determined that the cleaning apparatus 100 is performing the locking operation.

The one or more processors 40 are capable of performing 038 a method of determining that the cleaning device 100 is performing a locking operation if the distance D between the first point and the second point is less than a preset second distance threshold and the rate of change of the distance D between the first point and the second point is greater than a distance rate of change threshold.

In this embodiment, the sensor 30 may comprise a distance sensor, and the sensed data may include a distance D between a first point on the chassis 10 and a second point on the lever 20, and a rate of change of the distance D between the first point on the chassis 10 and the second point on the lever 20.

The preset second distance threshold may be a critical distance for determining whether the cleaning apparatus 100 is performing a locking operation. The preset second distance threshold may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input when the cleaning apparatus 100 is manually used after the cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the cleaning apparatus 100 is shipped. Similarly, the distance change rate threshold may be a critical value that determines whether the cleaning device 100 is performing a locking operation. The distance change rate threshold may be known data, such as an empirical value obtained before shipment of the cleaning apparatus 100, a set value input by a person using the cleaning apparatus 100 after shipment of the cleaning apparatus 100, or an empirical value obtained by processing historical data by the processor 40 after shipment of the cleaning apparatus 100.

Specifically, in the case where the distance D between the first point and the second point is smaller than the preset second distance threshold value and the rate of change of the distance D between the first point and the second point is greater than the distance rate of change threshold value, the processor 40 determines that the cleaning apparatus 100 is capable of performing the locking operation. For example, the preset second distance threshold is 8mm, and the distance change rate threshold is S. When the distance D between the first point and the second point is changed from 15mm to 5mm within the time t, the rate of change S of the distance D between the first point and the second point is (15 mm-5 mm)/t, and (15 mm-5 mm)/t > S, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation because the distance D (5 mm) between the first point and the second point is smaller than the preset second distance threshold (8 mm), and S > S.

In some embodiments, the second distance threshold and the first distance threshold may be the same, e.g., the first distance threshold and the second distance threshold may each be 8mm. Since the user may decrease the distance D between the first point and the second point to be less than the second distance threshold or the first distance threshold during the cleaning process of the cleaning device 100, the processor 40 determines that the cleaning device 100 is performing the locking operation, so as to reduce the traction force of the cleaning device 100, but the user does not want to perform the locking operation on the cleaning device 100 at this time, so that the normal use of the user is affected, and the intelligentization of the cleaning device 100 is poor. Thus, compared to the processor 40 analyzing whether the distance D between the first point and the second point is smaller than the first distance threshold to determine whether the cleaning device 100 is performing the locking operation, the processor 40 simultaneously analyzes whether the distance D between the first point and the second point is smaller than the second distance threshold and whether the change rate of the distance D between the first point and the second point is greater than the distance change rate threshold, so as to determine whether the cleaning device 100 is performing the locking operation, so as to improve the accuracy of the analysis result of the processor 40, prevent the processor 40 from misjudging to affect the normal use of the user, and enhance the intellectualization of the cleaning device 100.

In other embodiments, the second distance threshold may be different from the first distance threshold. Specifically, in certain embodiments, the second distance threshold is greater than the first distance threshold. For example, the second distance threshold may be 10mm and the first distance threshold may be 8mm. Thus, when the processor 40 determines that the cleaning apparatus 100 is performing the locking operation only according to whether the distance D between the first point and the second point is less than the first distance threshold, the distance D between the first point and the second point needs to be less than 8mm, and the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. When the processor 40 only needs to be smaller than 10mm (i.e., the second distance threshold is larger than the first distance threshold) according to whether the distance D between the first point and the second point is smaller than the second distance threshold and whether the change rate of the distance D between the first point and the second point is larger than the distance change rate threshold, the processor 40 can determine that the cleaning device 100 is performing the locking operation, so that on one hand, the processing efficiency of the processor 40 can be improved; on the other hand, when the distance D between the first point and the second point is less than 10mm, the traction force of the cleaning apparatus 100 has been changed, and the user does not need to continuously manipulate the operation lever 20 so that the distance D between the first point and the second point is less than 8mm, thereby being able to improve the locking efficiency of the cleaning apparatus 100.

Referring to fig. 10 and 12, in some embodiments, 03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data includes:

039: in the case where the distance D between the first point and the second point is smaller than the preset third distance threshold value and the rate of change of the acceleration of the operation lever 20 in the first direction, which is the upward direction of the vertical chassis 10, is greater than the rate of change of the acceleration of the operation lever 20 in the second direction, which is the forward direction of the cleaning apparatus 100, it is determined that the cleaning apparatus 100 is performing the locking operation.

The one or more processors 40 are capable of performing 039 a method for determining that the cleaning device 100 is performing a locking operation in case the distance D between the first point and the second point is less than a preset third distance threshold and the rate of change of the acceleration of the lever 20 in the first direction is greater than the rate of change of the acceleration of the lever 20 in the second direction, wherein the first direction is the upward direction of the vertical chassis 10 and the second direction is the forward direction of the cleaning device 100.

In the present embodiment, the sensor 30 may include a distance sensor and an acceleration sensor, and the sensing data may include a distance D between a first point on the chassis 10 and a second point on the lever 20, and an acceleration of the lever 20.

Wherein the preset third distance threshold may be a critical distance for determining whether the cleaning apparatus 100 is performing a locking operation. The preset third distance threshold may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input when the cleaning apparatus 100 is manually used after the cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the cleaning apparatus 100 is shipped.

Specifically, in the case where the distance D between the first point and the second point is smaller than the preset third distance threshold value and the rate of change of the acceleration of the operation lever 20 in the first direction is greater than the rate of change of the acceleration of the operation lever 20 in the second direction, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. For example, the preset third distance threshold value is 10mm, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation in the case where the distance D between the first point and the second point is less than 10mm and the rate of change of the acceleration of the operation lever 20 in the first direction is greater than the rate of change of the acceleration of the operation lever 20 in the second direction.

In some embodiments, the third distance threshold and the first distance threshold may be the same, e.g., the third distance threshold and the first distance threshold may both be 10mm. In other embodiments, the third distance threshold may be different from the first distance threshold. Specifically, in certain embodiments, the third distance threshold is greater than the first distance threshold. For example, the third distance threshold may be 10mm and the first distance threshold may be 8mm. Thus, when the processor 40 determines that the cleaning apparatus 100 is performing the locking operation only according to whether the distance D between the first point and the second point is less than the first distance threshold, the distance D between the first point and the second point needs to be less than 8mm, and the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. And when the processor 40 determines that the cleaning apparatus 100 is performing the locking operation according to whether the distance D between the first point and the second point is smaller than the second distance threshold and whether the change rate of the distance D between the first point and the second point is larger than the distance change rate threshold (i.e., the third distance threshold is larger than the first distance threshold), the processor 40 can determine that the traction force of the cleaning apparatus 100 has changed when the distance D between the first point and the second point is smaller than 10mm, so that the user does not need to continuously operate the operation lever 20 until the distance D between the first point and the second point is smaller than 8mm, thereby improving the locking efficiency of the cleaning apparatus 100; on the other hand, the processor 40 can be prevented from misjudging to affect the normal use of the user, and the intellectualization of the cleaning device 100 is enhanced.

Referring to fig. 2 and 10, in some embodiments, 03: analyzing whether the cleaning apparatus 100 is performing a locking operation based on the sensed data includes:

036: in the case that the distance D between the first point and the second point is smaller than a preset first distance threshold value and the duration of time during which the distance D between the first point and the second point is smaller than the preset first distance threshold value is longer than a pre-stored duration, it is determined that the cleaning apparatus 100 is performing the locking operation.

The one or more processors 40 are capable of performing 036 a method for determining that the cleaning device 100 is performing a locking operation if the distance D between the first point and the second point is less than a preset first distance threshold and the duration of the distance D between the first point and the second point is less than the preset first distance threshold is greater than a pre-stored duration.

In this embodiment, the sensor 30 may include a distance sensor, and the sensing data may include a distance D between a first point on the chassis 10 and a second point on the lever 20. Wherein the distance D between the first point on the chassis 10 and the second point on the lever 20 is a varying value, since the lever 20 is rotatable relative to the chassis 10 when the cleaning device 100 performs a cleaning operation on the surface 200 to be cleaned. The pre-stored time period is a critical time period for determining whether the cleaning device 100 is performing the locking operation. The pre-stored time period may be known data, which may be an empirical value obtained before the cleaning apparatus 100 is shipped, a set value input by the cleaning apparatus 100 when the cleaning apparatus 100 is manually used after the cleaning apparatus 100 is shipped, or an empirical value obtained by the processor 40 processing the historical data after the cleaning apparatus 100 is shipped.

Specifically, assuming that the preset first distance threshold is 10mm and the pre-stored period is 2 seconds, if the distance D between the first point and the second point is less than 10mm and the duration of the distance D between the first point and the second point is less than 10mm is greater than 2 seconds, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. It should be noted that, in some embodiments, in the case where the distance D between the first point and the second point is smaller than 10mm, the distance D between the first point and the second point can still be changed, and in the case where the changed distances D between the first point and the second point are both smaller than the first distance threshold value and the duration of the changed distances D between the first point and the second point are both smaller than the first distance threshold value is longer than the pre-stored duration, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. For example, assuming that the preset first distance threshold is 10mm and the pre-stored period is 2 seconds, if the distance D between the first point and the second point is less than 10mm, the distance D between the first point and the second point is varied within a range of 8mm-10mm within 2 seconds, and after 2 seconds, the distance D between the first point and the second point is still less than 10mm, the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation.

In some embodiments, the fourth distance threshold and the first distance threshold may be the same, e.g., the first distance threshold and the fourth distance threshold may each be 8mm. Since the user may decrease the distance D between the first point and the second point to be less than the fourth distance threshold or the first distance threshold during the cleaning process of the cleaning device 100, the processor 40 determines that the cleaning device 100 is performing the locking operation, so as to reduce the traction force of the cleaning device 100, but the user does not want to perform the locking operation on the cleaning device 100 at this time, so that the normal use of the user is affected, and the intelligentization of the cleaning device 100 is poor. Thus, compared to the processor 40 analyzing whether the distance D between the first point and the second point is smaller than the first distance threshold to determine whether the cleaning device 100 is performing the locking operation, the processor 40 simultaneously analyzes whether the distance D between the first point and the second point is smaller than the fourth distance threshold, and whether the duration of the distance D between the first point and the second point is smaller than the preset first distance threshold is greater than the pre-stored duration, so as to determine whether the cleaning device 100 is performing the locking operation, so that the accuracy of the analysis result of the processor 40 can be improved, misjudgment of the processor 40 is prevented from influencing the normal use of the user, and the intellectualization of the cleaning device 100 is enhanced.

In other embodiments, the fourth distance threshold may be different from the first distance threshold. Specifically, in certain embodiments, the fourth distance threshold is greater than the first distance threshold. For example, the fourth distance threshold may be 10mm and the first distance threshold may be 8mm. Thus, when the processor 40 determines that the cleaning apparatus 100 is performing the locking operation only according to whether the distance D between the first point and the second point is less than the first distance threshold, the distance D between the first point and the second point needs to be less than 8mm, and the processor 40 can determine that the cleaning apparatus 100 is performing the locking operation. When the processor 40 determines that the cleaning device 100 is performing the locking operation according to whether the distance D between the first point and the second point is smaller than the fourth distance threshold and whether the duration of the distance D between the first point and the second point is smaller than the preset first distance threshold is longer than the pre-stored duration (i.e., the fourth distance threshold is greater than the first distance threshold), the processor 40 can increase the processing efficiency of the processor 40; on the other hand, when the distance D between the first point and the second point is less than 10mm, the traction force of the cleaning apparatus 100 has been changed, and the user does not need to continuously manipulate the operation lever 20 so that the distance D between the first point and the second point is less than 8mm, thereby being able to improve the locking efficiency of the cleaning apparatus 100.

Referring to fig. 2 and 13, in some embodiments, in addition to reducing the traction of the cleaning device, the cleaning control method further includes, in the case where it is determined that the cleaning device is performing the locking operation:

07: stopping the water supply assembly 80 from supplying water to the cleaning member 51 and/or the surface 200 to be cleaned; and/or

09: The stop soil pick-up assembly 60 provides power for collecting soil.

The one or more processors 40 are capable of performing the methods of 07 and 09, i.e., the one or more processors 40 are configured to stop the water supply assembly 80 from supplying water to the cleaning member 51 and/or the surface 200 to be cleaned; and/or to stop the soil pick-up assembly 60 from powering the collection of soil.

Specifically, in some embodiments, the cleaning control method may include one of 07 and 09 alone. That is, in the case where the cleaning apparatus 100 performs the locking operation, the water supply assembly 80 may also stop supplying water to the cleaning member 51 and/or the surface 200 to be cleaned; or in the event that the cleaning apparatus 100 is performing a lockout operation, the dirt pickup assembly 60 may also be stopped to power the collection of dirt. In other embodiments, the cleaning control method may include 07 and 09. That is, in the case where the cleaning apparatus 100 performs the locking operation, the water supply assembly 80 may also be stopped from supplying water to the cleaning member 51 and/or the surface 200 to be cleaned, and the soil pick-up assembly 60 may be stopped from powering the collection of the soil.

In some embodiments, the cleaning apparatus 100 has a soil pick-up port that communicates with the soil box 70 and the soil pick-up assembly 60 via a soil pick-up duct, and if 09 is performed before 07 or 05, the soil in the soil pick-up duct may not completely enter the soil box 70, thereby causing the soil to flow back to the soil pick-up port and cause secondary pollution. Thus, in an embodiment of the present application, 09 is performed after 07 or 05. Therefore, dirt can completely enter the dirt box 70 under the power provided by the dirt sucking assembly 60, and the dirt can be prevented from entering the dirt sucking assembly 60 to damage the dirt sucking assembly 60, so that the normal operation of the dirt sucking assembly 60 is ensured. In certain embodiments, the dirt pickup assembly 60 may include a blower.

Referring to fig. 2 and 14, in some embodiments, 05: reducing the traction of the cleaning device 100 includes:

051: rotation of the cleaning member 51 relative to the chassis 10 is stopped.

The one or more processors 40 are capable of performing the method in 051, i.e. the one or more processors 40 are adapted to stop rotation of the cleaning members 51 relative to the chassis 10.

Specifically, in the case where the processor 40 determines that the cleaning apparatus 100 is performing a locking operation based on the analysis of the sensed data, the processor 40 can give an instruction to the cleaning member 51 or give an instruction to a member that controls the rotation of the cleaning member 51 with respect to the chassis 10 to stop the rotation of the cleaning member 51 with respect to the chassis 10, so that the forward traction force of the cleaning assembly 50 becomes small or even vanishes, and thus the cleaning apparatus 100 is made stationary with respect to the surface 200 to be cleaned. It is thereby possible to prevent the chassis 10 from advancing continuously in the positive direction of the Z-axis when the user needs to manipulate the lever 20 to stand upright with respect to the chassis 10 to lock the cleaning device 100, thereby facilitating the user to manipulate the lever 20 to stand upright (the long axis of the lever 20 is nearly perpendicular to the plane of the chassis 10) to achieve the locking operation of the cleaning device 100.

It will be appreciated that in some embodiments, where the processor 40 determines from the sensed data analysis that the cleaning apparatus 100 is performing a locking operation, the processor 40 can issue instructions to the cleaning member 51, or to a component that controls rotation of the cleaning member 51 relative to the chassis 10, to reduce the rotational speed of rotation of the cleaning member 51 relative to the chassis 10, such that the forward traction of the cleaning assembly 50 is reduced, thereby facilitating user manipulation of the lever 20 upright (with the long axis of the lever 20 being approximately perpendicular to the plane of the chassis 10) to effect a locking operation of the cleaning apparatus 100. Wherein, when the rotational speed of the rotation of the cleaning member 51 relative to the chassis 10 is reduced to the point that the rotation of the cleaning member 51 stops, the forward traction force of the cleaning assembly 50 disappears, so that the cleaning device 100 is stationary relative to the surface to be cleaned 200, thereby preventing the chassis 10 from continuously advancing in the forward direction along the Z-axis when the user needs to manipulate the operation lever 20 to stand upright relative to the chassis 10 to lock the cleaning device 100, thereby facilitating the user to manipulate the operation lever 20 to stand upright to realize the locking operation of the cleaning device 100.

Referring to fig. 14 and 15, in some embodiments, 05: reducing the traction of the cleaning device 100 includes:

053: creating a reverse pulling force that is opposite to the pulling force.

The one or more processors 40 are capable of performing the method in 053, i.e., the one or more processors 40 are configured to generate a reverse pulling force that is opposite to the pulling force.

Specifically, when the cleaning assembly 50 generates a reverse pulling force that is opposite to the forward pulling force of the cleaning assembly 50, the reverse pulling force can cancel or partially cancel the pulling force, thereby reducing the pulling force of the cleaning apparatus 100. Wherein the cleaning apparatus 100 is capable of being stationary relative to the surface 200 to be cleaned when the traction force is equal in magnitude and opposite in direction to the counter traction force.

In some embodiments, the cleaning assembly 50 can be controlled to rotate in a reverse direction to create a reverse pulling force that is opposite to the pulling force. Specifically, in some embodiments, since the cleaning device 100 can be moved forward by the traction force when the cleaning member 51 rotates with respect to the surface 200 to be cleaned to generate traction force on the cleaning device 100, and the cleaning assembly 50 is rotated reversely to generate reverse traction force in the case of the cleaning device 100 performing a locking operation, the reverse traction force can be offset or partially offset with the traction force, so that the traction force of the cleaning device 100 becomes small, thereby facilitating the user to lock the cleaning device 100.

In other embodiments, the cleaning assembly 50 may further include a rotating member 53 disposed on the chassis 10, the rotating member 53 being capable of rotating relative to the chassis 10. Wherein a reverse pulling force opposite to the pulling force can also be generated by driving the rotation member 53 to rotate in a direction opposite to the rotation direction of the cleaning member 51.

Specifically, in the case where the processor 40 determines that the cleaning apparatus 100 is performing a locking operation based on the analysis of the sensed data, the processor 40 can give an instruction to the cleaning member 51 and the rotating member 53, or give an instruction to a member that controls the rotation of the cleaning member 51 and the rotating member 53 relative to the chassis 10, to drive the rotating member 53 to rotate in a direction opposite to the rotation direction of the cleaning member 51, so that the rotating member 53 rotates relative to the chassis 10 to generate a reverse pulling force that drives the cleaning apparatus 100 to move backward, and the cleaning member 51 rotates relative to the chassis 10 to generate a pulling force that drives the cleaning apparatus 100 to move forward to cancel, thereby making the pulling force of the cleaning assembly 50 as a whole small. When the cleaning member 51 rotates relative to the chassis 10 to generate a traction force for driving the cleaning apparatus 100 to move forward, which is equal to or opposite to the reverse traction force generated by the rotation member 53 rotating relative to the chassis 10 to drive the cleaning apparatus 100 to move backward, the cleaning assembly 50 is stationary relative to the surface 200 to be cleaned. It will be appreciated that in some embodiments, it is also possible that the cleaning member 51 rotates relative to the chassis 10 to generate a reverse pulling force for driving the cleaning apparatus 100 rearward, the rotating member 53 rotates relative to the chassis 10 to generate a pulling force for driving the cleaning apparatus 100 forward, and the pulling force of the cleaning assembly 50 decreases when the direction of rotation of the cleaning member 51 is opposite to the direction of rotation of the rotating member 53.

In some embodiments, the reverse traction force may be greater than the traction force. Thereby enabling on the one hand a faster stopping of the forward movement of the cleaning device 100, thereby facilitating the locking operation of the cleaning device 100 by the user; on the other hand, when the reverse pulling force is greater than the pulling force, the cleaning apparatus 100 can be moved backward, so that the user can adjust the operation lever 20 to the locking state more effort-saving, thereby improving the efficiency of the user performing the locking operation. It will be appreciated that in some embodiments, the traction and/or reverse traction is lost after the cleaning device 100 is locked. Specifically, after the cleaning apparatus 100 is in the locked state, the traction force disappears, so that the cleaning apparatus 100 can be prevented from continuing to move forward after the user locks the cleaning apparatus 100, and the locking is unreliable; the reverse pulling force is lost, thereby avoiding damage to the cleaning apparatus 100 as the cleaning apparatus 100 continues to move rearward after the user locks the cleaning apparatus 100, resulting in a continued excessive pitch angle P between the lever 20 and the chassis 10.

In some embodiments, the rotation direction of the cleaning member 51 may also be the same as the rotation direction of the rotating member 53, and at this time, the rotating member 53 may be configured to reduce the resistance of the cleaning member 51 when moving over the surface 200 to be cleaned, thereby making the cleaning operation of the cleaning apparatus 100 more labor-saving.

Referring to fig. 2 and 16, in some embodiments, the cleaning member 51 may include a first cleaning unit 511 and a second cleaning unit 513, where the first cleaning unit 511 and the second cleaning unit 513 are disposed on the chassis 10 and are capable of rotating relative to the chassis 10, and the cleaning assembly 50 may further include a lifting assembly 55 disposed on the chassis 10. Wherein both the first cleaning unit 511 and the second cleaning unit 513 are rotatable with respect to the chassis 10 to clean dirt, and both the first cleaning unit 511 and the second cleaning unit 513 have traction to the cleaning apparatus 100. A lifting assembly 55 is provided in the chassis 10 and connected to at least one of the first cleaning unit 511 and the second cleaning unit 513, the lifting assembly 55 being configured to lift at least one of the first cleaning unit 511 and the second cleaning unit 513 such that the first cleaning unit 511 and/or the second cleaning unit 513 is away from the surface 200 to be cleaned (even if the pressure of the first cleaning unit 511 and/or the second cleaning unit 513 against the surface 200 to be cleaned is reduced).

Wherein, please refer to fig. 14, in some embodiments, 05: reducing the traction of the cleaning device 100 further comprises:

055: the lifting assembly 55 lifts at least one of the first cleaning unit 511 and the second cleaning unit 513 such that the pressure of the at least one of the first cleaning unit 511 and the second cleaning unit 513 to the surface 200 to be cleaned is reduced.

The one or more processors 40 are capable of performing the method in 055, i.e. the one or more processors 40 are configured to raise the lifting assembly 55 to raise at least one of the first cleaning unit 511 and the second cleaning unit 513 such that the pressure of the at least one of the first cleaning unit 511 and the second cleaning unit 513 against the surface 200 to be cleaned is reduced.

Specifically, in some embodiments, the rotation direction of the first cleaning unit 511 with respect to the chassis 10 and the rotation direction of the second cleaning unit 513 with respect to the chassis 10 are the same, and the first cleaning unit 511 and the second cleaning unit 513 each rotate with respect to the chassis 10 to generate a traction force for driving the cleaning apparatus 100 to move forward. Specifically, in the case where the processor 40 determines that the cleaning apparatus 100 is performing a locking operation based on the analysis of the sensing data, the processor 40 can issue a command to the lifting assembly 55 or to a component controlling the operation of the lifting assembly 55 to cause the lifting assembly 55 to lift at least one of the first cleaning unit 511 and the second cleaning unit 513, thereby causing the first cleaning unit 511 and the second cleaning unit 513 to act together on the cleaning apparatus 100 and reducing the traction of the cleaning assembly 50 as a whole.

In other embodiments, 05: reducing the traction of the cleaning device 100 further comprises:

057: the lifting assembly 55 lifts the first cleaning unit 511 such that the pressure of the first cleaning unit 511 against the surface 200 to be cleaned is reduced; and/or the number of the groups of groups,

059: The lifting assembly 55 drives the second cleaning unit 513 downward so that the pressure of the second cleaning unit 513 to the surface 200 to be cleaned increases.

The one or more processors 40 are capable of performing the method in 057, 059, i.e. the one or more processors 40 are configured to raise the first cleaning unit 511 by the raising assembly 55 such that the pressure of the first cleaning unit 511 against the surface 200 to be cleaned is reduced; and/or for the lifting assembly 55 to drive the second cleaning unit 513 down such that the pressure of the second cleaning unit 513 against the surface 200 to be cleaned increases.

Specifically, in some embodiments, the direction of rotation of the first cleaning unit 511 with respect to the chassis 10 and the direction of rotation of the second cleaning unit 513 with respect to the chassis 10 are different. Wherein the first cleaning unit 511 is rotatable with respect to the chassis 10 to generate a traction force for driving the cleaning apparatus 100 forward, and the second cleaning unit 513 is rotatable with respect to the chassis 10 to generate a reverse traction force for driving the cleaning apparatus 100 backward. In the case that the processor 40 determines that the cleaning apparatus 100 is performing a locking operation according to the analysis of the sensing data, the processor 40 can issue a command to the lifting assembly 55 or issue a command to a component controlling the lifting assembly 55 to operate, so as to control the lifting assembly 55 to lift the first cleaning unit 511, so that the pressure of the first cleaning unit 511 on the surface 200 to be cleaned is reduced; or the lifting assembly 55 is controlled to drive the second cleaning unit 513 to descend so that the pressure of the second cleaning unit 513 to the surface 200 to be cleaned increases; or the lifting assembly 55 is controlled to lift the first cleaning unit 511 so that the pressure of the first cleaning unit 511 to the surface 200 to be cleaned is reduced, and the second cleaning unit 513 is driven to descend so that the pressure of the second cleaning unit 513 to the surface 200 to be cleaned is increased, thereby reducing the traction force generated by the first cleaning unit 511 to drive the cleaning apparatus 100 to move forward, and/or the reverse traction force generated by the second cleaning unit 513 to drive the cleaning apparatus 100 to move backward is increased, thereby canceling the traction force and the reverse traction force to each other, so that the total traction force of the cleaning assembly 50 is reduced.

It should be noted that, if the first cleaning unit 511 rotates relative to the chassis 10 to generate a reverse pulling force for driving the cleaning apparatus 100 to move backward, the second cleaning unit 513 may rotate relative to the chassis 10 to generate a pulling force for driving the cleaning apparatus 100 to move forward. Then, in the case that the processor 40 determines that the cleaning apparatus 100 is performing a locking operation according to the analysis of the sensing data, the processor 40 can issue an instruction to the lifting assembly 55 or issue an instruction to a component controlling the lifting assembly 55 to operate, so as to control the lifting assembly 55 to drive the first cleaning unit 511 to descend, so that the pressure of the first cleaning unit 511 on the surface 200 to be cleaned is increased; or the lifting assembly 55 is controlled to lift the second cleaning unit 513 such that the pressure of the second cleaning unit 513 to the surface 200 to be cleaned is reduced; or the lifting assembly 55 is controlled to drive the first cleaning unit 511 to descend so that the pressure of the first cleaning unit 511 to the surface 200 to be cleaned is increased, and the second cleaning unit 513 is lifted so that the pressure of the second cleaning unit 513 to the surface 200 to be cleaned is reduced, so that the traction force generated by the first cleaning unit 511 to drive the cleaning apparatus 100 to move backward can be increased, and/or the traction force generated by the second cleaning unit 513 to drive the cleaning apparatus 100 to move forward can be reduced, so that the traction force of the cleaning assembly 50 can be reduced.

In certain embodiments, the cleaning control method may further comprise:

In the case where the cleaning apparatus 100 performs the locking operation, the rotational speed at which the cleaning member 51 rotates with respect to the chassis 10 is reduced. Specifically, in the case that the processor 40 determines that the cleaning apparatus 100 performs a locking operation based on the analysis of the sensing data, the processor 40 can issue a command to the cleaning member 51 or to a component that controls the rotation of the cleaning member 51 with respect to the chassis 10, so as to reduce the rotation speed of the cleaning member 51 with respect to the chassis 10, thereby reducing the forward traction of the cleaning assembly 50, and thus facilitating the user to manipulate the operation lever 20 to stand upright (the long axis of the operation lever 20 is approximately perpendicular to the plane of the chassis 10) to achieve the locking operation of the cleaning apparatus 100.

Referring to fig. 17, the present application further provides a computer readable storage medium 300 having a computer program 302 stored thereon, which when executed by one or more processors 40, implements the cleaning control method according to any of the foregoing embodiments.

Referring to fig. 1 and 2, for example, the following cleaning control method is implemented when the computer program 302 is executed by the processor 40:

05: In the case where the cleaning apparatus 100 performs the locking operation, the traction force of the cleaning apparatus 100 is reduced. For another example, the computer program 302, when executed by the processor 40, can also implement the cleaning control method of 031, 033, 035, 037, 038, 039, 051, 053, 055, 057, 059, 07 and 09.

In the computer readable storage medium 300 of the present application, the cleaning device 100 can analyze whether the cleaning device 100 is performing a locking operation according to the sensing data collected by the sensor 30, and in the case that the cleaning device 100 performs the locking operation, the traction force of the cleaning device is reduced, and the locking operation is prevented from being difficult to implement because the cleaning device remains in an operating state when the cleaning device needs to be locked, thereby facilitating the locking operation of the cleaning device.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a computer-readable storage medium can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments. In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by those skilled in the art within the scope of the application, which is defined by the claims and their equivalents.

Claims

1. A cleaning control method of a cleaning apparatus, characterized by comprising:

Acquiring sensing data acquired by a sensor in the cleaning device;

Analyzing whether the cleaning device is performing a locking operation according to the sensing data; and

In the case where the cleaning apparatus performs the locking operation, the traction force of the cleaning apparatus is reduced.

2. The cleaning control method according to claim 1, wherein the cleaning apparatus includes a chassis and a lever rotatably connected to the chassis, the sensor includes an angle detection sensor, and the sensed data includes a pitch angle between the lever of the cleaning apparatus and the chassis; the analyzing whether the cleaning device is performing a locking operation according to the sensing data includes:

Determining that the cleaning device is executing the locking operation under the condition that the current pitch angle of the operating rod is larger than a preset first angle threshold value; and under the condition that the cleaning equipment is in a locking state, a pitch angle between the operating rod and the chassis is a locking angle, and the first angle threshold is smaller than the locking angle.

3. The cleaning control method according to claim 1, wherein the cleaning apparatus includes a chassis and a lever rotatably connected to the chassis, the sensor includes an angle detection sensor, and the sensed data includes a pitch angle between the lever of the cleaning apparatus and the chassis; the analyzing whether the cleaning device is performing a locking operation according to the sensing data includes:

Determining that the cleaning device is executing the locking operation under the condition that the current pitch angle of the operating rod is larger than a preset second angle threshold value and the duration time of the current pitch angle of the operating rod being larger than the preset second angle threshold value is longer than a preset duration time; and under the condition that the cleaning equipment is in a locking state, a pitch angle between the operating rod and the chassis is a locking angle, and the second angle threshold value is smaller than the locking angle.

4. The cleaning control method according to claim 1, wherein the cleaning apparatus includes a chassis and a lever rotatably connected to the chassis, the sensor includes an angle detection sensor, and the sensed data includes a pitch angle between the lever of the cleaning apparatus and the chassis; the analyzing whether the cleaning device is performing a locking operation according to the sensing data includes:

Determining that the cleaning equipment is executing the locking operation under the condition that the current pitch angle of the operating rod is larger than a preset third angle threshold value and the change rate of the pitch angle of the operating rod is larger than a pitch angle change rate threshold value; and under the condition that the cleaning equipment is in a locking state, a pitch angle between the operating rod and the chassis is a locking angle, and the third angle threshold is smaller than the locking angle.

5. The cleaning control method according to claim 1, wherein the cleaning apparatus includes a chassis and an operation lever rotatably connected to the chassis, the sensor includes an angle detection sensor and an acceleration sensor, and the sensing data includes a pitch angle between the operation lever of the cleaning apparatus and the chassis and an acceleration of the operation lever; the analyzing whether the cleaning device is performing a locking operation according to the sensing data includes:

Determining that the cleaning device is executing the locking operation under the condition that the current pitch angle of the operating rod is larger than a preset fourth angle threshold value, the change rate of acceleration increase of the operating rod in a first direction is larger than a preset first change rate threshold value, and/or the change rate of acceleration decrease of the operating rod in a second direction is larger than a preset second change rate threshold value, wherein the first direction is a direction vertical to the chassis upwards, and the second direction is a forward direction of the cleaning device; and under the condition that the cleaning equipment is in a locking state, a pitch angle between the operating rod and the chassis is a locking angle, and the fourth angle threshold value is smaller than the locking angle.

6. The cleaning control method of claim 1, wherein the reducing the traction of the cleaning apparatus comprises:

generating a reverse pulling force opposite to the pulling force.

7. The cleaning control method according to claim 6, wherein the cleaning apparatus includes a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly rotating relative to the surface to be cleaned and having a traction to the cleaning apparatus; the generating a reverse pulling force opposite to the pulling force comprises:

and controlling the cleaning assembly to reversely rotate.

8. The cleaning control method according to claim 6, wherein the cleaning apparatus includes a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly including a cleaning member and a rotating member provided to the chassis, the rotating member being rotatable relative to the chassis; the generating a reverse pulling force opposite to the pulling force comprises:

the rotating member is driven to rotate in a direction opposite to the rotating direction of the cleaning member.

9. The cleaning control method according to claim 6, wherein,

The reverse traction force is greater than the traction force; and/or the number of the groups of groups,

The reverse traction force and/or the traction force is lost after the cleaning device is locked.

10. The cleaning control method according to claim 1, wherein the cleaning apparatus includes a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly including a cleaning member, the reducing traction of the cleaning apparatus comprising:

And stopping the rotation of the cleaning piece relative to the chassis.

11. The cleaning control method according to claim 1, wherein the cleaning apparatus includes a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly including a cleaning member including a first cleaning unit and a second cleaning unit, both of which are provided to the chassis, and both of which are rotated and have traction to the cleaning apparatus, the cleaning assembly further including a lifting assembly provided to the chassis; said reducing the traction of said cleaning device comprising:

The lifting assembly lifts at least one of the first cleaning unit and the second cleaning unit to reduce the pressure of the at least one of the first cleaning unit and the second cleaning unit to the surface to be cleaned; and/or the number of the groups of groups,

One of the first cleaning unit and/or the second cleaning unit is rotated reversely.

12. The cleaning control method according to claim 1, wherein the cleaning apparatus includes a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly including a cleaning member including a first cleaning unit and a second cleaning unit, both of which are provided to the chassis, the first cleaning unit rotating relative to the surface to be cleaned and having a traction force on the cleaning apparatus, the second cleaning unit rotating relative to the surface to be cleaned to generate a traction force for driving the cleaning apparatus to move rearward, the cleaning assembly further including a lifting assembly provided to the chassis; said reducing the traction of said cleaning device comprising:

The lifting assembly lifts the first cleaning unit so that the pressure of the first cleaning unit on a surface to be cleaned is reduced; and/or the number of the groups of groups,

The lifting assembly drives the second cleaning unit to descend so that the pressure of the second cleaning unit on the surface to be cleaned is increased.

13. The cleaning control method according to claim 1, characterized in that the cleaning apparatus includes a chassis provided with a cleaning assembly for cleaning a surface to be cleaned, the cleaning assembly including a cleaning member that rotates relative to the surface to be cleaned and has a traction force to the cleaning apparatus; the cleaning control method further includes:

in the case where the cleaning apparatus performs the lock operation, the rotational speed at which the cleaning member rotates with respect to the chassis is reduced.

14. The cleaning control method according to claim 1, wherein the cleaning apparatus includes a chassis, the cleaning apparatus includes a cleaning assembly, a dirt suction assembly, and a water supply assembly, the cleaning assembly is provided to the chassis, the cleaning assembly includes a cleaning member capable of rotating relative to a surface to be cleaned to clean dirt and having traction force on the cleaning apparatus, the dirt suction assembly provides power for collecting the dirt cleaned by the cleaning member, and the water supply assembly is used for supplying water to the cleaning member and/or the surface to be cleaned; in the case where the cleaning apparatus is performing the lock operation, the cleaning control method further includes:

Stopping the water supply assembly from supplying water to the cleaning member and/or the surface to be cleaned; and/or

And stopping the dirt sucking assembly to provide power for collecting the dirt.

15. A cleaning apparatus, comprising:

A chassis;

The operating rod is rotationally connected with the chassis;

The cleaning assembly is used for cleaning a surface to be cleaned, is arranged on the chassis, rotates relative to the surface to be cleaned and has traction force on the cleaning equipment;

the sensor is arranged on the chassis and/or the operating rod; and

One or more processors mounted to the chassis and/or the lever, the one or more processors configured to perform the cleaning control method of any one of claims 1-14.

16. A computer readable storage medium storing a computer program which, when executed by one or more processors, implements the cleaning control method of any one of claims 1-14.