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CN-121987101-A - Cleaning device control method and cleaning device

CN121987101ACN 121987101 ACN121987101 ACN 121987101ACN-121987101-A

Abstract

The application provides a cleaning equipment control method and cleaning equipment, wherein the cleaning equipment control method comprises the steps of controlling the cleaning equipment to circularly execute a preset drying strategy according to a preset period in a preset drying stage when a mop is detected to finish cleaning in a cleaning tank, controlling the mop of a sweeping robot to lift in each preset period, controlling a drying assembly of a base station to dry the mop in a mode of intermittent circular drying, controlling the mop of the sweeping robot to execute at least one rotation of a preset angle in each preset period, and stopping executing the preset drying strategy when the mop is detected to finish drying in the preset drying stage. The application can not only avoid the problem that the service life is seriously affected by heat loss of the rolling mop caused by continuous high-temperature drying, but also reduce the difference of the water content of the axis and the edge of the mop, so that the mop can be uniformly dried.

Inventors

  • WANG HUAN

Assignees

  • 深圳市杉川机器人有限公司

Dates

Publication Date
20260508
Application Date
20251222

Claims (10)

  1. 1. The cleaning equipment control method is characterized by comprising a sweeping robot and a base station, wherein the sweeping robot is provided with a mop, a rotating shaft of the mop is arranged in parallel with a floor to be cleaned, the base station is provided with a cleaning tank, and a drying assembly is arranged in the cleaning tank, and the method comprises the following steps: When the mop is detected to finish cleaning in the cleaning tank, controlling the cleaning equipment to circularly execute a preset drying strategy according to a preset period in a preset drying stage; The preset drying strategy comprises the steps of controlling the mop lifting of the sweeping robot in each preset period, controlling a drying assembly of a base station to dry the mop in a mode of intermittent cyclic drying, and controlling the mop of the sweeping robot to rotate at least once by a preset angle in each preset period; And in the preset drying stage, stopping executing the preset drying strategy when the mop is detected to finish drying.
  2. 2. The method of claim 1, wherein the controlling the drying assembly of the base station to dry the mop in a cyclic manner at intervals comprises: and the drying component of the control base station is electrified according to a preset electrifying duty ratio mode so as to realize the drying treatment of the mop in an interval circulation drying mode.
  3. 3. The method of claim 1, wherein the preset drying stage comprises a first drying stage and a second drying stage; correspondingly, when the mop is detected to finish cleaning in the cleaning tank, a preset drying strategy is circularly executed in a preset drying stage according to a preset period, and the method comprises the following steps: when the mop is detected to finish cleaning in the cleaning tank, controlling the cleaning equipment to enter a first drying stage, and circularly executing a preset drying strategy according to a first preset period in the first drying stage; When the first drying stage is detected to be finished, controlling the cleaning equipment to enter a second drying stage, and circularly executing a preset drying strategy according to a second preset period in the second drying stage; the duration of the second drying stage is smaller than that of the first drying stage, and the duration of the second preset period is smaller than that of the first preset period.
  4. 4. The method according to claim 1, wherein after the mop cloth of the control sweeping robot performs at least one rotation of a preset angle, further comprising: monitoring the rotated angle of the mop; And if the error between the rotated angle and the preset angle exceeds an error threshold, correcting and controlling the rotated angle of the mop so that the error is within the error threshold.
  5. 5. The method according to any one of claims 1 to 4, wherein the base of the sweeping robot is provided with a ground information acquisition sensor, the method further comprising: collecting soil characteristic information of the ground soil through a ground information collecting sensor; determining the soil degree of the ground soil according to the soil characteristic information; and adjusting the matching relation between the rotating speed of the mop of the sweeping robot and the moving speed of the sweeping robot according to the change of the soil degree of the soil on the ground.
  6. 6. The method according to claim 5, wherein adjusting the matching relationship between the rotation speed of the mop of the sweeping robot and the moving speed of the sweeping robot according to the change of the soil level of the soil on the floor comprises: When the change from small to large occurs in the soil degree of the ground soil is detected, the rotation speed of the mop is adjusted to be increased, and the moving speed of the sweeping robot is adjusted to be reduced; When the change from big to small appears in the soil degree of detecting the ground soil, the rotation speed of the adjustment mop becomes small, and the moving speed of the adjustment sweeping robot becomes large.
  7. 7. The method according to claim 5, wherein adjusting the matching relationship between the rotation speed of the mop of the sweeping robot and the moving speed of the sweeping robot according to the change of the soil level of the soil on the floor comprises: when the change of the soil degree of the ground soil is detected to be light soil, controlling the rotating speed of the mop to be in a first rotating speed range and the moving speed of the sweeping robot to be in a first speed range; When detecting that the soil degree of the ground soil changes to medium soil, controlling the rotating speed of a mop to be in a second rotating speed range and the moving speed of the sweeping robot to be in a second speed range, wherein the rotating speed of the second rotating speed range is larger than that of the first rotating speed range, and the moving speed of the second speed range is smaller than that of the first speed range; When the change of the soil degree of the ground soil is detected to be heavy soil, the rotation speed of the mop is controlled to be in a third rotation speed range, and the moving speed of the sweeping robot is controlled to be in a third speed range, wherein the rotation speed of the third rotation speed range is larger than that of the second rotation speed range, and the moving speed of the third speed range is smaller than that of the second rotation speed range.
  8. 8. The method of claim 5, wherein after determining the soil level of the soil on the ground based on the soil characteristic information, further comprising: Generating a soil concentration thermodynamic diagram according to soil levels of the ground soil, wherein the ground soil with different soil levels in the soil concentration thermodynamic diagram is displayed in different colors; And sending the stain concentration thermodynamic diagram to a client for display.
  9. 9. The method according to any one of claims 1 to 4, wherein the base station is further provided with a power supply pole piece and an electrode detection assembly, and the method further comprises: when the mop is detected to finish cleaning in the cleaning tank, cutting off the power supply of the power supply pole piece of the base station; Detecting whether the power supply pole piece is in a dry state or not through the electrode detection assembly; When the fact that the power supply pole piece is not in a dry state is detected, the drying assembly is controlled to carry out drying treatment on the power supply pole piece; and when the power supply pole piece is detected to be in a dry state, controlling the power supply restoration of the power supply pole piece of the base station.
  10. 10. A cleaning apparatus characterized by comprising a sweeping robot and a base station for executing the cleaning apparatus control method according to any one of claims 1 to 9.

Description

Cleaning device control method and cleaning device Technical Field The application relates to the technical field of intelligent cleaning equipment, in particular to a cleaning equipment control method and cleaning equipment. Background With the popularization of intelligent cleaning equipment, a sweeping robot and a matched base station thereof become an important tool in household cleaning. The mop on the sweeping robot is a mechanism for cleaning the ground stains, and the mop of the sweeping robot needs to be cleaned in a base station after being used and is dried in the base station after being cleaned. The mopping cloth of the sweeping robot is mainly divided into crawler-type mopping cloth, roller-type mopping cloth, disc-type mopping cloth, flat-type mopping cloth and the like. Currently, the mop drying of the sweeping robot for crawler-type and roller-type mops mainly adopts a continuous heating mode to dry the mop statically. However, this continuous drying mode can lead to significant heat loss of the mop material and affect the life of the mop, and in addition, the mop is not uniformly dried due to the fact that the mop is always static and the water content difference between the axis and the edge of the mop is large. Disclosure of Invention In view of the above, the present application is directed to a cleaning apparatus control method and a cleaning apparatus, so as to solve the problems of significant heat loss of the mop material, the life of the mop, and uneven drying of the mop in the conventional related art. The first aspect of the application provides a cleaning device control method, the cleaning device comprises a sweeping robot and a base station, the sweeping robot is provided with a mop, a rotation shaft of the mop is parallel to a floor to be cleaned, the base station is provided with a cleaning tank, and a drying assembly is arranged in the cleaning tank, the method comprises the following steps: When the mop is detected to finish cleaning in the cleaning tank, controlling the cleaning equipment to circularly execute a preset drying strategy according to a preset period in a preset drying stage; The preset drying strategy comprises the steps of controlling the mop lifting of the sweeping robot in each preset period, controlling a drying assembly of a base station to dry the mop in a mode of intermittent cyclic drying, and controlling the mop of the sweeping robot to rotate at least once by a preset angle in each preset period; And in the preset drying stage, stopping executing the preset drying strategy when the mop is detected to finish drying. In one possible implementation manner, the drying component of the control base station performs drying treatment on the mop in a mode of intermittent cyclic drying, and the method comprises the step of electrifying the drying component of the control base station in a mode of preset electrifying duty ratio so as to perform drying treatment on the mop in a mode of intermittent cyclic drying. In a possible implementation manner, the preset drying stage comprises a first drying stage and a second drying stage, correspondingly, when the fact that the mop is washed in the washing tank is detected, the preset drying strategy is circularly executed according to a preset period in the preset drying stage, the method comprises the steps of controlling the cleaning device to enter the first drying stage when the fact that the mop is washed in the washing tank is detected, circularly executing the preset drying strategy according to the first preset period in the first drying stage, controlling the cleaning device to enter the second drying stage when the fact that the first drying stage is detected to be finished, and circularly executing the preset drying strategy according to the second preset period in the second drying stage, wherein the duration of the second drying stage is smaller than that of the first drying stage, and the duration of the second preset period is smaller than that of the first preset period. In one possible implementation manner, after the mop of the sweeping robot is controlled to perform at least one rotation of a preset angle, the method further comprises the steps of monitoring the rotated angle of the mop, and if the error between the rotated angle and the preset angle exceeds an error threshold, correcting and controlling the rotated angle of the mop so that the error is within the error threshold. In one possible implementation, the base of the floor sweeping robot is provided with a ground information acquisition sensor, the method further comprises the steps of acquiring soil characteristic information of ground soil through the ground information acquisition sensor, determining soil degree of the ground soil according to the soil characteristic information, and adjusting a matching relation between the rotating speed of a mop of the floor sweeping robot and the moving speed of the floor sweeping robot according