Control method of cleaning device

Abstract

The invention provides a cleaning device control method which comprises the steps that when a cleaning device runs, the advancing direction of a floor brush is determined according to a detection result of a sensor; if it is determined that the ground brush advances in the second direction from the first direction, the power-assisted wheel is driven to rotate in the preset direction, so that the power-assisted wheel generates traction force acting on the ground brush and pointing to the second direction; wherein the first direction is opposite to the second direction; the sensors comprise the first sensor and the second sensor, and if it is detected that the first sensor is triggered for a preset time first and then the second sensor is triggered, the ground brush advances in the second direction from the first direction. According to the scheme, conversion of the movement direction of the floor brush is taken as a judgment condition, when the floor brush is converted into the second movement direction from the first direction, the driving device drives the power-assisted wheel to actively assist the floor brush, when a user carries out push-pull operation on the machine body, the user can push and pull the machine body in a more labor-saving manner, and the use experience feeling of the user is improved.

Description

Technical Field

[0001] The present application relates to the technical field of household appliances, and in particular to a control method for a cleaning device. Background Art

[0002] With the development of science and technology, cleaning devices such as floor scrubbers have been widely used. Among them, the floor scrubber consists of a floor brush and a body pivotally connected to the floor brush, and the floor brush is provided with a cleaning member for wiping the floor. When using the floor scrubber to clean the floor, the user changes the movement direction of the floor brush by pushing and pulling the body. However, in reality, the floor scrubber is heavy, and the user has difficulty in pushing and pulling the body.

[0003] In the prior art, the cleaning member is assisted by changing the rotation direction, so that the user can push and pull the body more effortlessly. The specific implementation method is that when the user pushes the body forward, the cleaning member rotates forward; when the user pulls the body backward, the cleaning member rotates reversely.

[0004] However, in practice, the cleaning member needs to wipe the floor, and frequently changing the rotation direction of the cleaning member is likely to reduce the cleaning effect of the cleaning member. In more serious cases, the cleaning member is likely to be damaged, thereby reducing the user experience. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a control method for a cleaning device, which can enable a user to push and pull the body of the cleaning device with less effort.

[0006] The present application provides a control method for a cleaning device, the cleaning device comprising a body and a floor brush pivotally connected to the body, the floor brush being provided with a cleaning member for wiping a surface to be cleaned and a power-assisting wheel connected to a driving device, and the body being provided with a sensor for detecting the movement direction of the floor brush; the control method for the cleaning device comprising: when the cleaning device is in operation, determining the direction of movement of the floor brush according to the detection result of the sensor; if it is determined that the floor brush changes from moving in a first direction to moving in a second direction, driving the power-assisting wheel to rotate in a preset direction, so that the power-assisting wheel generates a traction force acting on the floor brush and pointing in the second direction; the first direction is opposite to the second direction; wherein the sensor comprises a first sensor and a second sensor, and if it is detected that the first sensor is triggered first for a preset time and then the second sensor is triggered, the floor brush changes from moving in the first direction to moving in the second direction;

[0007] In one embodiment, the control method of the cleaning device also includes: when the power-assisted wheel rotates in a preset direction, when it is detected that the first sensor is triggered, and / or when the running time of the power-assisted wheel reaches a first set threshold, controlling the driving device to stop driving the power-assisted wheel to rotate.

[0008] In one embodiment, the output value of the first sensor is detected, and / or the change value of the output value of the first sensor is greater than the second set threshold within a first set time period, and it is determined that the first sensor is triggered; the output value of the second sensor is detected, and / or the change value of the output value of the second sensor is greater than the third set threshold within a second set time period, and it is determined that the second sensor is triggered.

[0009] In one embodiment, the control method of the cleaning device also includes: when the moving state of the floor brush is moving in a first direction, the cleaning element is controlled to rotate at a first speed; when the moving state of the floor brush is changed from moving in the first direction to moving in a second direction, the cleaning element is controlled to rotate at a second speed; wherein the second speed is less than the first speed.

[0010] In one embodiment, before determining the moving direction of the floor brush according to the detection result of the sensor, the control method of the cleaning device further includes: determining whether the cleaning device is running according to the reception of the running instruction and / or the state of the body.

[0011] In one embodiment, the control method of the cleaning device also includes: when the power-assisted wheel rotates in a preset direction, detecting the operating current of the power-assisted wheel; if the operating current is greater than a preset value, determining that the power-assisted wheel is blocked, controlling the power-assisted wheel to stop rotating, and / or controlling the cleaning device to alarm abnormally.

[0012] In one embodiment, driving the power-assisting wheel to rotate in a preset direction includes: outputting a first voltage signal to the power-assisting wheel at a preset boost rate; when the voltage of the power-assisting wheel increases to a first voltage threshold, outputting a second voltage signal with a constant voltage value to the power-assisting wheel.

[0013] In one embodiment, controlling the power-assisted wheel to stop rotating includes: outputting a third voltage signal to the power-assisted wheel at a preset voltage reduction rate until the voltage of the power-assisted wheel decreases to a second voltage threshold.

[0014] In one embodiment, the cleaning device also includes a trigger circuit and a drive circuit, and the drive circuit is connected to the trigger circuit and the power-assisted wheel; outputting a first voltage signal to the power-assisted wheel at a preset boost rate includes: controlling the trigger circuit and the drive circuit to be turned on; outputting the first voltage signal to the power-assisted wheel at a preset boost rate through the drive circuit; outputting a second voltage signal with a constant voltage value to the power-assisted wheel, including: outputting a second voltage signal with a constant voltage value to the power-assisted wheel through the drive circuit.

[0015] In one embodiment, the sensor is a pressure sensor.

[0016] In this application, the change of the direction of the floor brush movement is used as the activation condition of the power-assisted wheel drive. When the user pushes or pulls the body, the power-assisted wheel is driven to rotate to assist the user, so that the user can push or pull the body more effortlessly, thereby improving the user's experience. Compared with the prior art, the power-assisted method in this application will not affect the cleaning effect and can avoid damage to the cleaning parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings required for use in the embodiments of the present application are briefly introduced below.

[0018] Figure 1 A schematic diagram of the structure of a cleaning device provided in the first embodiment of the present application;

[0019] Figure 2 A connection diagram of a control unit provided in one embodiment of the present application;

[0020] Figure 3 A schematic diagram of the structure of a control unit provided in one embodiment of the present application;

[0021] Figure 4 A schematic flow chart of a control method for a cleaning device provided in one embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of a cleaning device provided in the second embodiment of the present application;

[0023] Figure 6 A schematic diagram of hardware circuit connection provided in an embodiment of the present application;

[0024] Figure 7 A schematic diagram of a trigger circuit provided in accordance with an embodiment of the present application.

[0025] Reference numerals:

[0026] 1-control unit; 10-bus; 11-processor; 12-memory; 100-cleaning device; 110-floor brush; 111-cleaning member; 112-power-assisting wheel; 120-body; 121-handle; 130-sensor; 131-first sensor; 132-second sensor; 210-trigger circuit; 220-drive circuit; 230-current detection circuit. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0028] Similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0029] The present application provides a control method for a cleaning device 100. The cleaning device 100 refers to a cleaning device that can clean a surface to be cleaned, including a handheld cleaning device 100 such as a floor scrubber, a floor mop, and the like.

[0030] Please refer to Figure 1 , which is a schematic diagram of the structure of the cleaning device 100 provided in the first embodiment of the present application. Figure 1 As shown, the cleaning device 100 can be a handheld floor scrubber, including a body 120 and a floor brush 110 pivotally connected to the body 120. The floor brush 110 is provided with a cleaning member 111 for wiping the surface to be cleaned and a power-assisting wheel 112 for supporting the floor brush 110. The power-assisting wheel 112 is connected to the driving device and can actively assist the floor brush 110 under the drive of the driving device. The body 120 is provided with a handle 121 and a sensor 130 for detecting the movement direction of the floor brush 110. When the cleaning device 100 is running, the cleaning member 111 rotates to wipe the surface to be cleaned, and the cleaning device 100 can move forward (such as Figure 1 P1 direction) or backward (as shown in Figure 1 As one possible implementation of this embodiment, when the cleaning device 100 is running, the cleaning member 111 moves along the direction shown in FIG. Figure 1 The direction of O1 shown rotates clockwise.

[0031] Please refer to Figure 2 , which is a connection diagram of a control unit 1 provided in an embodiment of the present application. Figure 3 , which is a schematic diagram of the structure of a control unit 1 provided in an embodiment of the present application. Figure 2 As shown, the cleaning device 100 in the present application also includes a control unit 1. Figure 3 As shown, the control unit 1 includes at least one processor and a memory. Figure 3 A processor is taken as an example. The processor 11 and the memory 12 are connected via a bus 10, and the memory 12 stores instructions that can be executed by the processor 11, and the instructions are executed by the processor 11. The control unit 1 is connected to the power-assisting wheel 112, the cleaning member 111 and the sensor 130. The control unit 1 is used to control the working state of the cleaning member 111, and is also used to determine the travel direction of the floor brush 110 according to the detection result of the sensor 130, and execute the control method of the cleaning device 100 provided in the following embodiment of the present application according to the travel direction of the floor brush 110.

[0032] When the user uses the cleaning device 100 to clean the surface to be cleaned, he needs to constantly push and pull the body 120 to change the direction of the floor brush 110 to repeatedly mop the surface to be cleaned. Figure 1 As shown, Figure 1 The figure in the figure is the initial position of the body 120. When the cleaning device 100 starts to run, the user holds the handle 121 and pushes the body 120 in the direction shown by P1. During the pushing process, the floor brush 110 also moves in the direction shown by P1. When it reaches a certain position, the user pulls the body 120 in the direction shown by P2. During the process of the body 120 being pulled backward, the floor brush 110 is also driven to move in the direction shown by P2. When it reaches a certain position, the user pushes the body 120 in the direction shown by P1 again. During the pushing process, the body 120 drives the floor brush 110 to move in the direction shown by P1. This goes back and forth, repeatedly mopping the surface to be cleaned to ensure the cleaning effect of the surface to be cleaned. However, in practice, the cleaning device 100 is relatively heavy. When pushing and pulling the body 120 in the above manner, it is relatively laborious, and the user experience is poor. For this reason, the following embodiment of the present application provides a control method for a cleaning device 100 that can effectively solve the above defects. The working principle of the control method of the cleaning device 100 provided by the present application is explained in detail below.

[0033] Please refer to Figure 4 , which is a flow chart of a control method of a cleaning device 100 provided in one embodiment of the present application. Figure 4 As shown, the method includes the following steps S210 to S220.

[0034] Step S210 : when the cleaning device 100 is running, the moving direction of the floor brush 110 is determined according to the detection result of the sensor 130 .

[0035] The sensor 130 may be a pressure sensor, a grating sensor, a Hall sensor, etc.

[0036] In the present application, when the cleaning device 100 is running, the control unit 1 determines the direction of travel of the floor brush 110 according to the detection result of the sensor 130. For example, the sensor 130 can detect the speed information, acceleration information, pressure information or torque information of the handle 121 of the cleaning device 100 in real time, and then the control unit 1 acquires the information detected by the sensor 130, and determines the direction of travel of the floor brush 110 according to the above information.

[0037] Step S220: If it is determined that the floor brush 110 changes from moving in the first direction to moving in the second direction, the power-assisting wheel 112 is driven to rotate in a preset direction so that the power-assisting wheel 112 generates a traction force acting on the floor brush 110 and pointing to the second direction.

[0038] The first direction is opposite to the second direction.

[0039] ①If the first direction is Figure 1 The direction indicated by the arrow P1, the second direction Figure 1 The direction is indicated by the arrow P2; that is, in this embodiment, the user pulls the body 120 in the direction P2.

[0040] Under normal circumstances, when the cleaning device 100 is in operation, the cleaning member 111 rotates and wipes the surface to be cleaned; wherein, the cleaning member 111 can be a single roller, a double roller, a crawler type cleaning member 111 or a rotating disk. Taking the cleaning member 111 as a single roller as an example, in order to ensure that the cleaning member 111 can remove the dirt adhering to the surface to be cleaned and ensure the cleaning effect of the surface to be cleaned. The cleaning member 111 is usually arranged according to Figure 1 The brush 110 rotates clockwise as shown in O1, and a traction force F1 pointing to the direction of P1 is generated. In this case, when the user pulls the body 120 in the direction of P2, the traction force F1 and the gravity of the cleaning device 100 itself need to be overcome. In the prior art, the power-assisting wheel 112 usually does not have a driving device, but is only set as a roller that can move with the movement of the floor brush 110. Therefore, it can be seen that in the prior art, it is more laborious for the user to pull the body 120 in the direction of P2. Therefore, in this embodiment, in order to solve the above problem, a power-assisting wheel 112 with a driving device is installed on the floor brush 110. When it is detected that the floor brush 110 changes from the direction shown in P1 to the direction shown in P2, that is, when the user pulls the body 120 in the direction of P2, the power-assisting wheel 112 is controlled to rotate in the counterclockwise direction shown in Q2 to assist, so that the user can more conveniently pull the body 120 in the direction of P2. Among them, during the rotation of the power-assisting wheel 112, a traction force F1 pointing to the direction of P2 in the figure is generated.

[0041] ②If the first direction is Figure 1 The direction indicated by the arrow P2, the second direction Figure 1 The direction indicated by the arrow P1; that is, in this embodiment, the user pushes the body 120 in the direction P1.

[0042] Similar to the above solution ①, if no power assist is performed, when the user pushes the body 120 in the direction of P1, more force needs to be applied to the body 120, which is quite laborious. Therefore, in this embodiment, in order to solve the above problem, a power assist wheel 112 with a driving device is installed on the floor brush 110. When it is detected that the floor brush 110 changes from the direction indicated by P2 to the direction indicated by P1, that is, when the user pushes the body 120 in the direction of P1, the power assist wheel 112 is controlled to rotate in the clockwise direction indicated by Q1 to assist, so that the user can push the body 120 in the direction of P1 more conveniently. Among them, during the rotation of the power assist wheel 112, a traction force F2 pointing to the direction of P1 in the figure is generated.

[0043] From the above content, it can be seen that in this application, when the user pushes or pulls the body 120, the power-assisting wheel 112 is driven to rotate to assist the user, so that the user can push or pull the body 120 with less effort, thereby improving the user's experience. Compared with the prior art, the power-assisting method in this application does not affect the cleaning effect and can prevent the cleaning member 111 from being damaged.

[0044] It is worth noting that when the user pulls the body 120 in the direction of P2, the traction force R directed toward the direction of P1 generated by the rotation of the cleaning member 111 will become resistance, hindering the user from pulling the body 120, and the body 120 itself is very heavy, so it will be more difficult for the user to pull the body 120 at this time. Therefore, in this application, the above-mentioned scheme ① is executed alone as a preferred embodiment.

[0045] In one embodiment, the sensor 130 mentioned in the above embodiment includes a first sensor 131 and a second sensor 132. For example, the first sensor 131 and the second sensor 132 may both be pressure sensors. Figure 5 , which is a schematic diagram of the structure of the cleaning device 100 provided in the second embodiment of the present application. Figure 5 As shown, the first sensor 131 and the second sensor 132 can be arranged on the gripping portion of the handle 121 of the body 120. When the cleaning device 100 is working, the user holds the hand on the gripping portion, and after holding, the user changes the movement direction of the floor brush 110 by pushing or pulling the body 120. In the process of pushing or pulling the body 120, the user's hand or the sliding trigger member arranged on the gripping portion will trigger different sensors 130. Therefore, in this embodiment, the control unit 1 can determine the direction of movement of the floor brush 110 according to the triggering condition of the sensor 130. Specifically, when the user presses Figure 5 When the body 120 is pushed in the direction P1 shown in FIG, the floor brush 110 moves in the direction P1, and the first sensor 131 is triggered; Figure 5 When the body 120 is pulled in the direction P2 shown in FIG. Figure 5 Traveling in the direction P2 shown in FIG. 1 triggers the second sensor 132 to be triggered.

[0046] Since the preferred solution in the present application is to assist when determining that the floor brush 110 is moving in the P2 direction, it is necessary to accurately detect when the floor brush 110 is moving in the P2 direction. Based on the above analysis, when the second sensor 132 is triggered, it can be considered that the floor brush 110 is moving in the P2 direction. However, in practice, when the user pushes the body 120 in the P1 direction, that is, the floor brush 110 moves in the P1 direction, the second sensor 132 may be triggered by mistake while the first sensor 131 is triggered. Or, when the cleaning device 100 is not in cleaning mode, the user accidentally touches the second sensor 132. The false triggering situation causes the control unit 1 to misjudge the direction of travel of the floor brush 110, that is, when the floor brush 110 is actually moving in the P1 direction or when the floor brush 110 is in a non-working state, it is mistakenly believed that the floor brush 110 has moved in the P2 direction. When the direction of travel of the floor brush 110 is misjudged, the control unit 1 will mistakenly drive the power-assisted wheel 112 to rotate, which causes the traction force generated during the rotation of the power-assisted wheel 112 to affect the normal storage state or self-cleaning state of the cleaning device 100, or during the operation of the cleaning device 100, it will hinder the user from pushing the body 120 in the direction of P1, making it more difficult for the user to push the body 120, which is not conducive to the user's control of the cleaning device 100 and reduces the user's experience.

[0047] It can be seen that misjudgment may occur if the moving direction of the floor brush 110 is determined only based on the second sensor 132. To avoid the above situation, the moving direction of the floor brush 110 is determined in the following way in this application: if the second sensor 132 is triggered after the first sensor 131 is triggered for a preset time, it is determined that the floor brush 110 changes from moving in the direction of P1 to moving in the direction of P2.

[0048] In practice, when the user uses the cleaning device 100 to clean the surface to be cleaned, the user must first push the body 120 in the direction of P1, so that the floor brush 110 moves forward at least a certain distance and then pulls the body 120 in the direction of P2, thereby achieving reciprocating wiping of the surface to be cleaned. From the perspective of inertia, the duration of each time the user pushes the body 120 in the direction of P1 should not be less than a certain time. The preset duration in the above embodiments of the present application can be basically consistent with the user's habitual duration of pushing the body 120. In this case, when it is detected that the first sensor 131 is not triggered and the second sensor 132 is triggered, or when the first sensor 131 is triggered and the second sensor 132 is triggered before the above preset duration, the control unit 1 can be considered that a false triggering phenomenon has occurred, and no operation is performed at this time.

[0049] When it is detected that the first sensor 131 is triggered and the second sensor 132 is triggered after a preset time, the control unit 1 considers that the user starts to pull the body 120 in the direction P2, that is, the floor brush 110 moves in the direction P2, and then drives the power-assisting wheel 112 to rotate and start to assist. This method effectively eliminates the situation where the direction of the floor brush 110 is misjudged due to the false triggering of the sensor 130, fully guarantees the accuracy of the direction of the floor brush 110, and further ensures the accuracy of the power assistance, thereby improving the user experience.

[0050] In one embodiment, the user may not trigger the second sensor 132 for a long time after triggering the first sensor 131. At this time, the second sensor 132 may fail or the user's pulling force is small, resulting in the phenomenon of missing the second sensor 132. In this case, according to the solution in the preferred embodiment of the present application, the user will not assist when pulling the cleaning device 100 back, resulting in a poor user experience. In this embodiment, in order to solve the above problem, after detecting that the first sensor 131 is triggered, if the second sensor 132 is not detected to be triggered continuously, when the power-assisting wheel 112 stops running for a set time, the power-assisting wheel 112 is driven to rotate and assist. Among them, the set time can be equal to the time when the user pushes the fuselage 120 in the direction of P1. The time when the user pushes the fuselage 120 in the direction of P1 can be 0.5 to 30s. Among them, the above method is suitable for cleaning situations where the user continuously pushes and pulls the fuselage 120 to reciprocate and rub the surface to be cleaned.

[0051] In another cleaning situation, the user may continue to push the body 120 in the direction of P1, and only pull the body 120 in the direction of P2 after cleaning for a period of time or when cleaning is finished. In this cleaning situation, if the second sensor 132 is not detected to be triggered after the first sensor 131 is detected to be triggered, when the power-assisting wheel 112 stops running for a set time, the power-assisting wheel 112 is driven to rotate in the direction of O2 to assist in retreat. The set time can be 5 minutes to 20 minutes.

[0052] Through the above measures, the impact of missed triggering can be eliminated, accurate assistance can be provided, and the user experience can be improved.

[0053] In one embodiment, the above-mentioned scheme ① and scheme ② can be executed simultaneously in the present application, but when they are executed simultaneously, the rotation direction of the power-assisted wheel 112 needs to be frequently changed, which may easily cause damage to the power-assisted wheel 112. Therefore, in the preferred embodiment of the application, for the purpose of protecting the power-assisted wheel 112, when it is detected that the floor brush 110 changes from moving in the direction of P1 to moving in the direction of P2, the power-assisted wheel 112 rotates to provide assistance, and when it is detected that the user pushes the fuselage 120 in the direction of P1, the power-assisted wheel 112 is controlled to stop rotating, thereby protecting the power-assisted wheel 112. Among them, during the rotation of the power-assisted wheel 112, if it is detected that the first sensor 131 is triggered, it is determined that the floor brush 110 changes from moving in the direction of P2 to moving in the direction of P1, and at this time, the power-assisted wheel 112 is controlled to stop rotating. Alternatively, when the running time of the power-assisted wheel 112 reaches the first set threshold, the power-assisted wheel 112 is controlled to stop rotating.

[0054] In one embodiment, when the user pulls the body 120 in the direction of P2, that is, the floor brush 110 moves in the direction of P2, the first sensor 131 may be triggered by mistake while the second sensor 132 is triggered. The false triggering situation causes the control unit 1 to misjudge the moving direction of the floor brush 110, that is, when the floor brush 110 actually moves in the direction of P2, it mistakenly thinks that the floor brush 110 has moved in the direction of P1. When the moving direction of the floor brush 110 is misjudged, the control unit 1 stops the power-assisting wheel 112 from rotating in advance, affecting the power-assisting effect.

[0055] It can be seen that misjudgment may occur when determining the direction of travel of the floor brush 110 only based on the first sensor 131, because the duration of each time the user pulls the body 120 in the direction of P2 is basically the same, so in this embodiment, it can be determined whether the time when the first sensor 131 is triggered this time is separated by a preset time length from the time when the second sensor 132 is most recently triggered. Among them, the preset time length can be basically consistent with the time when the user pulls the body 120. If the judgment result indicates that the preset time length has been separated, it is determined that the floor brush 110 has traveled in the direction of P1, and the driving wheel is controlled to stop rotating. If the judgment result indicates that the preset time length has not been separated, it can be considered that a false trigger has occurred and no operation is performed. In this way, the misjudgment of the direction of travel of the floor brush 110 caused by the false triggering of the sensor 130 is eliminated, and the accuracy of the judgment of the direction of travel of the floor brush 110 is fully guaranteed, thereby ensuring the accuracy of the power assistance and improving the user's experience.

[0056] In one embodiment, the user may not trigger the first sensor 131 for a long time after triggering the second sensor 132, that is, a missed triggering phenomenon occurs. In this case, the solution in the preferred embodiment of the present application will continue to assist, causing the driving wheel to continue to move in accordance with the Figure 5In the actual situation, when the user has pushed the body 120 in the direction of P1, that is, the floor brush 110 has moved in the direction of P1, if the driving wheel has been moving in the direction of Figure 5 If the counterclockwise rotation shown by O2 in the figure is used, resistance will be generated, making it difficult for the user to push the body 120 in the direction of P1, resulting in a poor user experience. In this embodiment, in order to solve the above problem, after detecting that the second sensor 132 is triggered, if the first sensor 131 is not detected to be triggered continuously, the power-assisted wheel 112 is driven to stop rotating when the running time of the power-assisted wheel 112 reaches the first set threshold. The first set threshold can be equal to the time the user pulls the body 120 in the direction of P2. The time the user pulls the body 120 in the direction of P2 can be 0.5 to 30 seconds.

[0057] Through the above measures, the impact of missed triggering can be eliminated, accurate assistance can be provided, and the user experience can be improved.

[0058] In one embodiment, the control unit 1 may continuously detect the output value of the first sensor 131. When the output value of the first sensor 131 and / or the change value of the output value of the first sensor 131 is detected to be greater than the second set threshold value within the first set time length, it is determined that the first sensor 131 is triggered. Exemplarily, the control unit 1 may detect the output value of the first sensor 131 once every 2 to 5 ms. The first set time length may be 10 to 60 ms. The change value of the output value of the first sensor 131 refers to the difference between the output value of the first sensor 131 detected most recently and the output value of the first sensor 131 detected last.

[0059] In one embodiment, the control unit 1 may continuously detect the output value of the second sensor 132. When the output value of the second sensor 132 and / or the change value of the output value of the second sensor 132 is detected to be greater than the third set threshold value within the second set time length, it is determined that the second sensor 132 is triggered. Exemplarily, the control unit 1 may detect the output value of the second sensor 132 every 2 to 5 ms. The second set time length may be 10 to 60 ms. The change value of the output value of the second sensor 132 refers to the difference between the output value of the second sensor 130 detected most recently and the output value of the second sensor 132 detected last.

[0060] In one embodiment, the moving state of the floor brush 110 is moving in a first direction, that is, the floor brush 110 moves in a first direction. Figure 5 When the floor brush 110 moves in the direction of P1, the control unit 1 can control the cleaning member 111 to rotate at the first speed. When the floor brush 110 changes from moving in the first direction to moving in the second direction, that is, the floor brush 110 changes from moving in the direction indicated by P1 to moving in the direction indicated by P2, the control unit 1 controls the cleaning member 111 to rotate at the second speed; wherein the second speed is less than the first speed.

[0061] In this embodiment, when the floor brush 110 moves in the direction P1, that is, when the user pushes the body 120 in the direction P1, the cleaning member 111 is controlled to rotate at a higher speed. Figure 1 In the clockwise direction shown by O1, when the cleaning element 111 rotates at a higher speed, a greater traction force R pointing to the direction of P1 will be generated. At this time, an assist can be provided, so that the user can push the body 120 in the direction of P1 with less effort. At the same time, when the cleaning element 111 rotates at a higher speed, a better cleaning effect can be achieved. When the floor brush 110 moves in the direction of P2, that is, when the user pulls the body 120 in the direction of P2, the cleaning element 111 is controlled to rotate at a lower speed. Because the cleaning element 111 is usually rotated in the direction of Figure 1 If the rotation direction is clockwise as shown by O1, when the rotation speed is low, the traction force R pointing to the direction of P1 is also smaller. When the user pulls the body 120 in the direction of P2, the resistance to be overcome is also small. When the rotation speed of the power-assisted wheel 112 is constant, the user only needs to apply a very small pulling force to pull the body 120, which can also save effort and improve the user experience.

[0062] In one embodiment, the control unit 1 can drive the power-assisting wheel 112 to rotate in a preset direction in the following manner: output a first voltage signal to the power-assisting wheel 112 at a preset boost rate. When the voltage of the power-assisting wheel 112 rises to the first voltage threshold, output a second voltage signal with a constant voltage value to the power-assisting wheel 112. Wherein, when the voltage signal is output to the power-assisting wheel 112 at a preset boost rate, the power-assisting wheel 112 will gradually increase from the initial voltage to the first voltage threshold according to the above preset boost rate; there will be a boost time period L during the voltage rise process. If the difference between the first voltage threshold and the initial voltage is H, then the preset boost rate at this time may be H / L. Exemplarily, the boost time period L may be 20ms, the initial voltage may be 8V, and the first voltage threshold may be 12V.

[0063] In this embodiment, the purpose of outputting the first voltage signal to the power-assisted wheel 112 at a preset boost rate is to drive the power-assisted wheel 112 to start rotating by soft starting, thereby effectively avoiding the feeling of jamming when the power-assisted wheel 112 is turned on, and allowing the power-assisted wheel 112 to run smoothly.

[0064] In one embodiment, the control unit 1 can control the power-assisted wheel 112 to stop rotating in the following manner: output a third voltage signal to the power-assisted wheel 112 at a preset voltage reduction rate until the voltage of the power-assisted wheel 112 is reduced to a second voltage threshold. When the voltage of the power-assisted wheel 112 is reduced to the second voltage threshold, the power-assisted wheel 112 stops rotating, and when a voltage signal is output to the power-assisted wheel 112 at a preset voltage reduction rate, the power-assisted wheel 112 will gradually reduce from the first voltage threshold to the second voltage threshold according to the above preset voltage reduction rate; there will be a voltage reduction time period U during the voltage reduction process. The difference between the second voltage threshold and the first voltage threshold is B, then the preset boost rate can be B / U. Exemplarily, the boost time period L can be 30ms, the first voltage threshold can be 12V, and the second voltage threshold can be 0V.

[0065] In this embodiment, the purpose of outputting the third voltage signal to the power-assisted wheel 112 at a preset voltage reduction rate is to control the power-assisted wheel 112 to stop rotating by a soft stop method, thereby effectively avoiding a stuck feeling when the power-assisted wheel 112 stops.

[0066] In one embodiment, the method in the present application also includes: when the power-assisting wheel 112 rotates in a preset direction, detecting the operating current of the power-assisting wheel 112; if the operating current is greater than a preset value, determining that the power-assisting wheel 112 is blocked, controlling the power-assisting wheel 112 to stop rotating, and / or controlling the cleaning device 100 to alarm abnormally.

[0067] In this embodiment, when the power-assisted wheel 112 rotates in a preset direction, if it is detected that the operating current of the power-assisted wheel 112 is too large, it means that a foreign object has entered the power-assisted wheel 112 during the rotation of the power-assisted wheel 112, and the power-assisted wheel 112 is in an abnormal stalled operation state. When in a stalled operation state for a long time, the operating current of the power-assisted wheel 112 will always be very large, and electrical hazards are likely to occur over time, causing damage to the cleaning device 100. Therefore, the present application controls the power-assisted wheel 112 to stop rotating when it is found that the power-assisted wheel 112 is in a stalled operation state; and / or controls the cleaning device 100 to issue an abnormal alarm when it is found that the power-assisted wheel 112 is in a stalled operation state; the above-mentioned method allows the power-assisted wheel 112 to end its stalled operation, thereby avoiding electrical hazards to the cleaning device 100.

[0068] Please refer to Figure 6 , which is a schematic diagram of the hardware circuit connection provided by an embodiment of the present application. Please refer to Figure 7 , is a connection diagram of the trigger circuit 210 provided in an embodiment of the present application. Figure 6 As shown, the cleaning device 100 in the present application further includes a trigger circuit 210, a drive circuit 220 and a current detection circuit 230. The trigger circuit 210 is connected to the drive circuit 220 and the control unit 1. Specifically, the trigger circuit 210 is connected to the drive circuit 220 in the following manner: Figure 6 The P_1 port of the driving circuit 220 is connected to Figure 7 The P_1 port of the trigger circuit 210 is connected, Figure 6 The REV_M+ port of the driving circuit 220 is connected to Figure 7 The driving circuit 220 is connected to the control unit 1 and the power-assisted wheel 112, the current detection circuit 230 is indirectly connected to the power-assisted wheel 112 through the driving circuit 220, and the voltage detection circuit is also connected to the control unit 1.

[0069] In practice, when driving the power-assisting wheel 112 to rotate, the control unit 1 first outputs a first level signal to the trigger circuit 210, so that Q19 and Q20 in the trigger circuit 210 are turned on. After the voltage is turned on, the trigger circuit 210 outputs a voltage to the drive circuit 220. After the voltage is successfully output, the control unit 1 outputs a first voltage signal to the power-assisting wheel 112 at a preset boost rate through the drive circuit 220. When the above voltage signal is output, the switch Q17 is closed, and the drive circuit 220 is turned on. With the output of the first voltage signal, the voltage of the power-assisting wheel 112 gradually increases. When it increases to the first voltage threshold, the control unit 1 outputs a second voltage signal with a constant voltage value through the drive circuit 220. The power-assisting wheel 112 continues to rotate during the output of the first voltage signal and the second voltage signal. During the rotation of the power-assisting wheel 112, the current detection circuit 230 feeds back the operating current of the power-assisting wheel 112 to the control unit 1 in real time. When the control unit 1 detects that the operating current is greater than the preset value, it is determined that the power-assisting wheel 112 is blocked, and the power-assisting wheel 112 is controlled to stop rotating, and / or the cleaning device 100 is controlled to alarm abnormally.

[0070] When the power-assisting wheel 112 is driven to stop rotating, the control unit 1 first outputs a second level signal to the trigger circuit 210, disconnecting Q19 and Q20 in the trigger circuit 210, so that the trigger circuit 210 stops outputting voltage to the drive circuit 220. Then, the control unit 1 outputs a third voltage signal to the power-assisting wheel 112 at a preset voltage reduction rate through the drive circuit 220 until the voltage of the power-assisting wheel 112 drops to the second voltage threshold. When the voltage of the power-assisting wheel 112 drops to the second voltage threshold, the control unit 1 stops outputting the second level signal, the switch Q17 is disconnected, the drive circuit 220 is disconnected, and the power-assisting wheel 112 stops rotating.

[0071] In one embodiment, before executing the above step S210 , the control unit 1 further executes the following steps: determining whether the cleaning device 100 is running according to the reception of the running instruction and / or the state of the body 120 .

[0072] In this embodiment, a detection sensor 130 for detecting the state of the body 120 may be provided in the body 120. When the control unit 1 determines that the body 120 is in a tilted state according to the detection result of the detection sensor 130, and / or the control unit 1 receives an operation instruction, it can be considered that the cleaning device 100 starts to run, and the control method of the cleaning device 100 provided in the above embodiment of the present application can be executed at this time. When the control unit 1 determines that the body 120 is in an upright state according to the detection result of the detection sensor 130 and does not receive an operation instruction, it is considered that the cleaning device 100 has not started to run, and no operation is performed at this time. Among them, a hardware or software trigger button may be provided on the body 120. When the user presses the above trigger button, the control unit 1 receives the operation instruction.

[0073] In several embodiments provided in the present application, the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and a part of a module, a program segment or a code contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0074] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0075] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes. The aforementioned memory 12 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, disk or optical disk.

Claims

1. A control method for a cleaning device, the cleaning device comprising a body and a floor brush pivotally connected to the body, the floor brush being provided with a cleaning member for wiping a surface to be cleaned and a power-assisting wheel connected to a driving device, the body being provided with a sensor for detecting a movement direction of the floor brush, characterized in that: The control method of the cleaning device comprises: When the cleaning device is in operation, the moving direction of the floor brush is determined according to the detection result of the sensor; When it is detected that the floor brush changes from moving in the first direction to moving in the second direction, the power-assisting wheel is driven to rotate in a preset direction, so that the power-assisting wheel generates a traction force acting on the floor brush and pointing to the second direction; the first direction is opposite to the second direction; The sensor includes a first sensor and a second sensor. If it is detected that the first sensor is triggered for a preset time and then the second sensor is triggered, the floor brush changes from moving in the first direction to moving in the second direction.

2. The control method of the cleaning device according to claim 1, characterized in that: The control method of the cleaning device also includes: When the power-assisted wheel rotates in a preset direction, when it is detected that the first sensor is triggered, and / or when the running time of the power-assisted wheel reaches a first set threshold, the driving device is controlled to stop driving the power-assisted wheel to rotate.

3. The control method of the cleaning device according to claim 1, characterized in that: An output value of the first sensor is detected, and / or a change value of the output value of the first sensor is greater than a second set threshold value within a first set time period, and the first sensor is determined to be triggered; The output value of the second sensor is detected, and / or the change value of the output value of the second sensor is greater than a third set threshold within a second set time period, and it is determined that the second sensor is triggered.

4. The control method of the cleaning device according to claim 1, characterized in that: The control method of the cleaning device also includes: The moving state of the floor brush is moving in the first direction, and the cleaning element is controlled to rotate at a first speed; The moving state of the floor brush changes from moving in the first direction to moving in the second direction, and the cleaning element is controlled to rotate at a second rotational speed; wherein the second rotational speed is less than the first rotational speed.

5. The control method of the cleaning device according to claim 1, characterized in that: Before determining the moving direction of the floor brush according to the detection result of the sensor, the control method of the cleaning device further includes: Whether the cleaning device is operating is determined based on the reception of the operating instruction and / or the state of the body.

6. The control method of the cleaning device according to claim 1, characterized in that: The control method of the cleaning device also includes: When the power-assisted wheel rotates in a preset direction, detecting the operating current of the power-assisted wheel; If the operating current is greater than a preset value, it is determined that the power-assisted wheel is blocked, and the power-assisted wheel is controlled to stop rotating, and / or the cleaning device is controlled to generate an abnormal alarm.

7. The control method of the cleaning device according to any one of claims 1 to 6, characterized in that: The driving of the booster wheel to rotate in a preset direction comprises: Outputting a first voltage signal to the power-assisted wheel at a preset boost rate; When the voltage of the power-assisted wheel rises to a first voltage threshold, a second voltage signal with a constant voltage value is output to the power-assisted wheel.

8. The control method of the cleaning device according to claim 2, characterized in that: The controlling the booster wheel to stop rotating comprises: A third voltage signal is output to the power-assisted wheel at a preset voltage reduction rate until the voltage of the power-assisted wheel is reduced to a second voltage threshold.

9. The control method of the cleaning device according to claim 7, characterized in that: The cleaning device further comprises a trigger circuit and a drive circuit, wherein the drive circuit is connected to the trigger circuit and the power-assisted wheel; The step of outputting a first voltage signal to the power-assisted wheel at a preset boost rate comprises: Controlling the trigger circuit and the drive circuit to be turned on; Outputting the first voltage signal to the power-assisted wheel at a preset boost rate through the driving circuit; Outputting a second voltage signal with a constant voltage value to the power-assisted wheel comprises: The driving circuit outputs the second voltage signal with a constant voltage value to the power-assisted wheel.

10. The control method of the cleaning device according to claim 1, characterized in that: The sensor is a pressure sensor.

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