Self-adaptive power assisting method and floor washing equipment

Abstract

The invention provides a self-adaptive power assisting method and ground washing equipment, and the method comprises the steps: determining the acting direction of an acting force if the acting force acting on the ground washing equipment is detected; and adjusting the power assisting direction of the floor washing equipment according to the action direction so as to enable the power assisting direction to be consistent with the action direction. The power assisting direction of the floor washing equipment can be adjusted according to the acting direction of the acting force, a user can conveniently use the floor washing equipment, and convenience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of floor scrubbing equipment, and in particular to an adaptive power-assisting method and floor scrubbing equipment. Background Art

[0002] A floor scrubber, also known as a sweeper or floor washing equipment, is a device for cleaning the floor. A floor scrubber can complete operations such as vacuuming and washing the floor to clean the floor and save time. Currently, commonly used floor scrubbers usually use a cloth roller motor to achieve forward assist, that is, when the user pushes forward, the floor scrubber can provide forward assist, making it easier for the user to clean forward. However, as the weight of floor scrubbers increases, floor scrubbers that only provide forward assist can no longer meet users' needs for convenience. Summary of the invention

[0003] The present invention provides an adaptive power-assisting method and a floor-cleaning device, aiming to solve the problem of low convenience caused by the current floor-cleaning device being able to only provide forward power-assisting.

[0004] In a first aspect, the present invention provides an adaptive power assistance method, the method comprising:

[0005] If a force acting on the floor scrubbing device is detected, confirming the direction of the force;

[0006] The assisting direction of the floor scrubbing device is adjusted according to the action direction so that the assisting direction is consistent with the action direction.

[0007] In a second aspect, the present invention provides a floor washing device, which includes a main body and a power-assisting device; a sensing device is provided on the main body, and the sensing device is used to detect the direction of the force applied to the main body; the power-assisting device is provided under the main body and connected to the main body, and can drive the main body to move according to the direction of action.

[0008] The present invention discloses an adaptive power-assisting method and a floor-cleaning device, wherein the adaptive power-assisting method comprises: if a force acting on the floor-cleaning device is detected, confirming the direction of action of the force; and adjusting the power-assisting direction of the floor-cleaning device according to the direction of action so that the power-assisting direction is consistent with the direction of action. The embodiment of the present invention can confirm the direction of action of the force when detecting the force acting on the floor-cleaning device, the force is applied to the floor-cleaning device by the user, and then adjust the power-assisting direction of the floor-cleaning device according to the direction of action so that the power-assisting direction is consistent with the direction of action, so as to provide power assistance to the user and improve the convenience of the user when cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0010] Figure 1 is a flow chart of an adaptive power assist method provided by an embodiment of the present invention;

[0011] Figure 2 is a first sub-flow chart of an adaptive power-assisting method provided by an embodiment of the present invention;

[0012] Figure 3 is a second sub-flowchart of the adaptive power assistance method provided by an embodiment of the present invention;

[0013] Figure 4 is a third sub-flow chart of the adaptive power assist method provided by an embodiment of the present invention;

[0014] Figure 5 is a fourth sub-flowchart of the adaptive power assist method provided by an embodiment of the present invention;

[0015] Figure 6 is an overall structural diagram of a floor scrubbing device provided by an embodiment of the present invention;

[0016] Figure 7 is a partial structural diagram of a floor scrubbing device provided by an embodiment of the present invention;

[0017] Description of the drawings: 100, floor scrubbing equipment; 10, main body; 20, sensing device; 21, first elastic member; 22, second elastic member; 23, pressure sensor; 30, power assist device. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, operations, elements, components and / or groups thereof.

[0020] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, the singular forms of "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It should also be further understood that the term "and / or" used in the specification of the present invention and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0021] In addition, the directional terms mentioned in the present invention, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "side", etc., are only for reference to the directions of the attached drawings and the use status of the product. Therefore, the directional terms used are used to illustrate and understand the present invention, but not to limit the present invention. In addition, in the drawings, structures with similar or identical structures are represented by the same reference numerals.

[0022] See also Figure 1 The present invention provides an adaptive power-assisting method, which can be applied to a floor scrubber to change the power-assisting direction so that the power-assisting direction is consistent with the action direction. The adaptive power-assisting method includes S110-S120.

[0023] S110: If a force acting on the floor scrubbing device is detected, a direction of the force is determined.

[0024] In the embodiment of the present invention, when the force acting on the floor scrubber is detected, the direction of the force is confirmed. The force is the force applied by the user to the floor scrubber, for example, when the user pushes the floor scrubber forward, the direction of the force is forward, and when the user pulls the floor scrubber backward, the direction of the force is backward.

[0025] like Figure 6 As shown, Figure 6 The present invention provides a structural diagram of a floor washing device, which includes a main body, a sensing device, a power-assisting device and a power-assisting rod. The power-assisting rod is connected to the sensing device. When a user needs to use the floor washing device, the power-assisting rod can be used to push the floor washing device forward or pull the floor washing device backward, and the sensing device can detect the direction of the force applied by the user to the power-assisting rod, thereby facilitating confirmation of the power-assisting direction.

[0026] See also Figure 2 In some embodiments, such as in the present embodiment, the step S110 may include steps S111-S113.

[0027] S111, confirming the type of the force;

[0028] S112, if the type of the acting force is a forward thrust, confirming that the acting direction is a first direction;

[0029] S113: If the type of the acting force is a backward pulling force, confirm that the acting direction is a second direction.

[0030] In the embodiment of the present invention, the type of the force may include a forward thrust and a backward pull. When the user pushes the floor scrubber forward, the type of the force is a forward thrust, and when the user pulls the floor scrubber backward, the type of the force is a backward pull. Accordingly, when the force is a forward thrust, the direction of action is a first direction, and when the force is a backward pull, the direction of action is a second direction. It can be understood that the first direction and the second direction are opposite directions to each other.

[0031] For example, in actual use, when the user pushes the floor scrubber forward, the force is a forward thrust and the action direction is a first direction, and when the user pulls the floor scrubber backward, the force is a backward pulling force and the action direction is a second direction. During a floor scrubbing process, the user will constantly switch between pushing the floor scrubber forward and pulling the floor scrubber backward, and the action direction will also switch between the first direction and the second direction.

[0032] S120: Adjust the power-assisting direction of the floor scrubbing device according to the action direction so that the power-assisting direction is consistent with the action direction.

[0033] In an embodiment of the present invention, after the action direction is confirmed, the assisting direction of the floor scrubbing equipment can be confirmed according to the action direction, that is, the assisting direction is consistent with the action direction. When the action direction is forward, the assisting direction is forward assisting, and when the action direction is backward, the assisting direction is backward assisting.

[0034] In actual use, when the user pushes the floor washing equipment forward and the action direction is forward action, the power assist direction is forward power assist, and the floor washing equipment provides forward driving force; when the user pulls the floor washing equipment backward and the action direction is backward action, the power assist direction is backward power assist, and the floor washing equipment provides backward driving force. The user constantly switches between pushing the floor washing equipment forward and pulling the floor washing equipment backward, and the action direction also switches between forward action and backward action. Correspondingly, the power assist direction will also switch between forward power assist and backward power assist, thereby reducing the resistance of the user when washing the floor and improving the convenience of the user when washing the floor.

[0035] See also Figure 3 In some embodiments, such as in the present embodiment, the step S120 may include steps S121-S123.

[0036] S121, confirming whether the action direction is the first direction or the second direction;

[0037] S122, if the action direction is the first direction, confirming that the power-assisting direction is forward power-assisting, and controlling the floor scrubbing device to provide forward driving force;

[0038] S123: If the action direction is the second direction, confirm that the power-assisting direction is backward power-assisting, and control the floor scrubbing device to provide backward driving force.

[0039] In an embodiment of the present invention, the action direction may include a first direction and a second direction. When the action direction is the first direction, the assisting direction is forward assisting, and when the action direction is the second direction, the assisting direction is backward assisting. Accordingly, when the assisting direction is forward assisting, the floor washing device is controlled to provide forward driving force to assist the user to push the floor washing device forward. When the assisting direction is backward assisting, the floor washing device is controlled to provide backward driving force to assist the user to pull the floor washing device backward.

[0040] See also Figure 4 In some embodiments, such as in the present embodiment, the adaptive power assist method may include steps S130-S140.

[0041] S130, confirming the power assisting speed of the floor scrubbing device according to the acting force;

[0042] S140: Adjust the moving speed of the floor scrubbing device according to the power assisting speed.

[0043] In an embodiment of the present invention, the specific magnitude of the force applied by the user to the floor washing device can be calculated, and then the assisting speed of the floor washing device can be confirmed based on the specific magnitude of the force. The assisting speed is the moving speed of the floor washing device, so that the current moving speed of the floor washing device can be adjusted to be consistent with the assisting speed.

[0044] See also Figure 5 In some embodiments, such as in the present embodiment, the step S130 may include steps S131-S132.

[0045] S131, calculating the force to obtain a first value;

[0046] S132: Substitute the first value into a first preset formula to obtain the assist speed.

[0047] In the embodiment of the present invention, the method of calculating the force is different according to the different sensing devices for detecting the force. For example, if the force is detected by a pressure sensor, the magnitude of the force can be confirmed by calculating the deformation amount, that is, the specific magnitude of the force can be calculated by formula (1):

[0048] F=kx (1)

[0049] Wherein, F is the magnitude of the force, k is the elastic coefficient, and x is the deformation of the elastic member. After obtaining the specific magnitude of the force, that is, after obtaining the first value, the first value can be substituted into the first preset formula to calculate the assisting speed. The first preset formula is as follows:

[0050] V=aF (2)

[0051] Among them, V is the power-assisting speed, a is a preset parameter, which can be an empirical value obtained by experiment, and a>1, and F is a second value. Through the second preset formula, the power-assisting speed can be adjusted in real time according to the magnitude of the force to match the user's force, and the specific method of adjusting the speed of the floor scrubber can be to adjust the PWM control duty cycle of the driving MOS tube of the floor scrubber, and adjust the speed by adjusting different duty cycles 0-100%. For example, the adjustable gear is 10 gears, then the first gear corresponds to a duty cycle of 10%, the second gear corresponds to a duty cycle of 20%, the third gear corresponds to a duty cycle of 30%, and so on, the tenth gear corresponds to a duty cycle of 100%.

[0052] See also Figure 6 and Figure 7 The present invention also provides a floor scrubbing device 100, which includes a main body 10 and a power-assisting device 30; a sensing device 20 is provided on the main body 10, and the sensing device 20 is used to detect the direction of the force applied to the main body 10; the power-assisting device 30 is provided under the main body 10 and connected to the main body 10, and can drive the main body 10 to move according to the direction of action.

[0053] Specifically, the floor scrubber 100 may include a main body 10 and a power-assisting device 30. The main body 10 is provided with a sensing device 20, which is connected to a power-assisting rod and is used to detect the magnitude and direction of the force applied by the user to the power-assisting rod. The power-assisting device 30 is provided below the floor scrubber 100 and is connected to the floor scrubber 100, and can drive the floor scrubber 100 to move forward or backward. It is understandable that the floor scrubber 100 may also include other cleaning devices commonly used in the art, and the specific structure thereof is not limited here.

[0054] The sensing device 20 is mainly used to detect the magnitude and direction of the force, and may include a pressure sensor 23 or a distance sensor. For example, the sensing device 20 may include a pressure sensor 23, and the direction of the force may be confirmed by the direction of the pressure, and the magnitude of the force may be confirmed by the magnitude of the pressure. Alternatively, the sensing device 20 may include a distance sensor, and the magnitude of the force may be confirmed by the length of the distance, and the direction of the force may be confirmed by the direction of the distance change. In addition, the magnitude and direction of the force may also be confirmed by a sliding rheostat. For example, sliding rheostats may be provided at the front and rear, and the direction of the force may be confirmed by whether the resistance value of any one of the sliding rheostats changes, and the magnitude of the force may be confirmed by the specific magnitude of the resistance value.

[0055] As a further embodiment, the sensing device 20 includes a first elastic member 21, a second elastic member 22 and a pressure sensor 23; one end of the first elastic member 21 is connected to the main body 10, and the other end of the first elastic member 21 is connected to the front end of the pressure sensor 23; one end of the second elastic member 22 is connected to the main body 10, and the other end of the second elastic member 22 is connected to the rear end of the pressure sensor 23.

[0056] Among them, the sensing device 20 may include a first elastic member 21, a second elastic member 22 and a pressure sensor 23. The first elastic member 21 is arranged on the front side of the main body 10, the front end of the first elastic member 21 is connected to the main body 10, and the rear end of the first elastic member 21 is connected to the pressure sensor 23. The second elastic member 22 can be arranged on the rear side of the main body 10, the front end of the second elastic member 22 is connected to the main body 10, and the rear end of the second elastic member 22 is connected to the pressure sensor 23, and the pressure sensor 23 is connected to the power assist rod.

[0057] When the user pushes the floor scrubbing device 100 forward, the pressure sensor 23 moves forward to squeeze the first elastic member 21, causing the first elastic member 21 to deform, thereby confirming that the action direction is forward action and the assisting direction is forward assisting. Then, the magnitude of the action force can be confirmed based on the deformation of the first elastic member 21, and then the assisting speed can be confirmed. When the user pulls the floor scrubbing device 100 backward, the pressure sensor 23 moves backward to squeeze the second elastic member 22, causing the second elastic member 22 to deform, thereby confirming that the action direction is backward action and the assisting direction is backward assisting. Then, the magnitude of the action force can be confirmed based on the deformation of the second elastic member 22, and then the assisting speed can be confirmed.

[0058] The adaptive power-assisting method and floor-cleaning equipment disclosed in the present invention, when detecting the force acting on the floor-cleaning equipment, confirm the direction of the force, which is applied to the floor-cleaning equipment by the user, and then adjust the power-assisting direction of the floor-cleaning equipment according to the direction of action, so that the power-assisting direction is consistent with the direction of action, thereby facilitating providing power assistance to the user and improving the convenience of the user when cleaning.

[0059] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An adaptive power assist method, characterized in that: Applied to floor scrubbing equipment, the method comprises: If a force acting on the floor scrubbing device is detected, confirming the direction of the force; The assisting direction of the floor scrubbing device is adjusted according to the action direction so that the assisting direction is consistent with the action direction.

2. The method according to claim 1, characterized in that The step of confirming the direction of action of the action force comprises: Identifying the type of force being applied; If the type of the acting force is a forward thrust, then the acting direction is confirmed to be a first direction.

3. The method according to claim 2, characterized in that The step of confirming the direction of action of the action force comprises: If the type of the acting force is a backward pulling force, it is confirmed that the acting direction is the second direction.

4. The method according to claim 3, characterized in that The step of adjusting the power assist direction of the floor scrubbing device according to the action direction comprises: confirming whether the action direction is the first direction or the second direction; If the action direction is the first direction, it is confirmed that the power-assisting direction is forward power-assisting, and the floor scrubbing device is controlled to provide forward driving force.

5. The method according to claim 4, characterized in that The step of adjusting the power assist direction of the floor scrubbing device according to the action direction comprises: If the action direction is the second direction, it is confirmed that the power-assisting direction is backward power-assisting, and the floor scrubbing device is controlled to provide backward driving force.

6. The method according to claim 1, characterized in that The method further comprises: determining the power assist speed of the floor scrubbing device according to the force; The moving speed of the floor scrubbing device is adjusted according to the power assisting speed.

7. The method according to claim 6, characterized in that The step of determining the assisting speed of the floor scrubbing device according to the acting force comprises: calculating the force to obtain a first value; Substitute the first value into a first preset formula to obtain the power-assisting speed.

8. The method according to claim 7, characterized in that The first preset formula is: V=aF Among them, V is the assist speed, a is the preset parameter, and F is the first value.

9. A floor scrubbing device, characterized in that: include: A main body, wherein a sensing device is provided on the main body, and the sensing device is used to detect the direction of the force applied to the main body; The power assist device is arranged below the main body and connected to the main body, and can drive the main body to move according to the action direction.

10. The floor scrubbing device according to claim 9, characterized in that: The sensing device includes a first elastic member, a second elastic member and a pressure sensor; One end of the first elastic member is connected to the main body, and the other end of the first elastic member is connected to the front end of the pressure sensor; One end of the second elastic member is connected to the main body, and the other end of the second elastic member is connected to the rear end of the pressure sensor.

Images