Power assisting method of cleaning equipment

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a power assisting method of cleaning equipment. The power assisting method comprises the steps that control information of the cleaning equipment is obtained, and the control information comprises information of pressure applied to the two sides of a holding rod by a user when the holding rod is held by the user; determining an action of the cleaning equipment based on the control information, wherein the action of the cleaning equipment comprises a turning action; the power assisting device is controlled to work, first assisting power is provided for the user to control the cleaning equipment to act, and the first assisting power is configured to drive the cleaning equipment to turn in the target turning direction. By means of the mode, a user can control the cleaning equipment to make a turn more easily in a more labor-saving mode.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a power assist method for cleaning equipment. Background Art

[0002] Cleaning equipment has gradually become an indispensable product for household cleaning, such as floor scrubbers, which are mainly used to clean and wash household floor surfaces. Floor scrubbers usually have water spraying and water absorption functions. Floor scrubbers can automatically spray water and scrub the floor, and then suck the sewage and residual dirt into the sewage tank of the machine. Floor scrubbers are easy to use and can provide a thorough cleaning effect. However, in the face of many scenarios, the current floor scrubber assistance is not smart enough. For this reason, providing a smarter assistance method has become a problem that must be solved in the current market. Summary of the invention

[0003] The present application provides a power assist method for a cleaning device, which enables a user to control the cleaning device to perform various cleaning actions more easily and labor-savingly.

[0004] The present application provides a power-assisting method for a cleaning device, wherein the cleaning device comprises a grip and a body connected to the grip, wherein the grip is used for a user to hold the grip, and the cleaning device further comprises a power-assisting device, wherein the power-assisting method comprises: the cleaning device is further configured with a resistance mode, and wherein the power-assisting method comprises:

[0005] Obtaining the resistance experienced by the cleaning device in the resistance mode;

[0006] When the resistance is greater than or equal to a first resistance threshold and less than or equal to a second resistance threshold, the power assisting device is controlled to provide a second power assisting device for the cleaning device to cross an obstacle; wherein the first resistance threshold is less than the second resistance threshold.

[0007] In the daily use of cleaning equipment, for example, when using a floor scrubber for cleaning, it often provides an almost fixed force for the user to push forward or pull back to assist the movement of the cleaning equipment. However, this method is too rigid. Imagine that granular garbage is often encountered during cleaning. At this time, the above garbage will increase the resistance of the floor scrubber to move forward.

[0008] If you need to continue cleaning, the user needs to increase the thrust himself to complete the cleaning, which results in a poor user experience.

[0009] This patent provides a method that can provide assistance according to the resistance environment. Specifically, a resistance mode is set in the current cleaning device, which can provide corresponding assistance methods according to the resistance size, including obtaining the resistance currently encountered by the cleaning device and comparing it with a preset first resistance threshold and a second resistance threshold. When the resistance is greater than the first resistance threshold and less than or equal to the second resistance threshold, the cleaning device provides an assistance to overcome the obstacle.

[0010] The first resistance threshold may be the normal resistance range encountered by the cleaning device during normal cleaning. When the resistance encountered is greater than the first resistance threshold, it proves that the cleaning device has encountered unusual resistance, that is, it is judged that an obstacle has appeared in its direction of movement. The second resistance threshold may be the limit value of resistance that the cleaning device can encounter. In other words, when the second resistance threshold is exceeded, the cleaning device may be damaged if it continues to move.

[0011] When the resistance is less than or equal to the second resistance threshold and greater than the first resistance threshold, it indicates that the cleaning device will not be damaged. In this case, the cleaning device can provide an assisting force to enable it to pass over the obstacle. For a floor scrubber, an assisting force can be provided to enable the roller brush to pass over the obstacle, thereby moving the obstacle to the suction port of the floor brush and being sucked away by the floor scrubber.

[0012] In an embodiment of the present application, the cleaning device is configured to have a lying-flat state. In the lying-flat state, if the resistance is greater than the second resistance threshold, the cleaning device is controlled to stop moving.

[0013] In the lying flat scenario, users often use floor scrubbers to clean under the bed. When cleaning under the bed, it is difficult for users to see the dirt under the bed. The floor scrubber is more likely to encounter obstacles during the assisting process. At this time, resistance judgment is more necessary, otherwise the floor scrubber is easily damaged during the assisting process.

[0014] When the resistance is greater than the second resistance threshold, the power assist method includes controlling the floor scrubber to stop moving. The method of controlling the floor scrubber to stop moving can be to directly control the roller brush to stop rotating, the power assist wheel to also stop rotating, and control the body to make voice broadcasts so that the user knows the current obstacle situation.

[0015] Alternatively, the power-assisting wheel outputs a power assist in the opposite direction of the movement of the cleaning device, thereby controlling the floor scrubber to have a power assist that offsets the movement trend in the movement direction, thereby controlling the floor scrubber to stop.

[0016] In one embodiment of the present application, the cleaning device is further provided with a roller brush, and the power-assisting device includes a power-assisting wheel; the step of obtaining the resistance information of the cleaning device in the resistance mode includes:

[0017] The torque driving the roller brush and / or the torque driving the power-assisted wheel is detected to determine the resistance encountered by the cleaning device.

[0018] In one embodiment of the present application, the cleaning device is further provided with a roller brush, and the power-assisting device includes a power-assisting wheel; the step of obtaining the resistance information of the cleaning device in the resistance mode includes:

[0019] The current driving the roller brush and / or the current driving the power-assisting wheel are detected to determine the resistance encountered by the cleaning device.

[0020] In one embodiment of the present application, if the resistance is greater than the second resistance threshold, the power assist device is controlled to provide a third power assist, and the third power assist is configured to enable the cleaning device to have a tendency to move away from obstacles.

[0021] When it is determined that there is an obstacle in the direction of movement of the cleaning device and the resistance provided by this obstacle is greater than the second resistance threshold, it means that the cleaning device may be damaged if it continues to move. For this reason, the cleaning device provides a third assisting force to offset the kinetic force in the direction of movement of the cleaning device, thereby forming a counteracting force and preventing damage to the cleaning device.

[0022] In one embodiment of the present application, the assisting method further includes obtaining control information of the cleaning device; and controlling the assisting device to output a first assisting force based on the control information, so that the cleaning device performs a turning action based on the first assisting force, and the turning action is configured to turn along a target turning direction.

[0023] The above-mentioned assisting method also includes an assisting method for turning. In the above-mentioned assisting mode, this scheme can obtain control information of the cleaning device. The control information may include movement information of the body, or pressure information applied by the user to the handle, etc., and control the cleaning device to perform turning actions based on the above information.

[0024] In one embodiment of the present application, the cleaning device includes a floor brush, and the floor brush is provided with a power-assisted wheel, and the power-assisted wheel is configured as two and respectively provided on both sides of the floor brush, and the turning action includes controlling the power-assisted wheel on one side not to rotate, and the power-assisted wheel on the other side to rotate toward the front side of the floor brush; or controlling the power-assisted wheel on one side not to rotate, and the power-assisted wheel on the other side to rotate toward the rear side of the floor brush; or controlling the power-assisted wheel on one side to rotate, and the power-assisted wheel on the other side rotates at a speed higher than the power-assisted wheel on the opposite side.

[0025] When turning, you can control the power-assisted wheel on one side to rotate and the other side to rotate toward the front of the floor brush, so that you can turn left or right while the floor scrubber is moving forward, or you can control the power-assisted wheel on the other side to rotate toward the back of the floor brush, so that you can turn left or right while moving backward.

[0026] Of course, the power-assisted wheels on both sides can also rotate, but there is a differential speed relationship between the two, and steering movement can also be performed as needed.

[0027] In one embodiment of the present application, the cleaning device is further configured with a stop power-assist mode, which can be executed when the angle between the side of the body facing the user and the surface to be cleaned is greater than 20 degrees. In the stop power-assist mode, the power-assist method includes: receiving a first stop instruction;

[0028] The cleaning device is controlled to move toward the user and stops moving after receiving a second stop instruction.

[0029] On the basis of the above-mentioned assisting method, a method for stopping assisting is also provided. Specifically, after the cleaning device receives a first stop instruction, the cleaning device is controlled to move toward the user.

[0030] Specifically, the first stop command can be issued directly by the user, and after receiving the above command, the cleaning device is controlled to move toward the user. This method can enable the cleaning device to further wipe off the residual water stains during the retreat process, and at the same time help the user return the cleaning device to its original position and stop.

[0031] For example, when a user uses a floor scrubber for cleaning, since the suction port is located at the rear side of the roller brush, sewage still flows out of the suction port after the machine is stopped, resulting in residual sewage behind the roller brush. At the same time, imagine that when the user stops the machine, the machine body is often at an angle relative to the surface to be cleaned. When the user needs to fold it up, he needs to pull it back and then stand the machine body upright.

[0032] In the present application, after receiving the first stop command, the cleaning device is controlled to move directly backward, so that the residual sewage on the rear side can be further wiped, and the user can also be assisted to stand the floor scrubber upright.

[0033] In an embodiment of the present application, the second stop instruction is issued based on angle information of the body relative to the surface to be cleaned.

[0034] In one embodiment of the present application, the angle information includes the angle between the side of the body facing the user and the surface to be cleaned, and the second stop instruction is issued when the angle between the side of the body facing the user and the surface to be cleaned meets 70-100 degrees.

[0035] In one embodiment of the present application, the cleaning device includes a floor brush, which is disposed at the lower end of the body, and the angle information is configured to be obtained by detecting an angle sensor disposed on the body or the floor brush.

[0036] In one embodiment of the present application, the cleaning device includes a floor brush, which is arranged at the lower end of the body, and the body or the floor brush is provided with a first detection device. When the cleaning device moves toward the user until the floor brush or the body is detected by the first detection device, the cleaning device issues a second stop command.

[0037] In one embodiment of the present application, the cleaning device includes a floor brush, a roller brush is provided in the floor brush for cleaning the surface to be cleaned, a water divider is also provided in the floor brush for wetting the roller brush, and a power-assisting wheel is also provided on the rear side of the floor brush; a suction device is provided in the body for sucking dirt from the surface to be cleaned; when the cleaning device receives a first stop command, the water divider is controlled to stop spraying water, the roller brush rotates toward the user side, the power-assisting wheel rotates toward the user side, and the suction device maintains the suction action.

[0038] In one embodiment of the present application, the suction device is configured with a first suction state and a second suction state. In the second suction state, the suction force of the suction device is greater than the suction force in the first suction state. After receiving a first stop command, the suction device switches from the first suction state to the second suction state.

[0039] The present application provides an assisting method for a cleaning device, wherein the cleaning device comprises a grip rod, which is used for a user to hold the grip rod, and the cleaning device also comprises an assisting device, and the assisting method comprises: obtaining control information of the cleaning device, wherein the control information comprises pressure information applied by the user to both sides of the grip rod when the user holds the grip rod; determining an action of the cleaning device based on the control information, wherein the action of the cleaning device comprises a turning action; and controlling the assisting device to operate so as to provide a first assisting force for the user to control the action of the cleaning device, wherein the first assisting force is configured to drive the cleaning device to turn along a target turning direction.

[0040] In one embodiment of the present application, the handle includes a first side and a second side; when the handle is held by the user and the pressure on the first side is greater than the pressure on the second side, the cleaning device is controlled to turn toward the second side; or, when the handle is held by the user and the pressure on the first side is greater than a preset value, the cleaning device is controlled to turn toward the second side.

[0041] In one embodiment of the present application, when the handle is held by the user and the pressure on the first side is less than the pressure on the second side, the cleaning device is controlled to turn toward the first side; or, when the handle is held by the user and the pressure on the second side is greater than a preset value, the cleaning device is controlled to turn toward the first side.

[0042] In one embodiment of the present application, the cleaning device also includes a body, a floor brush is connected to the lower end of the body, the cleaning device is configured with a deep cleaning state, and the turning action is configured to be performed at least in the deep cleaning state. The deep cleaning state includes the body being in a lying flat state, the cleaning device being turned on, and the floor brush having a forward movement tendency.

[0043] In one embodiment of the present application, in the deep cleaning state, when the cleaning device performs a turning action, the floor brush performs the turning action according to the force information of the first side or the second side of the grip rod.

[0044] In one embodiment of the present application, a first force sensing element is provided on the first side of the grip, or a first force sensing element is provided on both the first side and the second side of the grip, and the first force sensing element is configured to sense the pressure applied by the user to the grip.

[0045] In one embodiment of the present application, the cleaning device also includes a body, a floor brush is connected to the lower end of the body, a connecting pipe is arranged between the body and the floor brush, the connecting pipe and the floor brush are rotatably arranged, a second force sensing element is arranged between one side of the connecting pipe and the floor brush, or second force sensing elements are arranged between both sides of the connecting pipe and the floor brush, and when the cleaning device performs a turning action, the second force sensing element on one side of the connecting pipe is squeezed by the connecting pipe and the floor brush.

[0046] In one embodiment of the present application, the connecting tube includes a third side and a fourth side, the third side and the first side are located on the same side, the fourth side and the second side are located on the same side, and a second force sensing element is provided on the fourth side of the connecting tube; when the floor brush turns toward the second side, the second force sensing element on the fourth side is squeezed by the connecting tube and the floor brush.

[0047] In one embodiment of the present application, a second force sensing element is provided on the third side of the connecting tube; when the floor brush turns toward the first side, the second force sensing element on the third side is squeezed by the connecting tube and the floor brush.

[0048] In one embodiment of the present application, the control information also includes turning direction information of the cleaning device when the user controls the cleaning device to turn along the target turning direction.

[0049] In an embodiment of the present application, the cleaning device is further provided with a motion sensing element, and the motion sensing element is configured to sense turning direction information.

[0050] In one embodiment of the present application, when the cleaning device is in a lying state, the cleaning device is also configured with a resistance mode, and the assisting method further includes: obtaining the resistance information encountered by the cleaning device in the resistance mode; and controlling the assisting device to perform corresponding assisting actions according to the resistance information.

[0051] In one embodiment of the present application, the step of controlling the power assist device to perform corresponding power assist actions according to the resistance information includes: comparing the resistance experienced by the cleaning device in the resistance mode with a first resistance threshold and a second resistance threshold, wherein the first resistance threshold is less than the second resistance threshold; if the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, controlling the power assist device to provide a second power assist for the cleaning device to cross the obstacle; if the resistance is greater than the second resistance threshold, controlling the cleaning device to stop moving.

[0052] In one embodiment of the present application, the cleaning device is also provided with a roller brush, and the power-assisting device includes a power-assisting wheel; the step of obtaining the resistance information encountered by the cleaning device in the resistance mode includes: detecting the torque of driving the roller brush and / or the torque of driving the power-assisting wheel to determine the resistance encountered by the cleaning device.

[0053] In one embodiment of the present application, the cleaning device is also provided with a roller brush, and the power-assisting device includes a power-assisting wheel; the step of obtaining the resistance information encountered by the cleaning device in the resistance mode includes: detecting the current driving the roller brush and / or the current driving the power-assisting wheel to determine the resistance encountered by the cleaning device.

[0054] In one embodiment of the present application, the step of controlling the power assist device to perform corresponding power assist actions according to the resistance information includes: comparing the resistance experienced by the cleaning device in the resistance mode with a first resistance threshold and a second resistance threshold, wherein the first resistance threshold is less than the second resistance threshold; if the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, controlling the power assist device to provide a second power assist for the cleaning device to cross the obstacle; if the resistance is greater than the second resistance threshold, controlling the power assist device to provide a third power assist for driving the cleaning device to move in a direction away from the obstacle.

[0055] In one embodiment of the present application, the cleaning device is also provided with a roller brush, and the cleaning device is also configured with a push-pull mode when the cleaning device is in a lying state, and the assisting method also includes: when the cleaning device moves from a starting position to a first extreme position in the push-pull mode, controlling the assisting device to provide a fourth assisting force to the cleaning device; wherein, the roller brush provides a forward driving force to the cleaning device during the process of the cleaning device moving forward, and the direction of the fourth assisting force is opposite to the direction of the driving force.

[0056] In one embodiment of the present application, the power-assisting device includes a power-assisting wheel; the step of controlling the power-assisting device to provide the fourth power-assisting force to the cleaning device includes: controlling the power-assisting wheel to rotate backward so that the power-assisting wheel provides the fourth power-assisting force to the cleaning device.

[0057] In one embodiment of the present application, the assisting method also includes: controlling the assisting device to provide a fifth assisting force to the cleaning device during the process of the cleaning device moving forward from a starting position to a first extreme position and / or during the process of the cleaning device retreating from a first extreme position to a starting position; wherein the direction of the fifth assisting force is opposite to the direction of the driving force.

[0058] In one embodiment of the present application, the fifth assist force is less than or equal to the driving force.

[0059] In one embodiment of the present application, the assisting method further includes: when the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, controlling the assisting device to provide a sixth assisting force to the cleaning device; wherein the direction of the sixth assisting force is the same as the direction of the driving force.

[0060] In one embodiment of the present application, the power-assisting device includes a power-assisting wheel; the step of controlling the power-assisting device to provide the sixth power-assisting force to the cleaning device includes: controlling the power-assisting wheel to rotate forward so that the power-assisting wheel provides the sixth power-assisting force to the cleaning device.

[0061] In one embodiment of the present application, the assisting method also includes: controlling the assisting device to provide a seventh assisting force to the cleaning device during the process of the cleaning device retreating from the starting position to the second extreme position and / or during the process of the cleaning device moving forward from the second extreme position to the starting position; wherein the direction of the seventh assisting force is opposite to the direction of the driving force.

[0062] In one embodiment of the present application, the seventh assisting force is less than or equal to the driving force.

[0063] Correspondingly, the present application also provides an assisting method for a cleaning device, the cleaning device includes a body, a floor brush is connected to the lower end of the body, a connecting pipe is arranged between the body and the floor brush, the connecting pipe and the floor brush are rotatably arranged, a second force sensing element is arranged between the connecting pipe and the floor brush, and the floor brush is provided with an assisting device, the assisting method includes: obtaining control information of the cleaning device, the control information includes pressure information applied by the connecting pipe and the floor brush to the second force sensing element when the floor brush turns along a target turning direction; controlling the assisting device to work, so as to provide a first assisting force for the user to control the action of the cleaning device, wherein the first assisting force is configured to drive the floor brush to turn along the target turning direction.

[0064] In one embodiment of the present application, a second force sensing element is provided between one side of the connecting tube and the floor brush, or a second force sensing element is provided between both sides of the connecting tube and the floor brush. When the cleaning device performs a turning action, the second force sensing element on one side of the connecting tube is squeezed by the connecting tube and the floor brush.

[0065] In one embodiment of the present application, the cleaning device also includes a grip rod, which is used for a user to hold the grip rod, and the grip rod includes a first side and a second side; the connecting tube includes a third side and a fourth side, the third side is located on the same side as the first side, and the fourth side is located on the same side as the second side, and a second force sensing element is provided on the fourth side of the connecting tube; when the floor brush turns toward the second side, the second force sensing element on the fourth side is squeezed by the connecting tube and the floor brush.

[0066] In one embodiment of the present application, a second force sensing element is provided on the third side of the connecting tube; when the floor brush turns toward the first side, the second force sensing element on the third side is squeezed by the connecting tube and the floor brush.

[0067] Correspondingly, the present application also provides an assisting method for a cleaning device, wherein the cleaning device is configured with a resistance mode when the cleaning device is in a lying state, and the cleaning device includes an assisting device. The assisting method includes: obtaining the resistance information received by the cleaning device in the resistance mode; and controlling the assisting device to perform corresponding assisting actions according to the resistance information.

[0068] In one embodiment of the present application, the step of controlling the power assist device to perform corresponding power assist actions according to the resistance information includes: comparing the resistance experienced by the cleaning device in the resistance mode with a first resistance threshold and a second resistance threshold, wherein the first resistance threshold is less than the second resistance threshold; if the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, controlling the power assist device to provide a second power assist for the cleaning device to cross the obstacle; if the resistance is greater than the second resistance threshold, controlling the cleaning device to stop moving.

[0069] Correspondingly, the present application also provides a power-assisting method for a cleaning device, wherein the cleaning device is configured with a push-pull mode when the cleaning device is in a lying state, the cleaning device includes a power-assisting device and a roller brush, and the power-assisting method includes: when the cleaning device moves from a starting position to a first extreme position in the push-pull mode, controlling the power-assisting device to provide a fourth power-assisting force to the cleaning device; wherein the roller brush provides a forward driving force to the cleaning device during the process of the cleaning device moving forward, and the direction of the fourth power-assisting force is opposite to the direction of the driving force.

[0070] In one embodiment of the present application, the power-assisting device includes a power-assisting wheel; the step of controlling the power-assisting device to provide the fourth power-assisting force to the cleaning device includes: controlling the power-assisting wheel to rotate backward so that the power-assisting wheel provides the fourth power-assisting force to the cleaning device.

[0071] In one embodiment of the present application, the assisting method also includes: controlling the assisting device to provide a fifth assisting force to the cleaning device during the process of the cleaning device moving forward from a starting position to a first extreme position and / or during the process of the cleaning device retreating from a first extreme position to a starting position; wherein the direction of the fifth assisting force is opposite to the direction of the driving force.

[0072] In one embodiment of the present application, the assisting method further includes: when the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, controlling the assisting device to provide a sixth assisting force to the cleaning device; wherein the direction of the sixth assisting force is the same as the direction of the driving force.

[0073] In one embodiment of the present application, the power-assisting device includes a power-assisting wheel; the step of controlling the power-assisting device to provide the sixth power-assisting force to the cleaning device includes: controlling the power-assisting wheel to rotate forward so that the power-assisting wheel provides the sixth power-assisting force to the cleaning device.

[0074] In one embodiment of the present application, the assisting method also includes: controlling the assisting device to provide a seventh assisting force to the cleaning device during the process of the cleaning device retreating from the starting position to the second extreme position and / or during the process of the cleaning device moving forward from the second extreme position to the starting position; wherein the direction of the seventh assisting force is opposite to the direction of the driving force.

[0075] The beneficial effects of the present application are as follows: Different from the prior art, the present application provides a power assist method for cleaning equipment. The power assist method includes: obtaining control information of the cleaning equipment, the control information includes pressure information applied by the user to both sides of the grip when the grip is held by the user; determining the action of the cleaning equipment based on the control information, the action of the cleaning equipment includes a turning action; controlling the power assist device to work, so as to provide a first power assist for the user to manipulate the action of the cleaning equipment, wherein the first power assist is configured to drive the cleaning equipment to turn in a target turning direction. The present application determines the target turning direction of the cleaning equipment through the pressure information applied by the user to both sides of the grip, so as to control the power assist device to provide the cleaning equipment with power assist to drive the cleaning equipment to turn in the target turning direction, so that the user can more easily and labor-savingly manipulate the cleaning equipment to turn in the target turning direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0077] Figure 1 It is a structural schematic diagram of an embodiment of the cleaning device of the present application;

[0078] Figure 2 yes Figure 1 A schematic diagram of the structure of the cleaning device shown in a tilted use state;

[0079] Figure 3 yes Figure 1 A schematic diagram of the structure of the cleaning device shown in the lying state;

[0080] Figure 4 This is a flow chart of the first embodiment of the power-assisting method for cleaning equipment of the present application;

[0081] Figure 5 yes Figure 1 A schematic diagram of the cleaning device shown is a top view of the structure in a lying state;

[0082] Figure 6 It is a structural schematic diagram of the first embodiment of the grip of the present application;

[0083] Figure 7 is a structural schematic diagram of a second embodiment of the grip of the present application;

[0084] Figure 8 This is a flow chart of the second embodiment of the power-assisting method for cleaning equipment of the present application;

[0085] Fig. 9 is a structural schematic diagram of a third embodiment of the grip of the present application;

[0086] Fig.10 is a structural schematic diagram of a fourth embodiment of the grip of the present application;

[0087] Fig.11 This is a flow chart of the third embodiment of the power-assisting method for cleaning equipment of the present application;

[0088] Fig.12 is a structural schematic diagram of a fifth embodiment of the grip of the present application;

[0089] Fig.13 is a structural schematic diagram of a sixth embodiment of the grip of the present application;

[0090] Fig.14 This is a flow chart of a fourth embodiment of the power-assisting method for cleaning equipment of the present application;

[0091] Fig.15 is a structural schematic diagram of the seventh embodiment of the grip of the present application;

[0092] Fig.16 It is a structural schematic diagram of an embodiment of a cleaning device of the present application having a motion sensing element disposed on its body;

[0093] Fig.17 This is a flow chart of a fifth embodiment of the power-assisting method for cleaning equipment of the present application;

[0094] Fig.18 is a structural schematic diagram of an eighth embodiment of the grip of the present application;

[0095] Fig.19 is a structural schematic diagram of a ninth embodiment of the grip of the present application;

[0096] Fig. 20 yes Figure 1A schematic diagram of the back structure of the cleaning device shown;

[0097] Fig.21 yes Fig. 20 The schematic diagram of the structure of the cleaning equipment A area shown;

[0098] Fig. 22 This is a flow chart of a sixth embodiment of the power-assisting method for cleaning equipment of the present application;

[0099] Fig.23 is a flow chart of a seventh embodiment of the power-assisting method for cleaning equipment of the present application;

[0100] Fig.24 This is a flow chart of an eighth embodiment of the power-assisting method for cleaning equipment of the present application;

[0101] Fig.25 is a flow chart of a ninth embodiment of the power-assisting method for cleaning equipment of the present application;

[0102] Fig.26 It is a schematic diagram of the travel of the cleaning device of the present application in the push-pull mode;

[0103] Fig. 27 is a flow chart of the tenth embodiment of the power-assisting method of the cleaning device of the present application;

[0104] Fig.28 It is a flow chart of the eleventh embodiment of the power-assisting method for the cleaning device of the present application. DETAILED DESCRIPTION

[0105] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application and are not used to limit the present application. In the present application, unless otherwise stated, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0106] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "stacked" and the like should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0107] The present application provides a power assist method for cleaning equipment, which is described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0108] See also Figures 1 to 3 , Figure 1 is a schematic structural diagram of an embodiment of the cleaning device of the present application, Figure 2 yes Figure 1 The schematic diagram of the structure of the cleaning device shown is in a tilted use state, Figure 3 yes Figure 1 The schematic diagram of the structure of the cleaning device shown is in a lying state.

[0109] In one embodiment, the cleaning device 10 is used to clean a surface to be cleaned 20. The cleaning device 10 may be a floor scrubber or the like. The user pushes the cleaning device 10 to move on the surface to be cleaned 20, and the cleaning device 10 can clean the area it passes through. The cleaning device 10 can automatically move on the surface to be cleaned 20 to clean the area it passes through. The surface to be cleaned 20 may be the ground, or the surface to be cleaned of an object, etc., which is not limited here. The embodiment of the present application is described using a floor scrubber as an example, which is only for the purpose of discussion, and does not limit the form of the cleaning device 10.

[0110] The cleaning device 10 includes a body 12, a floor brush 11 is connected to the lower end of the body 12, and the body 12 is movably connected to the floor brush 11, and the floor brush 11 is used to clean the surface 20 to be cleaned. The user holds the body 12 and pushes the floor brush 11 to move on the surface 20 to be cleaned, and the floor brush 11 can clean the area it passes through. The cleaning device 10 also includes a roller brush 15, which is arranged on the floor brush 11, and the floor brush 11 cleans the surface 20 to be cleaned through the roller brush 15. A water separator (not shown) is also arranged in the floor brush 11, and the water separator is used to wet the roller brush. At the same time, a suction device (not shown) is also arranged on the body 12. The common suction device is a motor, so that the dirt on the ground is sucked into the sewage bucket by negative pressure suction. The cleaning device 10 also includes a grip 13, which is arranged on the body 12, and the grip 13 is used for the user to hold, that is, the user controls the cleaning device 10 to move on the surface 20 to be cleaned by holding the grip 13.

[0111] The cleaning device 10 has at least an upright state, a tilted use state, and a lying state. Figure 1 The cleaning device 10 is in an upright position, Figure 2 The cleaning device 10 is in a tilted use state, Figure 3 The cleaning device 10 in the embodiment is in a flat state. The angle of the body 12 of the cleaning device 10 relative to the surface 20 to be cleaned can be used to determine whether the cleaning device 10 is in an upright state, an inclined state, or a flat state. For example, an angle sensor can be provided to determine the angle of the body 12 of the cleaning device 10 relative to the surface 20 to be cleaned. In addition, an angle threshold can be set to determine the state of the cleaning device 10. For example, a first angle threshold and a second angle threshold can be set, and the first angle threshold is greater than the second angle threshold; when the angle sensor detects that the angle of the body 12 relative to the surface 20 to be cleaned is greater than the first angle threshold, it means that at this time, the angle between the body 12 of the cleaning device 10 and the surface 20 to be cleaned is larger, and it is considered that the cleaning device 10 is in an upright state; when the angle sensor detects that the angle of the body 12 relative to the surface 20 to be cleaned is less than the first angle threshold and greater than the second angle threshold, it means that at this time, the angle between the body 12 of the cleaning device 10 and the surface 20 to be cleaned meets the situation that the cleaning device 10 is in a tilted use state; when the angle sensor detects that the angle of the body 12 relative to the surface 20 to be cleaned is less than the second angle threshold, it means that at this time, the angle between the body 12 of the cleaning device 10 and the surface 20 to be cleaned is smaller, and it is considered that the cleaning device 10 is in a lying flat state.

[0112] like Figure 1 As shown, when the user is not using the cleaning device 10, the body 12 of the cleaning device 10 is in an upright state as a whole, that is, the cleaning device 10 is in an upright state at this time. Figure 2As shown, when the user normally uses the cleaning device 10 to clean the surface 20 to be cleaned, the body 12 is in a tilted state as a whole, that is, the cleaning device 10 is in a tilted use state at this time, and the user controls the cleaning device 10 to move forward and backward, specifically, the cleaning device 10 moves forward along the arrow P, and the cleaning device 10 moves backward along the arrow T. Figure 3 As shown, when the user needs to use the cleaning device 10 to clean low areas such as under the bed, under the sofa, under the table and chairs, the user lays the body 12 flat so that the body 12 is close to being parallel to the surface to be cleaned 20. At this time, the cleaning device 10 is in a flat state, so that the cleaning device 10 can go deep into the low area to clean. The angle between the body 12 and the surface to be cleaned 20 in the tilted use state is greater than the angle between the body 12 and the surface to be cleaned 20 in the flat state. When the cleaning device 10 is in the flat state, the body 12 can be parallel to the surface to be cleaned 20, which is conducive to the cleaning device 10 going deep into the low area to clean.

[0113] In one embodiment, the cleaning method in which the roller brush 15 rotates around its central axis can provide assistance to the cleaning device 10 to move forward, making it easier and more convenient for the user to use the cleaning device 10. However, there is a lack of corresponding assistance design for cleaning scenarios such as the cleaning device 10 moving backward and turning. In view of this, the cleaning device 10 also includes a power-assisting device 14, which is arranged on the floor brush 11, and the power-assisting device 14 is configured to provide assistance for the cleaning device 10 to move on the surface 20 to be cleaned. Specifically, the power-assisting device 14 may include a power-assisting wheel, etc., and the torque input to the power-assisting wheel is controlled to control the rotation direction of the power-assisting wheel, thereby realizing that the power-assisting device 14 provides assistance for the cleaning device 10 to move on the surface 20 to be cleaned.

[0114] The power assist method of the cleaning device according to the embodiment of the present application is described below.

[0115] The present application provides a power assist method for a cleaning device, wherein the cleaning device is configured with a resistance mode, and the power assist method in the resistance mode includes:

[0116] Obtain the resistance encountered by the cleaning device in the resistance mode; the resistance here may come from dirt on the surface to be cleaned, such as granular dirt such as peanuts, and the cleaning device is likely to generate corresponding resistance when in motion, affecting its movement.

[0117] When the resistance is greater than or equal to a first resistance threshold and less than or equal to a second resistance threshold, the power assisting device is controlled to provide a second power assisting device for the cleaning device to cross an obstacle; wherein the first resistance threshold is less than the second resistance threshold.

[0118] In the daily use of cleaning equipment, for example, when using a floor scrubber for cleaning, it often provides an almost fixed force for the user to push forward or pull back to assist the movement of the cleaning equipment. However, this method is too rigid. Imagine that granular garbage is often encountered during cleaning. At this time, the above garbage will increase the resistance of the floor scrubber to move forward.

[0119] If you need to continue cleaning, the user needs to increase the thrust himself to complete the cleaning, which results in a poor user experience.

[0120] The present embodiment provides a method for providing assistance according to the resistance environment. Specifically, a resistance mode is set in the current cleaning device, which can provide a corresponding assistance method according to the resistance size, including obtaining the resistance currently encountered by the cleaning device, and comparing it with a preset first resistance threshold and a second resistance threshold. When the resistance is greater than the first resistance threshold and less than or equal to the second resistance threshold, the cleaning device provides an assistance to overcome the obstacle.

[0121] The first resistance threshold may be the normal resistance range encountered by the cleaning device during normal cleaning. When the resistance encountered is greater than the first resistance threshold, it proves that the cleaning device has encountered unusual resistance, that is, it is judged that an obstacle has appeared in its direction of movement. The second resistance threshold may be the limit value of resistance that the cleaning device can encounter. In other words, when the second resistance threshold is exceeded, the cleaning device may be damaged if it continues to move.

[0122] When the resistance is less than or equal to the second resistance threshold and greater than the first resistance threshold, it indicates that the cleaning device will not be damaged. In this case, the cleaning device can provide an assisting force to enable it to pass over the obstacle. For a floor scrubber, an assisting force can be provided to enable the roller brush to pass over the obstacle, thereby moving the obstacle to the suction port of the floor brush and being sucked away by the floor scrubber.

[0123] Specifically, Figure 2 As shown, the suction port is often arranged on the rear side of the roller brush 15. For example, when the floor brush 11 moves forward and encounters an obstacle in the forward direction of the floor brush 11, if it is determined that the current resistance is greater than the first resistance threshold and less than or equal to the second resistance threshold, the floor scrubber outputs a second assisting force, and the second assisting force assists the floor brush 11 to move forward, so that the roller brush 15 passes over the obstacle, so that the obstacle is located at the suction port and can be sucked away by the suction device.

[0124] In one embodiment of the present application, Figure 3 As shown, the cleaning device is configured to have a lying-flat state. In the lying-flat state, if the resistance is greater than a second resistance threshold, the cleaning device is controlled to stop moving.

[0125] In the lying flat scenario, users often use floor scrubbers to clean under the bed. When cleaning under the bed, it is difficult for users to see the dirt under the bed. The floor scrubber is more likely to encounter obstacles during the assisting process. At this time, resistance judgment is more necessary, otherwise the floor scrubber is easily damaged during the assisting process.

[0126] When the resistance is greater than the second resistance threshold, the power assist method includes controlling the floor scrubber to stop moving. The method of controlling the floor scrubber to stop moving can be to directly control the roller brush to stop rotating, the power assist wheel to also stop rotating, and control the body to make voice broadcasts so that the user knows the current obstacle situation.

[0127] Alternatively, the power-assisting wheel outputs a power assist in the opposite direction of the movement of the cleaning device, thereby controlling the floor scrubber to have a power assist that offsets the movement trend in the movement direction, thereby controlling the floor scrubber to stop.

[0128] In one embodiment of the present application, the resistance of the cleaning device may be detected by detecting the torque driving the roller brush 15 and / or the torque driving the power-assisted wheel to determine the resistance encountered by the cleaning device.

[0129] In one embodiment of the present application, the step of obtaining the resistance information encountered by the cleaning device in the resistance mode includes: detecting the current driving the roller brush 15 and / or the current driving the power-assisted wheel to determine the resistance encountered by the cleaning device.

[0130] In another embodiment of the present application, if it is detected that the resistance encountered by the cleaning device is greater than the second resistance threshold, the power assisting device 14 is controlled to provide a third power assisting device to drive the cleaning device to move in a direction away from the obstacle.

[0131] For example, when the floor scrubber moves forward and encounters an obstacle, and the obstacle causes the resistance to be greater than a preset second resistance threshold, the roller brush 15 can be controlled to reverse or the power-assisted wheel can be controlled to reverse so that the floor scrubber obtains a backward kinetic force, that is, the floor scrubber is controlled to obtain a movement tendency away from the obstacle.

[0132] When it is determined that there is an obstacle in the direction of movement of the cleaning device and the resistance provided by this obstacle is greater than the second resistance threshold, it means that the cleaning device may be damaged if it continues to move. For this reason, the cleaning device provides a third assisting force to offset the kinetic force in the direction of movement of the cleaning device, thereby forming a counteracting force and preventing damage to the cleaning device.

[0133] In one embodiment of the present application, the assisting method further includes obtaining control information of the cleaning equipment; controlling the assisting device to output a first assisting force based on the control information, so that the cleaning equipment performs a turning action based on the first assisting force, and the turning action is configured to turn along a target turning direction.

[0134] The above-mentioned assisting method also includes an assisting method for turning. In the above-mentioned assisting mode, this solution can obtain control information of the cleaning device, which may include movement information of the body, pressure information applied by the user to the handle, etc., and control the cleaning device to perform turning actions based on the above information.

[0135] Specifically, in one embodiment, by setting a gyroscope in the fuselage, the movement of the fuselage can be accurately identified. For example, it can be identified that the fuselage has deflected. At this time, the current user's turning intention can be identified according to the deflection angle, and the cleaning device can be controlled to perform a turning action.

[0136] In another embodiment, the cleaning device is configured as a floor scrubber, and Figure 3 As shown in the figure, the floor scrubber is in a lying state, and is configured to be controlled by an online APP, which can send control signals such as forward, backward, left turn, and right turn. After the floor scrubber receives the corresponding signal, the power-assisting device 14 of the floor scrubber acts according to the control information. For example, when a forward signal is received, the power-assisting wheel rotates forward, thereby controlling the floor scrubber to move forward. When a left turn signal is received, the power-assisting wheels on both sides generate a speed difference, controlling the floor scrubber to rotate left.

[0137] When combined with the aforementioned resistance mode, it can also be applied to lying-flat scenarios and can also be controlled using the online APP.

[0138] Specifically, the cleaning device obtains control information, and the power assist device 14 generates power assist based on the control information to control the cleaning device to move according to the user's intention. When the resistance encountered by the cleaning device is obtained during the movement of the cleaning device, when the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, the power assist device 14 is controlled to provide a second power assist for the cleaning device to cross the obstacle; wherein the first resistance threshold is less than the second resistance threshold.

[0139] And the display interface of the online app shows the current resistance value. The resistance value can be calculated based on the roller brush current or the pressure sensor set by the floor brush as mentioned above.

[0140] In another embodiment, the controller of the cleaning device can analyze the source of resistance based on the current resistance value, for example, dividing the range between the first resistance threshold and the second resistance threshold into three levels, with the first level being the lowest level. The resistance within this level can be judged to be caused by obstacles such as peanuts and soybeans. At this time, the cleaning device has the ability to clear this obstacle. At this time, the cleaning device can give a prompt or directly control the power assist device 14 to cross the obstacle and clean it.

[0141] The resistance of the second gear is greater than that of the first gear, which may be a large clump of hair, etc. At this time, the cleaning device also has the corresponding cleaning ability, but there may be a risk of entanglement. At this time, a prompt may be given to the user to choose whether to cross it.

[0142] The resistance of the third gear is greater than that of the second gear, and it belongs to the critical range in the range value. Theoretically, the resistance within this range can still be overcome by the power assistance provided by the cleaning equipment, but the risk of damaging the cleaning equipment is relatively large. At this time, you can choose to stop outputting the first power assistance within the preset time and prompt the user whether to continue.

[0143] On this basis, a camera can also be set on the floor brush of the floor scrubber and displayed on the online app. Specifically, since most of the brushes are used to reach into places that are not visible such as under the bed in the lying state, the cleaning status of the current environment can be directly obtained through the floor scrubber after using the camera.

[0144] In another embodiment, based on the solution of turning and resistance mode, the cleaning equipment such as a floor scrubber is also provided with a visual detection device, such as a camera. When lying flat, the floor scrubber can obtain the external environment through the camera and make assisting movements according to the environmental information.

[0145] Specifically, the cleaning device is configured to obtain current environmental information in a lying state, and the environmental information includes obstacle information, water stain information, stain information, etc.

[0146] By identifying the current environmental information, corresponding assistance is given and the assistance action is implemented.

[0147] In one embodiment, when the environmental information is configured as obstacle information, the cleaning device identifies the current obstacle size based on the identified obstacle information. Specifically, when the obstacle is large, the cleaning device can give prompt information. For example, if it is recognized that the current environment is under the bed and the obstacle is large, such as a toy, etc., a corresponding prompt can be given to clear the current obstacle.

[0148] On this basis, the cleaning equipment can also give a recommended path based on obstacle information.

[0149] Specifically, users can directly control the floor scrubber to move forward, backward, turn left or right on the online app. When the floor scrubber is in a dark environment like under the bed, the camera of the floor scrubber can feed back the current environment to the online app and plan the path based on the current environment.

[0150] Furthermore, the current environment space area is obtained through the camera, and different obstacle information is mapped through visual sensing, and the current path planning is analyzed according to the space area and obstacle conditions.

[0151] Furthermore, the environmental information includes stain information. Specifically, the user can use the online app to directly control the floor scrubber. When the floor scrubber executes a cleaning command, for example, when it is controlled to move in a straight line, it can scan the current stain information and give a predicted number of cleaning times based on the stain information. In other words, how many times the floor scrubber needs to be mopped to complete the cleaning task.

[0152] like Figure 1-3 As shown, in one embodiment of the present application, the cleaning device includes a floor brush, which is provided with a power-assisted wheel. The power-assisted wheel is configured as two and is respectively provided on both sides of the floor brush. The turning action includes controlling the power-assisted wheel on one side not to rotate, and the power-assisted wheel on the other side to rotate toward the front side of the floor brush; or controlling the power-assisted wheel on one side not to rotate, and the power-assisted wheel on the other side to rotate toward the rear side of the floor brush; or controlling the power-assisted wheel on one side to rotate, and the power-assisted wheel on the other side rotates at a speed higher than the power-assisted wheel on the opposite side.

[0153] When turning, you can control the power-assisted wheel on one side to rotate and the other side to rotate toward the front of the floor brush, so that you can turn left or right while the floor scrubber is moving forward, or you can control the power-assisted wheel on the other side to rotate toward the back of the floor brush, so that you can turn left or right while moving backward.

[0154] Of course, the power-assisted wheels on both sides can also rotate, but there is a differential speed relationship between the two. Steering movements can also be performed as needed, and the flexibility is higher.

[0155] In one embodiment of the present application, the cleaning device is further configured with a stop power-assist mode, which can be executed when the angle between the side of the body facing the user and the surface to be cleaned is greater than 20 degrees. In the stop power-assist mode, the power-assist method includes: receiving a first stop instruction;

[0156] The cleaning device is controlled to move toward the user and stops moving after receiving a second stop instruction.

[0157] On the basis of the above-mentioned assisting method, a method for stopping assisting is also provided. Specifically, after the cleaning device receives a first stop instruction, the cleaning device is controlled to move toward the user.

[0158] Specifically, the first stop command can be issued directly by the user, and the issuance method can be given directly on the cleaning device, or through a remote signal such as an online app. After receiving the above command, the cleaning device is controlled to move toward the user. This method can enable the cleaning device to further wipe off the residual water stains during the retreat process, and at the same time help the user to return the cleaning device to its original position and stop.

[0159] For example, when a user uses a floor scrubber for cleaning, since the suction port is located at the rear side of the roller brush, sewage still flows out of the suction port after the machine is stopped, resulting in residual sewage behind the roller brush. At the same time, imagine that when the user stops the machine, the machine body is often at an angle relative to the surface to be cleaned. When the user needs to fold it up, he needs to pull it back and then stand the machine body upright.

[0160] In the present application, after receiving the first stop command, the cleaning device is controlled to move directly backward, so that the residual sewage on the rear side can be further wiped, and the user can also be assisted to stand the floor scrubber upright.

[0161] In one embodiment of the present application, the second stop instruction is issued based on angle information of the body relative to the surface to be cleaned.

[0162] In one embodiment of the present application, the angle information includes the angle between the side of the body facing the user and the surface to be cleaned, and the second stop instruction is issued when the angle between the side of the body facing the user and the surface to be cleaned meets 70-100 degrees.

[0163] When the angle is between 70 and 100 degrees, it is almost in an upright position. Figure 2 As shown, when the body is in a relatively upright state, it is very convenient for the user to return it to its upright position. Therefore, the current solution can both clean water stains and assist users to stand upright.

[0164] In one embodiment of the present application, the cleaning device includes a floor brush, which is arranged at the lower end of the machine body, and the angle information is configured to be obtained by detecting an angle sensor arranged on the machine body or the floor brush.

[0165] Cleaning equipment such as a floor scrubber has a connecting structure between the body and the floor brush, and an angle sensor is provided on the connecting structure. The angle sensor can measure the current rotation angle according to the rotation of the body and judge the current body angle accordingly. The angle sensor can be installed on the body or the floor brush.

[0166] In one embodiment of the present application, the cleaning device includes a floor brush, which is arranged at the lower end of the body, and the body or the floor brush is provided with a first detection device. When the cleaning device moves toward the user until the floor brush or the body is detected by the first detection device, the cleaning device issues a second stop command.

[0167] Furthermore, the first detection device can be an infrared sensor, a contact switch, a Hall sensor, etc. For example, a Hall sensor and a magnet are respectively arranged at the relative positions of the machine body and the floor brush. After the two gradually rotate close to each other, the Hall sensor detects the magnet, and it can be determined that the current machine body is in a nearly upright state, and a second stop command can be issued.

[0168] In one embodiment of the present application, the cleaning device includes a floor brush, a roller brush is provided inside the floor brush for cleaning the surface to be cleaned, a water divider is also provided inside the floor brush for wetting the roller brush, and a power-assisting wheel is also provided on the rear side of the floor brush; a suction device is provided inside the body for sucking dirt from the surface to be cleaned; when the cleaning device receives a first stop command, the water divider is controlled to stop spraying water, the roller brush rotates toward the user side, the power-assisting wheel rotates toward the user side, and the suction device maintains the suction action.

[0169] Furthermore, after receiving the first stop instruction, the cleaning device moves backwards for the purpose of cleaning the residual water stains. Therefore, at this time, controlling the water divider to stop spraying water will have a relatively better effect.

[0170] In one embodiment of the present application, the suction device is configured with a first suction state and a second suction state. In the second suction state, the suction force of the suction device is greater than the suction force in the first suction state. After receiving the first stop command, the suction device switches from the first suction state to the second suction state.

[0171] By switching the above-mentioned states, the suction force can be increased to assist the cleaning device in cleaning the residual water stains on the ground when the cleaning device moves backward. That is, in combination with the above-mentioned scheme, in the stop power-assist mode, by increasing the suction force and controlling the water divider to stop spraying water, combined with the corresponding actions of the roller brush and the power-assist wheel, the residual water stains on the surface to be cleaned can be easier to remove.

[0172] Please also read Figure 4 , Figure 4 It is a flow chart of the first embodiment of the power-assisted method for cleaning equipment of the present application.

[0173] S101: Acquire control information of a cleaning device, where the control information includes information about pressure applied by a user to both sides of the handle when the handle is held by the user.

[0174] In this embodiment, the user holds the handle and controls the cleaning device to move on the surface to be cleaned, so that the cleaning device cleans the surface to be cleaned. When the user controls the cleaning device to make a turning motion, the user applies pressure to both sides of the handle, and the user controls the cleaning device to turn in different directions, and the pressure applied by the user on both sides of the handle is different. Based on this, the target turning direction of the cleaning device can be determined by the pressure information applied by the user on both sides of the handle, so as to control the power assist device to provide the cleaning device with power assist to drive the cleaning device to turn in the target turning direction. The target turning direction is defined as the turning direction in which the user intends the cleaning device to make a turning motion. Specifically, the control information of the cleaning device is obtained, and the control information includes the pressure information applied by the user to both sides of the handle when the handle is held by the user.

[0175] S102: Determine the action of the cleaning device based on the control information, where the action of the cleaning device includes a turning action.

[0176] In this embodiment, considering that when the user controls the cleaning device to make a turning motion, the user will apply pressure to both sides of the handle, and the user controls the cleaning device to turn in different directions, there are differences in the pressures applied by the user on both sides of the handle. Therefore, the action of the cleaning device is determined based on the control information, and the action of the cleaning device includes a turning motion, so as to control the power assist device to provide the cleaning device with power assist to drive the cleaning device to turn in the target turning direction.

[0177] S103: Controlling the power assist device to provide a first power assist for the user to manipulate the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

[0178] In this embodiment, after the action of the cleaning device is determined based on the control information, the power assist device is controlled to provide a first assist for the user to manipulate the action of the cleaning device, wherein the first assist is configured to drive the cleaning device to turn along a target turning direction.

[0179] Through the above method, this embodiment determines the target turning direction of the cleaning device through the pressure information applied by the user to both sides of the handle, so as to control the power assist device to provide power assist for the cleaning device to drive the cleaning device to turn along the target turning direction, so that the user can control the cleaning device to turn along the target turning direction more easily and labor-savingly.

[0180] In one embodiment, the cleaning device is configured with a deep cleaning state, and the cleaning device in the deep cleaning state can enter low areas such as under beds, sofas, tables and chairs for cleaning. The above turning action is configured to be performed at least in the deep cleaning state, and the deep cleaning state includes the cleaning device being in a lying state, specifically, the body of the cleaning device is in a lying state, the cleaning device is turned on, and the floor brush has a forward movement tendency.

[0181] Of course, in other embodiments of the present application, the power assist method of the above-mentioned cleaning device can also be applied to the scenario where the cleaning device is in a tilted use state, which is not limited here.

[0182] In one embodiment, please refer to Figure 5, the handle 13 includes a first side C1 and a second side C2, and the first side C1 and the second side C2 are respectively the two sides of the handle 13 in a direction perpendicular to the moving direction of the cleaning device 10. When the cleaning device 10 performs a turning action, the floor brush 11 performs a turning action according to the force information of the first side C1 or the second side C2 of the handle 13. When the handle 13 is held by the user, and the pressure on the first side C1 is greater than the pressure on the second side C2, the cleaning device 10 is controlled to turn toward the second side C2, specifically, the first power assist provided by the power assist device drives the cleaning device 10 to turn toward the second side C2. Further, when the handle 13 is held by the user, and the pressure on the first side C1 is less than the pressure on the second side C2, the cleaning device 10 is controlled to turn toward the first side C1, specifically, the first power assist provided by the power assist device drives the cleaning device 10 to turn toward the first side C1.

[0183] Specifically, based on the example that the power-assisting device includes power-assisting wheels, the floor brush 11 is provided with power-assisting wheels on the first side C1 and the second side C2, respectively, and the first power-assisting device provides a driving force to turn the cleaning device 10 toward the first side C1 or the second side C2 by controlling the rotation speed and / or steering of the power-assisting wheels on both sides of the floor brush 11. For example, the power-assisting wheels on both sides of the floor brush 11 are controlled to have different rotation speeds and / or the power-assisting wheels on both sides of the floor brush 11 are controlled to have different steering directions, so that the first power-assisting device provides a driving force to turn the cleaning device 10 toward the first side C1 or the second side C2.

[0184] Further, the first side C1 of the grip 13 is provided with a first force sensing element 31, or the first side C1 and the second side C2 of the grip 13 are both provided with the first force sensing element 31, and the first force sensing element 31 is configured to sense the pressure applied by the user to the grip 13. This embodiment is described by taking the first side C1 and the second side C2 of the grip 13 as an example. The first force sensing element 31 located on the first side C1 is used to sense the pressure applied by the user to the first side C1 of the grip 13, and similarly, the first force sensing element 31 located on the second side C2 is used to sense the pressure applied by the user to the second side C2 of the grip 13. The pressure on the first side C1 is greater than the pressure on the second side C2, specifically, the pressure sensed by the first force sensing element 31 on the first side C1 is greater than the pressure sensed by the first force sensing element 31 on the second side C2; ​​the pressure on the first side C1 is less than the pressure on the second side C2, specifically, the pressure sensed by the first force sensing element 31 on the first side C1 is less than the pressure on the second side C2.

[0185] In one embodiment, when the user controls the cleaning device 10 to move forward or backward in a straight line, the user applies less pressure to both sides of the grip 13, and when the user controls the cleaning device 10 to turn toward the first side C1 or the second side C2, the user applies greater pressure to the corresponding side of the grip 13, so based on the user applying greater pressure to the corresponding side of the grip 13, the turning direction of the cleaning device 10 controlled by the user can be determined. Of course, if the user intends to control the cleaning device 10 to turn toward the first side C1 or the second side C2, the user can also actively apply greater pressure to the corresponding side of the grip 13 to determine the turning direction of the cleaning device 10 that the user intends to control.

[0186] Specifically, when the grip 13 is held by the user and the pressure on the first side C1 is greater than a preset value, the cleaning device 10 is controlled to turn toward the second side C2, specifically, the first power provided by the power assist device drives the cleaning device 10 to turn toward the second side C2. Further, when the grip 13 is held by the user and the pressure on the second side C2 is greater than a preset value, the cleaning device 10 is controlled to turn toward the first side C1, specifically, the first power provided by the power assist device drives the cleaning device 10 to turn toward the first side C1.

[0187] The preset value is defined as the minimum value of the pressure applied by the user to the corresponding side of the handle 13 when the user controls the cleaning device 10 to turn toward the first side C1 or the second side C2 or intends to control the cleaning device 10 to turn toward the first side C1 or the second side C2. The preset value is greater than the pressure applied by the user to both sides of the handle 13 when the user controls the cleaning device 10 to move forward or backward in a straight line, and the preset value can be reasonably selected according to actual needs.

[0188] Further, the first side C1 and the second side C2 of the handle 13 are both provided with a first force sensing element 31. The pressure on the first side C1 is greater than a preset value, specifically, the pressure sensed by the first force sensing element 31 on the first side C1 is greater than the preset value; the pressure on the second side C2 is greater than the preset value, specifically, the pressure sensed by the first force sensing element 31 on the second side C2 is less than the preset value.

[0189] In one embodiment, please refer to Figure 6The handle 13 includes a first connection portion 131, a second connection portion 132, a third connection portion 133, a fourth connection portion 134 and a main grip portion 135. The main grip portion 135 is used for the user to hold it. One end of the first connection portion 131 is connected to the fuselage, and the end of the first connection portion 131 away from the fuselage is respectively connected to the second connection portion 132 and the third connection portion 133. One end of the main grip portion 135 is connected to the end of the second connection portion 132 away from the first connection portion 131, and the end of the main grip portion 135 away from the second connection portion 132 is also connected to the third connection portion 133 through the fourth connection portion 134. In other words, the main grip portion 135, the second connection portion 132, the third connection portion 133 and the fourth connection portion 134 of this embodiment are connected in sequence to form a ring structure. The main grip portion 135 is tilted relative to the second connection portion 132 so that the user can hold the main grip portion 135 and control the movement of the cleaning device 10. The first force sensing element 31 may be disposed on the main grip portion 135 to sense the pressure applied by the user to the grip 13 .

[0190] In alternative embodiments, please also refer to Figure 7 The grip 13 includes a main grip portion 135 and a first connection portion 131. The main grip portion 135 is for the user to hold. One end of the first connection portion 131 is connected to the body, and the end of the first connection portion 131 away from the body is directly connected to the main grip portion 135. The main grip portion 135 is tilted relative to the first connection portion 131 so that the user can hold the main grip portion 135 and control the movement of the cleaning device 10. The above-mentioned first force sensing element 31 can be arranged on the main grip portion 135 to sense the pressure applied to the grip 13 by the user.

[0191] Please also read Figure 8 , Figure 8 It is a flow chart of the second embodiment of the power-assisting method for cleaning equipment of the present application.

[0192] S201: Acquire control information of a cleaning device, where the control information includes information about the pressure applied by the user to the inner side of the handle when the handle is held by the user.

[0193] In this embodiment, the target turning direction of the cleaning device is determined by the pressure information applied by the user to the inner side of the grip, so as to control the power assist device to provide the cleaning device with power assist to drive the cleaning device to turn along the target turning direction. The target turning direction is defined as the turning direction in which the user intends the cleaning device to turn. Specifically, the control information of the cleaning device is obtained, and the control information includes the pressure information applied by the user to the inner side of the grip when the grip is held by the user.

[0194] S202: Determine the action of the cleaning device based on the control information, where the action of the cleaning device includes a turning action.

[0195] In this embodiment, after the control information of the cleaning device is acquired, the action of the cleaning device is determined based on the control information, and the action of the cleaning device includes a turning action, so as to control the power assist device to provide power assist for the cleaning device to turn along the target turning direction.

[0196] S203: Control the power assist device to provide a first power assist for the user to manipulate the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

[0197] In this embodiment, after the action of the cleaning device is determined based on the control information, the power assist device is controlled to provide a first assist for the user to manipulate the action of the cleaning device, wherein the first assist is configured to drive the cleaning device to turn along a target turning direction.

[0198] Through the above method, this embodiment determines the target turning direction of the cleaning device through the pressure information applied by the user to the inner side of the grip, so as to control the power assist device to provide power assist to the cleaning device to drive the cleaning device to turn along the target turning direction, so that the user can control the cleaning device to turn along the target turning direction more easily and labor-savingly.

[0199] It should be noted that a first force sensing element 31 is disposed on the inner side of the handle 13. The first force sensing element 31 is used to sense the pressure applied by the user to the inner side of the handle 13. Fig. 9 As shown, for the example in which the handle 13 includes a first connection portion 131, a second connection portion 132, a third connection portion 133, a fourth connection portion 134 and a main grip portion 135, the first force sensing element 31 is disposed on a side of the main grip portion 135 close to the first connection portion 131. Fig.10 As shown, for the example in which the main gripping portion 135 of the gripping rod 13 is directly connected to the first connecting portion 131 , the first force sensing element 31 is disposed on a side of the main gripping portion 135 close to the first connecting portion 131 .

[0200] Please also read Fig.11 , Fig.11 It is a flow chart of the third embodiment of the power-assisting method for cleaning equipment of the present application.

[0201] S301: Acquire control information of a cleaning device, where the control information includes information about the pressure applied by the user to the outer side of the handle when the handle is held by the user.

[0202] In this embodiment, the target turning direction of the cleaning device is determined by the pressure information applied by the user to the outside of the handle, so as to control the power assist device to provide the cleaning device with power assist to drive the cleaning device to turn along the target turning direction. The target turning direction is defined as the turning direction in which the user intends the cleaning device to turn. Specifically, the control information of the cleaning device is obtained, and the control information includes the pressure information applied by the user to the outside of the handle when the handle is held by the user.

[0203] S302: Determine the action of the cleaning device based on the control information, where the action of the cleaning device includes a turning action.

[0204] In this embodiment, after the control information of the cleaning device is acquired, the action of the cleaning device is determined based on the control information, and the action of the cleaning device includes a turning action, so as to control the power assist device to provide power assist for the cleaning device to turn along the target turning direction.

[0205] S303: Control the power assist device to provide a first power assist for the user to manipulate the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

[0206] In this embodiment, after the action of the cleaning device is determined based on the control information, the power assist device is controlled to provide a first assist for the user to manipulate the action of the cleaning device, wherein the first assist is configured to drive the cleaning device to turn along a target turning direction.

[0207] Through the above method, this embodiment determines the target turning direction of the cleaning device through the pressure information applied by the user to the outside of the grip, so as to control the power assist device to provide power assist for the cleaning device to drive the cleaning device to turn along the target turning direction, so that the user can control the cleaning device to turn along the target turning direction more easily and labor-savingly.

[0208] It should be noted that a first force sensing element 31 is disposed on the outer side of the handle 13. The first force sensing element 31 is used to sense the pressure applied by the user to the outer side of the handle 13. Fig.12 As shown, for the example in which the handle 13 includes a first connection portion 131, a second connection portion 132, a third connection portion 133, a fourth connection portion 134 and a main grip portion 135, the first force sensing element 31 is disposed on a side of the main grip portion 135 away from the first connection portion 131. Fig.13 As shown, for the example in which the main grip portion 135 of the handle 13 is directly connected to the first connection portion 131, the first force sensing element 31 is disposed on a side of the main grip portion 135 away from the first connection portion 131. Optionally, the first force sensing element 31 may be a pressure sensor or the like.

[0209] Please also read Fig.14 , Fig.14It is a flow chart of the fourth embodiment of the power-assisting method for cleaning equipment of the present application.

[0210] S401: Acquire control information of a cleaning device, where the control information includes a turning direction of the cleaning device when a user controls the cleaning device to move along a target turning direction.

[0211] In this embodiment, by acquiring the control information of the cleaning device, that is, acquiring the turning direction of the cleaning device when the user controls the cleaning device to move along the target turning direction, the target turning direction is determined (at this time, the turning direction of the cleaning device is the target turning direction), so as to control the power assist device to provide power assist for the cleaning device to drive the cleaning device to turn along the target turning direction.

[0212] S402: Determine the action of the cleaning device based on the control information, where the action of the cleaning device includes a turning action.

[0213] In this embodiment, after the control information of the cleaning device is acquired, the action of the cleaning device is determined based on the control information, and the action of the cleaning device includes a turning action, so as to control the power assist device to provide power assist for the cleaning device to turn along the target turning direction.

[0214] S403: Control the power assist device to provide a first power assist for the user to manipulate the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

[0215] In this embodiment, after the action of the cleaning device is determined based on the control information, the power assist device is controlled to provide a first assist for the user to manipulate the action of the cleaning device, wherein the first assist is configured to drive the cleaning device to turn along a target turning direction.

[0216] In the above manner, this embodiment determines the target turning direction of the cleaning device by the turning direction of the cleaning device when the user controls the cleaning device to move along the target turning direction, so as to control the power-assisting device to provide the cleaning device with power to drive the cleaning device to turn along the target turning direction, so that the user can control the cleaning device to turn along the target turning direction more easily and labor-savingly. Specifically, when the user controls the cleaning device to turn toward the first side, control information of the cleaning device turning toward the first side is obtained, so as to control the power-assisting device to provide the first power to the user controlling the cleaning device to turn toward the first side according to the control information; when the user controls the cleaning device to turn toward the second side, control information of the cleaning device turning toward the second side is obtained, so as to control the power-assisting device to provide the first power to the user controlling the cleaning device to turn toward the second side according to the control information.

[0217] Please also read Fig.15 and Fig.16 , Fig.15 is a structural schematic diagram of the seventh embodiment of the grip of the present application, Fig.16It is a structural schematic diagram of an embodiment of a cleaning device of the present application having a motion sensing element disposed on its body.

[0218] In one embodiment, the cleaning device 10 further includes a motion sensing element 32, which is configured to sense the turning direction of the cleaning device 10 when the user controls the cleaning device 10 to move along the target turning direction, so that the power assist device provides a first assist for the user to control the movement of the cleaning device 10.

[0219] Furthermore, the motion sensing element 32 may be disposed on the handle 13, such as Fig.15 Or the motion sensing element 32 may be disposed on the body 12, such as Fig.16 Optionally, the motion sensing element 32 may be a gyroscope, etc., which is not limited here.

[0220] Please also read Fig.17 , Fig.17 It is a flow chart of the fifth embodiment of the power-assisting method for cleaning equipment of the present application.

[0221] S501: Acquire control information of the cleaning device, where the control information includes information input by the user and representing the user's intention to control the cleaning device to turn along a target turning direction.

[0222] In this embodiment, the target turning direction is determined by acquiring control information of the cleaning device, that is, information input by the user and representing the user's intention to control the cleaning device to turn along the target turning direction, so as to control the power assist device to provide power assist to the cleaning device to drive the cleaning device to turn along the target turning direction.

[0223] S502: Determine the action of the cleaning device based on the control information, where the action of the cleaning device includes a turning action.

[0224] In this embodiment, after the control information of the cleaning device is acquired, the action of the cleaning device is determined based on the control information, and the action of the cleaning device includes a turning action, so as to control the power assist device to provide power assist for the cleaning device to turn along the target turning direction.

[0225] S503: Control the power assist device to provide a first power assist for the user to manipulate the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

[0226] In this embodiment, after the action of the cleaning device is determined based on the control information, the power assist device is controlled to provide a first assist for the user to manipulate the action of the cleaning device, wherein the first assist is configured to drive the cleaning device to turn along a target turning direction.

[0227] In the above manner, this embodiment determines the target turning direction of the cleaning device by acquiring information input by the user and representing the user's intention to control the cleaning device to turn in the target turning direction, so as to control the power-assisting device to provide the cleaning device with power to drive the cleaning device to turn in the target turning direction, so that the user can control the cleaning device to turn in the target turning direction more easily and effortlessly. Specifically, when the user intends to control the cleaning device to turn toward the first side, the user inputs control information representing the intention to control the cleaning device to turn toward the first side to the cleaning device, so as to control the power-assisting device to provide the first power to the user to control the cleaning device to turn toward the first side according to the control information; when the user intends to control the cleaning device to turn toward the second side, the user inputs control information representing the intention to control the cleaning device to turn toward the second side to the cleaning device, so as to control the power-assisting device to provide the first power to the user to control the cleaning device to turn toward the second side according to the control information.

[0228] In one embodiment, the cleaning device also includes a control element 33, which is disposed on the handle 13. The control element 33 is configured to receive control information input by a user and representing the user's intention to control the cleaning device to turn along a target turning direction, so that the power assist device provides a first assist for the user to control the cleaning device to turn based on the control information.

[0229] like Fig.18 As shown, for the example in which the handle 13 includes a first connection portion 131, a second connection portion 132, a third connection portion 133, a fourth connection portion 134 and a main grip portion 135, the control element 33 can be disposed at the fourth connection portion 134. Fig.19 As shown, for the example in which the main grip portion 135 of the handle 13 is directly connected to the first connection portion 131, the control element 33 can be provided on the main grip portion 135. Optionally, the control element 33 can be a push switch, a roller, etc., which is not limited here.

[0230] Please also read Fig. 20 and Fig.21 , Fig. 20 yes Figure 1 The schematic diagram of the back structure of the cleaning device shown, Fig.21 yes Fig. 20 A schematic diagram of the structure of the cleaning equipment area A is shown.

[0231] In one embodiment, a connecting pipe 16 is provided between the body 12 and the floor brush 11, and the connecting pipe 16 and the floor brush 11 are rotatably provided. A second force sensing element 34 is provided between the connecting pipe 16 and the floor brush 11. Specifically, the second force sensing element 34 is provided between one side of the connecting pipe 16 and the floor brush 11, or the second force sensing element 34 is provided between both sides of the connecting pipe 16 and the floor brush 11. When the cleaning device performs a turning action, the second force sensing element 34 on one side of the connecting pipe 16 is squeezed by the connecting pipe 16 and the floor brush 11.

[0232] Specifically, the connecting tube 16 includes a third side C3 and a fourth side C4, the third side C3 and the first side C1 are located on the same side, the fourth side C4 and the second side C2 are located on the same side, and the fourth side C4 of the connecting tube 16 is provided with a second force sensing element 34. When the floor brush 11 turns toward the second side C2, the second force sensing element 34 of the fourth side C4 is squeezed by the connecting tube 16 and the floor brush 11. Further, the third side C3 of the connecting tube 16 is provided with a second force sensing element 34; when the floor brush 11 turns toward the first side C1, the second force sensing element 34 of the third side C3 is squeezed by the connecting tube 16 and the floor brush 11.

[0233] Optionally, the second force sensing element 34 may be a pressure sensor or the like.

[0234] Please also read Fig. 22 , Fig. 22 It is a flow chart of the sixth embodiment of the power-assisting method for cleaning equipment of the present application.

[0235] S601: Acquire control information of the cleaning device, where the control information includes pressure information applied by the connecting pipe and the floor brush to the second force sensing element when the floor brush turns along a target turning direction.

[0236] In this embodiment, when the floor brush turns toward the first side, the second force sensing element on the third side is squeezed by the connecting tube and the floor brush, and the second force sensing element on the third side receives pressure information; when the floor brush turns toward the second side, the second force sensing element on the fourth side is squeezed by the connecting tube and the floor brush, and the second force sensing element on the fourth side receives pressure information. Therefore, based on the pressure information applied to the second force sensing element by the connecting tube and the floor brush when the floor brush turns along the target turning direction, the target turning direction of the cleaning device can be determined, and then the power assist device can be controlled to provide the cleaning device with power assist to drive the cleaning device to turn along the target turning direction. The target turning direction is defined as the turning direction in which the user intends the cleaning device to perform a turning action. Specifically, control information of the cleaning device is obtained, and the control information includes pressure information applied to the second force sensing element by the connecting tube and the floor brush when the floor brush turns along the target turning direction.

[0237] S602: Determine the action of the cleaning device based on the control information, where the action of the cleaning device includes a turning action.

[0238] In this embodiment, after the control information of the cleaning device is acquired, the action of the cleaning device is determined based on the control information, and the action of the cleaning device includes a turning action, so as to control the power assist device to provide power assist for the cleaning device to turn along the target turning direction.

[0239] S603: Control the power assist device to provide a first power assist for the user to manipulate the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

[0240] In this embodiment, after the action of the cleaning device is determined based on the control information, the power assist device is controlled to provide a first assist for the user to manipulate the action of the cleaning device, wherein the first assist is configured to drive the cleaning device to turn along a target turning direction.

[0241] Through the above method, this embodiment determines the target turning direction of the cleaning device through the pressure information applied to the second force sensing element by the connecting tube and the floor brush when the floor brush turns along the target turning direction, so as to control the power assisting device to provide power assisting the cleaning device to drive the cleaning device to turn along the target turning direction, so that the user can control the cleaning device to turn along the target turning direction more labor-saving and conveniently.

[0242] Please also read Fig.23 , Fig.23 It is a flow chart of the seventh embodiment of the power-assisting method for cleaning equipment of the present application.

[0243] S701: Obtaining resistance information encountered by the cleaning device in the resistance mode.

[0244] In this embodiment, when the cleaning device is in a flat state, the cleaning device is also configured with a resistance mode, and the resistance mode can select an adaptive power-assisting action according to the volume of the obstacle encountered by the cleaning device. In view of this, this embodiment obtains the resistance information encountered by the cleaning device in the resistance mode, so as to determine the volume of the obstacle according to the resistance information, and then select an adaptive power-assisting action. It can be understood that the larger the volume of the obstacle encountered by the cleaning device, the greater the resistance encountered by the cleaning device, and the smaller the volume of the obstacle encountered by the cleaning device, the smaller the resistance encountered by the cleaning device.

[0245] S702: According to the resistance information, the power assisting device is controlled to perform corresponding power assisting actions.

[0246] In this embodiment, after obtaining the resistance information of the cleaning device in the resistance mode, the power assist device is controlled to perform the corresponding power assist action according to the resistance information. For example, when the cleaning device encounters a small obstacle, the cleaning device is controlled to cross the obstacle and the obstacle can be controlled to be recovered. When the cleaning device encounters a large obstacle, the cleaning device is controlled to stop moving or to be controlled to stay away from the obstacle, so as to avoid damage caused by the cleaning device forcibly crossing the obstacle.

[0247] Especially when the cleaning device is in a lying state, if no power assist is provided to the cleaning device, it will be difficult for the user to control the movement of the cleaning device. Cleaning devices in a lying state are usually used to clean low areas such as under beds, sofas, tables and chairs. Since the user cannot accurately know the situation of obstacles due to the obstruction of vision, if an appropriate power assist action is not taken, it will be extremely inconvenient for the user to control the cleaning device to clean in low areas. In view of this, the cleaning device of this embodiment is configured with a resistance mode. The resistance mode can select an appropriate power assist action according to the volume of obstacles encountered by the cleaning device, making it easier and more convenient for the user to control the cleaning device to clean in low areas.

[0248] Please also read Fig.24 , Fig.24 It is a flow chart of the eighth embodiment of the power-assisting method for cleaning equipment of the present application.

[0249] S801: Obtaining resistance information of the cleaning device in the resistance mode.

[0250] In this embodiment, when the cleaning device is in a flat state, the cleaning device is also configured with a resistance mode, and the resistance mode can select an adaptive power-assisting action according to the volume of the obstacle encountered by the cleaning device. In view of this, this embodiment obtains the resistance information encountered by the cleaning device in the resistance mode, determines the volume of the obstacle according to the resistance information, and then selects an adaptive power-assisting action.

[0251] Further, the resistance of the cleaning device is determined by detecting the torque of the driving roller brush and / or the torque of the driving power-assisted wheel. Alternatively, the resistance of the cleaning device is determined by detecting the current of the driving roller brush and / or the current of the driving power-assisted wheel.

[0252] S802: Compare the resistance experienced by the cleaning device in the resistance mode with the first resistance threshold and the second resistance threshold.

[0253] In this embodiment, the first resistance threshold is less than the second resistance threshold. If the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, step S803 is executed; if the resistance is greater than the second resistance threshold, step S804 is executed.

[0254] S803: If the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, control the power assisting device to provide a second power assisting device for the cleaning device to cross the obstacle.

[0255] In this embodiment, if the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, it means that the obstacle encountered by the cleaning device is small in size, and the cleaning device can be controlled to cross the obstacle, and the cleaning device can be controlled to recycle the obstacle. Therefore, the power-assisting device is controlled to provide a second power assist for the cleaning device to cross the obstacle. For the example in which the power-assisting device may include a power-assisting wheel, the specific form of the second power assist provided by the power-assisting device may be to control the power-assisting wheel to increase the rotation speed. The process is then terminated.

[0256] S804: If the resistance is greater than the second resistance threshold, control the cleaning device to stop moving.

[0257] In this embodiment, if the resistance is greater than the second resistance threshold, it means that the obstacle encountered by the cleaning device is relatively large, and the cleaning device should be controlled to stop moving to avoid damage caused by the cleaning device forcibly crossing the obstacle.

[0258] Furthermore, when the cleaning device encounters a large obstacle, the power-assisted wheel can be controlled to stop rotating. Alternatively, since the roller brush rotates forward during cleaning, it provides a certain forward driving force to the cleaning device, so when the cleaning device encounters a large obstacle, the roller brush can also be controlled to stop rotating.

[0259] Please also read Fig.25 , Fig.25 It is a flow chart of the ninth embodiment of the power-assisting method for cleaning equipment of the present application.

[0260] S901: Obtaining resistance information of the cleaning device in the resistance mode.

[0261] In this embodiment, when the cleaning device is in a flat state, the cleaning device is also configured with a resistance mode, and the resistance mode can select an adaptive power-assisting action according to the volume of the obstacle encountered by the cleaning device. In view of this, this embodiment obtains the resistance information encountered by the cleaning device in the resistance mode, determines the volume of the obstacle according to the resistance information, and then selects an adaptive power-assisting action.

[0262] Further, the resistance of the cleaning device is determined by detecting the torque of the driving roller brush and / or the torque of the driving power-assisted wheel. Alternatively, the resistance of the cleaning device is determined by detecting the current of the driving roller brush and / or the current of the driving power-assisted wheel.

[0263] S902: Compare the resistance experienced by the cleaning device in the resistance mode with the first resistance threshold and the second resistance threshold.

[0264] In this embodiment, the first resistance threshold is less than the second resistance threshold. If the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, step S903 is executed; if the resistance is greater than the second resistance threshold, step S904 is executed.

[0265] S903: If the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, control the power assisting device to provide a second power assisting device for the cleaning device to cross the obstacle.

[0266] In this embodiment, if the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, it means that the obstacle encountered by the cleaning device is small in size, and the cleaning device can be controlled to cross the obstacle, and the cleaning device can be controlled to recycle the obstacle. Therefore, the power-assisting device is controlled to provide a second power assist for the cleaning device to cross the obstacle. For the example in which the power-assisting device may include a power-assisting wheel, the specific form of the second power assist provided by the power-assisting device may be to control the power-assisting wheel to increase the rotation speed. The process is then terminated.

[0267] S904: If the resistance is greater than the second resistance threshold, the power assist device is controlled to provide a third power assist to drive the cleaning device to move in a direction away from the obstacle.

[0268] In this embodiment, if the resistance is greater than the second resistance threshold, it means that the obstacle encountered by the cleaning device is relatively large, and the power assist device can be controlled to provide a third power assist to drive the cleaning device to move in a direction away from the obstacle, so as to avoid damage caused by the cleaning device forcibly crossing the obstacle. In other words, when the obstacle encountered by the cleaning device is relatively large, the power assist device is controlled to assist the cleaning device to move in a direction away from the obstacle, and the trend of the cleaning device moving in a direction away from the obstacle can be perceived by the user, which is conducive to the user's understanding of the obstacles encountered by the cleaning device, and further conducive to the user's reasonable control of the cleaning device to clean in low areas.

[0269] Please also read Fig.26 , Fig.26 It is a schematic diagram of the travel of the cleaning device of the present application in the push-pull mode.

[0270] In one embodiment, the cleaning device is also configured with a push-pull mode when it is in a flat state. When the user operates the cleaning device to clean, if stubborn dirt is encountered or the user wants to increase the cleaning frequency of a local area, the cleaning device enters the push-pull mode. Specifically, under the push and pull of the user, the cleaning device moves forward from the starting position O to the first extreme position S1, then retreats from the first extreme position S1, passes the starting position O and retreats to the second extreme position S2, then moves forward from the second extreme position S2, passes the starting position O and moves forward to the first extreme position S1, and repeats this process multiple times.

[0271] When the cleaning device is in a flat state, if no power is provided to the cleaning device, it will be difficult for the user to control the movement of the cleaning device. Cleaning devices in a flat state are usually used to clean low areas such as under beds, sofas, tables and chairs. Since the user cannot accurately know the situation of obstacles due to the obstruction of vision, if no appropriate power-assisting action is taken, it will be extremely inconvenient for the user to control the cleaning device to clean in low areas. In view of this, the cleaning device of this embodiment is configured with a push-pull mode, and the push-pull mode can select an appropriate power-assisting action, making it easier and more convenient for the user to control the cleaning device for cleaning.

[0272] It should be noted that the parking position of the cleaning device can be taken as the starting position O, at which the distance is zero, and then the distance moved by the cleaning device from the starting position O to the first extreme position S1 and the distance moved by the cleaning device from the starting position O to the second extreme position S2 are calculated, that is, the distance the user pushes forward and pulls back the cleaning device. The distance between the starting position O and the first extreme position S1 and / or the distance between the starting position O and the second extreme position S2 can also be input by the user into the cleaning device, for example, the user can input the cleaning device through an App (Application) or the like. The user can input human body data, such as height, arm span, etc., and then calculate the distance the user pushes forward and pulls back the cleaning device, that is, the distance between the starting position O and the first extreme position S1 and / or the distance between the starting position O and the second extreme position S2.

[0273] Please also read Fig. 27 , Fig. 27 It is a flow chart of the tenth embodiment of the power-assisting method for cleaning equipment of the present application.

[0274] S1001: The cleaning device is in a lying state and enters a push-pull mode.

[0275] In this embodiment, when the user operates the cleaning device to clean, if stubborn dirt is encountered or the user wants to increase the cleaning frequency of a local area, the cleaning device enters the push-pull mode. In this embodiment, the cleaning device is in a lying state.

[0276] S1002: When the cleaning device moves from the starting position to the first limit position in the push-pull mode, the power assisting device is controlled to provide a fourth power assisting device to the cleaning device.

[0277] In this embodiment, the roller brush provides a forward driving force to the cleaning device during the process of the cleaning device moving forward. When the cleaning device moves forward from the starting position to the first limit position in the push-pull mode, in order to overcome the forward driving force provided by the roller brush so as to facilitate the user to pull the cleaning device backward, the power assist device is controlled to provide a fourth power assist to the cleaning device. The direction of the fourth power assist is opposite to the direction of the driving force, and the fourth power assist can balance at least part of the driving force, reduce the pulling force required for the user to pull the cleaning device backward, and enable the user to pull the cleaning device backward with more effort.

[0278] Furthermore, the power-assisting device may be controlled to provide the fourth power-assisting force to the cleaning device by specifically controlling the power-assisting wheel to rotate backward, so that the power-assisting wheel provides the fourth power-assisting force to the cleaning device.

[0279] Furthermore, in the process of the cleaning device moving forward from the starting position to the first limit position and / or in the process of the cleaning device moving backward from the first limit position to the starting position, the power assist device is controlled to provide the cleaning device with a fifth power assist. The direction of the fifth power assist is opposite to the direction of the driving force provided by the roller brush, so that the fifth power assist can balance at least part of the driving force, and avoid as much as possible the cleaning device being pulled by the driving force provided by the roller brush, which has an adverse effect on the user's experience.

[0280] Optionally, the fifth assisting force is less than or equal to the driving force provided by the roller brush. By reasonably setting the size of the fifth assisting force, on the one hand, the fifth assisting force can balance at least part of the driving force to avoid the cleaning device pulling the user as much as possible; on the other hand, the fifth assisting force will not be too large, so that the user can easily control the movement of the cleaning device.

[0281] Please also read Fig.28 , Fig.28 It is a flow chart of the eleventh embodiment of the power-assisting method for the cleaning device of the present application.

[0282] S1101: The cleaning device is in a lying state and enters a push-pull mode.

[0283] In this embodiment, when the user operates the cleaning device to clean, if stubborn dirt is encountered or the user wants to increase the cleaning frequency of a local area, the cleaning device enters the push-pull mode. In this embodiment, the cleaning device is in a lying state.

[0284] S1102: When the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, the power assisting device is controlled to provide a sixth power assisting device to the cleaning device.

[0285] In this embodiment, the direction of the sixth assist is the same as the direction of the driving force provided by the roller brush. When the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, in order to facilitate the user to push the cleaning device forward, the assist device is controlled to provide the sixth assist to the cleaning device. At this time, the sixth assist and the driving force provided by the roller brush cooperate to assist the user to push the cleaning device forward, so that the user can push the cleaning device forward with relatively less effort.

[0286] Furthermore, the way of controlling the power-assisting device to provide the sixth power-assisting force to the cleaning device may specifically be to control the power-assisting wheel to rotate forward so that the power-assisting wheel provides the sixth power-assisting force to the cleaning device.

[0287] Furthermore, in the process of the cleaning device retreating from the starting position to the second extreme position and / or in the process of the cleaning device advancing from the second extreme position to the starting position, the power assist device is controlled to provide the cleaning device with a seventh power assist. The direction of the seventh power assist is opposite to the direction of the driving force provided by the roller brush, so that the seventh power assist can balance at least part of the driving force, and avoid as much as possible the cleaning device being pulled by the driving force provided by the roller brush, which has an adverse effect on the user's experience.

[0288] Optionally, the seventh assisting force is less than or equal to the driving force provided by the roller brush. By reasonably setting the size of the seventh assisting force, on the one hand, the seventh assisting force can balance at least part of the driving force to avoid the cleaning device pulling the user as much as possible; on the other hand, the seventh assisting force will not be too large, so that the user can easily control the movement of the cleaning device.

[0289] It should be noted that the cleaning device in the tilted state is also equipped with the above-mentioned resistance mode and push-pull mode. The specific details of the resistance mode and push-pull mode have been described in detail in the above embodiments and will not be repeated here. When the cleaning device is in an upright state, if the user wants to control the cleaning device to perform fixed-point cleaning, the power-assist wheel can be controlled to rotate backward so that the power-assist wheel provides a balanced driving force provided by the roller brush, so that the cleaning device remains parked in place, and the roller brush continues to clean the parking position of the cleaning device, achieving the effect of fixed-point cleaning.

[0290] In one embodiment of the present application, the cleaning device includes a body, a floor brush is connected to the lower end of the body, a connecting pipe is arranged between the body and the floor brush, the connecting pipe and the floor brush are rotatably arranged, a second force sensing element is arranged between the connecting pipe and the floor brush, and the floor brush is provided with a power assisting device, and the power assisting method includes: obtaining control information of the cleaning device, the control information includes pressure information applied by the connecting pipe and the floor brush to the second force sensing element when the floor brush turns along a target turning direction; controlling the power assisting device to work, so as to provide a first power assisting device for the user to control the action of the cleaning device, wherein the first power assisting device is configured to drive the floor brush to turn along the target turning direction.

[0291] In one embodiment of the present application, a second force sensing element is provided between one side of the connecting tube and the floor brush, or a second force sensing element is provided between both sides of the connecting tube and the floor brush. When the cleaning device performs a turning action, the second force sensing element on one side of the connecting tube is squeezed by the connecting tube and the floor brush.

[0292] In one embodiment of the present application, the cleaning device also includes a grip rod, which is used for a user to hold the grip rod, and the grip rod includes a first side and a second side; the connecting tube includes a third side and a fourth side, the third side is located on the same side as the first side, and the fourth side is located on the same side as the second side, and a second force sensing element is provided on the fourth side of the connecting tube; when the floor brush turns toward the second side, the second force sensing element on the fourth side is squeezed by the connecting tube and the floor brush.

[0293] In one embodiment of the present application, a second force sensing element is provided on the third side of the connecting tube; when the floor brush turns toward the first side, the second force sensing element on the third side is squeezed by the connecting tube and the floor brush.

[0294] In one embodiment of the present application, the cleaning device is configured with a resistance mode when the cleaning device is in a lying state, the cleaning device includes a power assisting device, and the power assisting method includes: obtaining the resistance information received by the cleaning device in the resistance mode; and controlling the power assisting device to perform corresponding power assisting actions according to the resistance information.

[0295] In one embodiment of the present application, the step of controlling the power assist device to perform corresponding power assist actions according to the resistance information includes: comparing the resistance experienced by the cleaning device in the resistance mode with a first resistance threshold and a second resistance threshold, wherein the first resistance threshold is less than the second resistance threshold; if the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, controlling the power assist device to provide a second power assist for the cleaning device to cross the obstacle; if the resistance is greater than the second resistance threshold, controlling the cleaning device to stop moving.

[0296] In one embodiment of the present application, the cleaning device is also provided with a roller brush, and the power-assisting device includes a power-assisting wheel; the step of obtaining the resistance information encountered by the cleaning device in the resistance mode includes: detecting the torque of driving the roller brush and / or the torque of driving the power-assisting wheel to determine the resistance encountered by the cleaning device.

[0297] In one embodiment of the present application, the cleaning device is also provided with a roller brush, and the power-assisting device includes a power-assisting wheel; the step of obtaining the resistance information encountered by the cleaning device in the resistance mode includes: detecting the current driving the roller brush and / or the current driving the power-assisting wheel to determine the resistance encountered by the cleaning device.

[0298] In one embodiment of the present application, the cleaning device is configured with a resistance mode when the cleaning device is in a lying state, the cleaning device includes a power assisting device, and the power assisting method includes: obtaining the resistance information received by the cleaning device in the resistance mode; and controlling the power assisting device to perform corresponding power assisting actions according to the resistance information.

[0299] In one embodiment of the present application, the step of controlling the power assist device to perform corresponding power assist actions according to the resistance information includes: comparing the resistance experienced by the cleaning device in the resistance mode with a first resistance threshold and a second resistance threshold, wherein the first resistance threshold is less than the second resistance threshold; if the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, controlling the power assist device to provide a second power assist for the cleaning device to cross the obstacle; if the resistance is greater than the second resistance threshold, controlling the power assist device to provide a third power assist for driving the cleaning device to move in a direction away from the obstacle.

[0300] In one embodiment of the present application, the cleaning device is also provided with a roller brush, and the power-assisting device includes a power-assisting wheel; the step of obtaining the resistance information encountered by the cleaning device in the resistance mode includes: detecting the torque of driving the roller brush and / or the torque of driving the power-assisting wheel to determine the resistance encountered by the cleaning device.

[0301] In one embodiment of the present application, the cleaning device is also provided with a roller brush, and the power-assisting device includes a power-assisting wheel; the step of obtaining the resistance information encountered by the cleaning device in the resistance mode includes: detecting the current driving the roller brush and / or the current driving the power-assisting wheel to determine the resistance encountered by the cleaning device.

[0302] In one embodiment of the present application, the cleaning device is configured with a push-pull mode when the cleaning device is in a lying state, the cleaning device includes a power assisting device and a roller brush, and the power assisting method includes: when the cleaning device moves from a starting position to a first extreme position in the push-pull mode, controlling the power assisting device to provide a fourth power assisting force to the cleaning device; wherein, the roller brush provides a forward driving force to the cleaning device during the forward movement of the cleaning device, and the direction of the fourth power assisting force is opposite to the direction of the driving force.

[0303] In one embodiment of the present application, the power-assisting device includes a power-assisting wheel; the step of controlling the power-assisting device to provide the fourth power-assisting force to the cleaning device includes: controlling the power-assisting wheel to rotate backward so that the power-assisting wheel provides the fourth power-assisting force to the cleaning device.

[0304] In one embodiment of the present application, the assisting method also includes: controlling the assisting device to provide a fifth assisting force to the cleaning device during the process of the cleaning device moving forward from a starting position to a first extreme position and / or during the process of the cleaning device retreating from a first extreme position to a starting position; wherein the direction of the fifth assisting force is opposite to the direction of the driving force.

[0305] In one embodiment of the present application, the fifth assist force is less than or equal to the driving force.

[0306] In one embodiment of the present application, the assisting method further includes: when the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, controlling the assisting device to provide a sixth assisting force to the cleaning device; wherein the direction of the sixth assisting force is the same as the direction of the driving force.

[0307] In one embodiment of the present application, the power-assisting device includes a power-assisting wheel; the step of controlling the power-assisting device to provide the sixth power-assisting force to the cleaning device includes: controlling the power-assisting wheel to rotate forward so that the power-assisting wheel provides the sixth power-assisting force to the cleaning device.

[0308] In one embodiment of the present application, the assisting method also includes: controlling the assisting device to provide a seventh assisting force to the cleaning device during the process of the cleaning device retreating from the starting position to the second extreme position and / or during the process of the cleaning device moving forward from the second extreme position to the starting position; wherein the direction of the seventh assisting force is opposite to the direction of the driving force.

[0309] In one embodiment of the present application, the seventh assisting force is less than or equal to the driving force.

[0310] The technical solution provided in the embodiment of the present application is described below in conjunction with specific application scenarios.

[0311] Embodiment 1:

[0312] The cleaning device includes a grip, which is used for a user to hold it, and the cleaning device also includes a power assist device. The power assist method of the cleaning device includes: obtaining control information of the cleaning device, the control information includes pressure information applied by the user to both sides of the grip when the grip is held by the user; determining the action of the cleaning device based on the control information, the action of the cleaning device includes a turning action; controlling the power assist device to work, so as to provide a first power assist for the user to manipulate the action of the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction. The target turning direction of the cleaning device is determined by the pressure information applied by the user to both sides of the grip, so as to control the power assist device to provide the cleaning device with power assist to drive the cleaning device to turn along the target turning direction, so that the user can more easily and labor-savingly manipulate the cleaning device to turn along the target turning direction.

[0313] Embodiment 2:

[0314] When the grip is held by the user and the pressure on the first side is greater than the pressure on the second side, the cleaning device is controlled to turn toward the second side, specifically, the first power provided by the power assist device drives the cleaning device to turn toward the second side. Further, when the grip is held by the user and the pressure on the first side is less than the pressure on the second side, the cleaning device is controlled to turn toward the first side, specifically, the first power provided by the power assist device drives the cleaning device to turn toward the first side.

[0315] The first side and the second side of the handle are both provided with a first force sensing element. The first force sensing element located on the first side is used to sense the pressure applied by the user to the first side of the handle, and similarly, the first force sensing element located on the second side is used to sense the pressure applied by the user to the second side of the handle. The pressure on the first side mentioned above is greater than the pressure on the second side, specifically, the pressure sensed by the first force sensing element on the first side is greater than the pressure sensed by the first force sensing element on the second side; the pressure on the first side mentioned above is less than the pressure on the second side, specifically, the pressure sensed by the first force sensing element on the first side is less than the pressure sensed by the first force sensing element on the second side.

[0316] Embodiment three:

[0317] When the handle is held by the user and the pressure on the first side is greater than a preset value, the cleaning device is controlled to turn toward the second side, specifically, the first power provided by the power assist device drives the cleaning device to turn toward the second side. Further, when the handle is held by the user and the pressure on the second side is greater than a preset value, the cleaning device is controlled to turn toward the first side, specifically, the first power provided by the power assist device drives the cleaning device to turn toward the first side.

[0318] The first side and the second side of the handle are both provided with a first force sensing element. The pressure on the first side is greater than a preset value, specifically, the pressure sensed by the first force sensing element on the first side is greater than the preset value; the pressure on the second side is greater than the preset value, specifically, the pressure sensed by the first force sensing element on the second side is less than the preset value.

[0319] Embodiment 4:

[0320] The cleaning device includes a grip rod, which is used for a user to hold the grip rod, and the cleaning device also includes a power assist device. The power assist method of the cleaning device includes: obtaining control information of the cleaning device, the control information including pressure information applied by the user to the inner side of the grip rod when the user holds the grip rod; determining the action of the cleaning device based on the control information, the action of the cleaning device including a turning action; controlling the power assist device to work, so as to provide a first power assist for the user to control the action of the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

[0321] Embodiment five:

[0322] The cleaning device includes a grip rod, which is used for a user to hold the grip rod, and the cleaning device also includes a power assist device. The power assist method of the cleaning device includes: obtaining control information of the cleaning device, the control information includes information of pressure applied by the user to the outer side of the grip rod when the user holds the grip rod; determining the action of the cleaning device based on the control information, the action of the cleaning device includes a turning action; controlling the power assist device to work, so as to provide a first power assist for the user to control the action of the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

[0323] Embodiment six:

[0324] The assisting method for a cleaning device includes: obtaining control information of the cleaning device, the control information including the turning direction of the cleaning device when a user controls the cleaning device to move along a target turning direction; determining an action of the cleaning device based on the control information, the action of the cleaning device including a turning action; and controlling an assisting device to operate so as to provide a first assisting force for the user to control the action of the cleaning device, wherein the first assisting force is configured to drive the cleaning device to turn along the target turning direction.

[0325] The body and / or the handle of the cleaning device are provided with a motion sensing element, which may be a gyroscope, etc. The motion sensing element is configured to sense the turning direction of the cleaning device when the user controls the cleaning device to move along the target turning direction, so that the power assist device provides a first assist for the user to control the movement of the cleaning device.

[0326] Embodiment seven:

[0327] The assisting method for a cleaning device includes: obtaining control information of the cleaning device, the control information including information input by a user and representing the user's intention to control the cleaning device to turn along a target turning direction; determining an action of the cleaning device based on the control information, the action of the cleaning device including a turning action; controlling an assisting device to operate so as to provide a first assisting force for the user to control the action of the cleaning device, wherein the first assisting force is configured to drive the cleaning device to turn along the target turning direction.

[0328] The handle of the cleaning device is provided with a control element, which may be a push switch, a roller, etc. The control element is configured to receive control information input by a user and representing the user's intention to control the cleaning device to turn along a target turning direction, so that the power assist device provides a first power assist for the user to control the cleaning device to turn based on the control information.

[0329] Embodiment eight:

[0330] A connecting tube is provided between the body and the floor brush, and the connecting tube and the floor brush are rotatably provided. A second force sensing element is provided between one side of the connecting tube and the floor brush, or a second force sensing element is provided between both sides of the connecting tube and the floor brush. When the cleaning device performs a turning action, the second force sensing element on one side of the connecting tube is squeezed by the connecting tube and the floor brush. The connecting tube includes a third side and a fourth side, the third side is located on the same side as the first side, the fourth side is located on the same side as the second side, and a second force sensing element is provided on the fourth side of the connecting tube. When the floor brush turns toward the second side, the second force sensing element on the fourth side is squeezed by the connecting tube and the floor brush. Further, a second force sensing element is provided on the third side of the connecting tube; when the floor brush turns toward the first side, the second force sensing element on the third side is squeezed by the connecting tube and the floor brush.

[0331] Embodiment nine:

[0332] When the cleaning device is in a lying state, the cleaning device is also equipped with a resistance mode. The power-assisting method of the cleaning device includes: obtaining the resistance information of the cleaning device in the resistance mode; according to the resistance information, controlling the power-assisting device to perform the corresponding power-assisting action. When the cleaning device is in a lying state, if no power-assisting is provided to the cleaning device, it will be difficult for the user to control the movement of the cleaning device. The cleaning device in the lying state is usually used to clean low areas such as under the bed, under the sofa, under the table and chairs. Since the user cannot accurately know the situation of the obstacle due to the line of sight, if the adaptive power-assisting action is not taken, it will be extremely inconvenient for the user to control the cleaning device to clean in the low area. The cleaning device is equipped with a resistance mode, and the resistance mode can select an adaptive power-assisting action according to the volume of the obstacle encountered by the cleaning device, so that the user can control the cleaning device to clean in the low area more labor-saving and convenient. When the cleaning device encounters a small obstacle, the cleaning device is controlled to cross the obstacle and the cleaning device can be controlled to recycle the obstacle. When the cleaning device encounters a large obstacle, the cleaning device is controlled to stop moving or the cleaning device is controlled to stay away from the obstacle to avoid damage caused by forced obstacle crossing.

[0333] Embodiment ten:

[0334] The power assist method of the cleaning device includes: obtaining the resistance information of the cleaning device in the resistance mode. The resistance of the cleaning device is determined by detecting the torque of the driving roller brush and / or the torque of the driving power assist wheel. Alternatively, the resistance of the cleaning device is determined by detecting the current of the driving roller brush and / or the current of the driving power assist wheel. The resistance of the cleaning device in the resistance mode is compared with the first resistance threshold and the second resistance threshold. If the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, the power assist device is controlled to provide a second assist for the cleaning device to cross the obstacle. If the resistance is greater than the second resistance threshold, the cleaning device is controlled to stop moving. When the obstacle encountered by the cleaning device is large in volume, the power assist wheel can be controlled to stop rotating to avoid damage caused by the cleaning device forcibly crossing the obstacle. Alternatively, since the roller brush rotates forward when performing cleaning work, it will provide a certain forward driving force to the cleaning device, so when the obstacle encountered by the cleaning device is large in volume, the roller brush can also be controlled to stop rotating.

[0335] Embodiment eleven:

[0336] The assisting method of the cleaning device includes: obtaining the resistance information encountered by the cleaning device in the resistance mode. Comparing the resistance encountered by the cleaning device in the resistance mode with the first resistance threshold and the second resistance threshold. If the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, the assisting device is controlled to provide a second assisting force for the cleaning device to cross the obstacle. If the resistance is greater than the second resistance threshold, the assisting device is controlled to provide a third assisting force to drive the cleaning device to move in a direction away from the obstacle, so as to avoid damage to the cleaning device caused by forced obstacle crossing. In other words, when the obstacle encountered by the cleaning device is large in size, the assisting device is controlled to assist the cleaning device to move in a direction away from the obstacle, and the trend of the cleaning device moving in a direction away from the obstacle will be perceived by the user, which is beneficial for the user to understand the obstacles encountered by the cleaning device, and then it is beneficial for the user to reasonably control the cleaning device to clean in low areas.

[0337] Embodiment 12:

[0338] The cleaning device is also configured with a push-pull mode when it is in a lying state. The power assist method of the cleaning device includes: the cleaning device is in a lying state and enters the push-pull mode. When the cleaning device moves from the starting position to the first extreme position in the push-pull mode, the power assist device is controlled to provide a fourth power assist to the cleaning device. The direction of the fourth power assist is opposite to the direction of the driving force provided by the roller brush. The fourth power assist can balance at least part of the driving force, reduce the pulling force required for the user to pull the cleaning device back, and enable the user to pull the cleaning device back more effortlessly.

[0339] During the process of the cleaning device moving forward from the starting position to the first limit position and / or during the process of the cleaning device moving backward from the first limit position to the starting position, the power assist device is controlled to provide the cleaning device with a fifth power assist. The direction of the fifth power assist is opposite to the direction of the driving force provided by the roller brush, so that the fifth power assist can balance at least part of the driving force, thereby avoiding as much as possible the cleaning device pulling the user due to the driving force provided by the roller brush, which has an adverse effect on the user's experience.

[0340] Embodiment 13:

[0341] The cleaning device is also configured with a push-pull mode when it is in a flat state. The power assist method of the cleaning device includes: the cleaning device is in a flat state and enters the push-pull mode. When the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, the power assist device is controlled to provide a sixth power assist to the cleaning device. The direction of the sixth power assist is the same as the direction of the driving force provided by the roller brush. The sixth power assist and the driving force provided by the roller brush cooperate to assist the user to push the cleaning device forward, so that the user can push the cleaning device forward relatively effortlessly.

[0342] During the process of the cleaning device retreating from the starting position to the second extreme position and / or during the process of the cleaning device advancing from the second extreme position to the starting position, the power assist device is controlled to provide the seventh power assist to the cleaning device. The direction of the seventh power assist is opposite to the direction of the driving force provided by the roller brush, so that the seventh power assist can balance at least part of the driving force, and avoid as much as possible the cleaning device being pulled by the driving force provided by the roller brush, which has an adverse effect on the user's experience.

[0343] The above is a detailed introduction to the power-assisting method of the cleaning equipment provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A power assist method for cleaning equipment, characterized in that: The cleaning device comprises a handle and a body connected to the handle, wherein the handle is used for a user to hold the handle, and the cleaning device further comprises a power assist device, wherein the power assist method comprises: the cleaning device is configured with a resistance mode, and wherein the power assist method comprises: Obtaining the resistance experienced by the cleaning device in the resistance mode; When the resistance is greater than or equal to a first resistance threshold and less than or equal to a second resistance threshold, the power assisting device is controlled to provide a second power assisting device for the cleaning device to cross an obstacle; wherein the first resistance threshold is less than the second resistance threshold.

2. The power assist method according to claim 1, characterized in that: The cleaning device is configured to have a lying-flat state. In the lying-flat state, if the resistance is greater than the second resistance threshold, the cleaning device is controlled to stop moving.

3. The power assist method according to claim 2, characterized in that: The cleaning device is also provided with a roller brush, and the power-assisting device comprises a power-assisting wheel; The step of obtaining the resistance information of the cleaning device in the resistance mode comprises: The torque driving the roller brush and / or the torque driving the power-assisted wheel is detected to determine the resistance encountered by the cleaning device.

4. The power assist method according to claim 2, characterized in that: The cleaning device is also provided with a roller brush, and the power-assisting device comprises a power-assisting wheel; The step of obtaining the resistance information of the cleaning device in the resistance mode comprises: The current driving the roller brush and / or the current driving the power-assisted wheel is detected to determine the resistance encountered by the cleaning device.

5. The power assist method according to claim 1, characterized in that: The steps of controlling the power assist device to perform corresponding power assist actions include: If the resistance is greater than the second resistance threshold, the power assisting device is controlled to provide a third power assisting device, and the third power assisting device is configured to enable the cleaning device to have a tendency to move away from the obstacle.

6. The method according to claim 1, characterized in that The power assist method further includes: Acquiring control information of the cleaning equipment; The power assist device is controlled to output a first power assist based on the control information, so that the cleaning device performs a turning action based on the first power assist, and the turning action is configured to turn along a target turning direction.

7. The method according to claim 6, characterized in that The cleaning device includes a floor brush, which is provided with a power-boosting wheel. The power-boosting wheel is configured as two and is respectively provided on both sides of the floor brush. The turning action includes controlling the power-boosting wheel on one side not to rotate and the power-boosting wheel on the other side to rotate toward the front side of the floor brush; or controlling the power-boosting wheel on one side not to rotate and the power-boosting wheel on the other side to rotate toward the rear side of the floor brush; or controlling the power-boosting wheel on one side to rotate and the power-boosting wheel on the other side to rotate at a speed higher than the power-boosting wheel on the opposite side.

8. The method according to claim 1 or claim 6, characterized in that: The cleaning device is also configured with a stop power-assist mode, which can be executed when the angle between the side of the body facing the user and the surface to be cleaned is greater than 20 degrees. In the stop power-assist mode, the power-assist method includes: Receiving a first stop instruction; The cleaning device is controlled to move toward the user and stops moving after receiving a second stop instruction.

9. The method according to claim 8, characterized in that The second stop instruction is issued based on angle information of the body relative to the surface to be cleaned.

10. The method according to claim 9, characterized in that The angle information includes an angle between the side of the body facing the user and the surface to be cleaned, and the second stop instruction is issued when the angle between the side of the body facing the user and the surface to be cleaned meets 70-100 degrees.

11. The method according to claim 9 or 10, characterized in that: The cleaning device comprises a floor brush, and the floor brush is arranged at the lower end of the body. The angle information is configured to be obtained by detecting an angle sensor arranged on the body or the floor brush.

12. The method according to claim 8, characterized in that The cleaning device includes a floor brush, which is arranged at the lower end of the body. The body or the floor brush is provided with a first detection device. When the cleaning device moves toward the user until the floor brush or the body is detected by the first detection device, the cleaning device issues a second stop command.

13. The method according to claim 8, characterized in that The cleaning device comprises a floor brush, a roller brush is arranged inside the floor brush for cleaning the surface to be cleaned, a water separator is also arranged inside the floor brush for wetting the roller brush, and a power-assisting wheel is also arranged at the rear side of the floor brush; A suction device is provided in the body for sucking dirt from the surface to be cleaned; When the cleaning device receives the first stop instruction, it controls the water distributor to stop spraying water, the roller brush to rotate toward the user side, the power-assisted wheel to rotate toward the user side, and the suction device to keep the suction action.

14. The method according to claim 13, characterized in that The suction device is configured with a first suction state and a second suction state. In the second suction state, the suction force of the suction device is greater than the suction force in the first suction state. After receiving a first stop instruction, the suction device switches from the first suction state to the second suction state.

15. The power assist method according to claim 1, characterized in that: The cleaning device is also provided with a roller brush, and when the cleaning device is in a lying state, the cleaning device is also configured with a push-pull mode, and the power-assisting method further includes: When the cleaning device moves forward from the starting position to the first extreme position in the push-pull mode, the power-assisting device is controlled to provide a fourth power-assisting device to the cleaning device; wherein, the roller brush provides a forward driving force to the cleaning device during the forward movement of the cleaning device, and the direction of the fourth power-assisting device is opposite to the direction of the driving force.

16. The power assist method according to claim 15, characterized in that: The power-assisting device comprises a power-assisting wheel; The step of controlling the power assist device to provide a fourth power assist to the cleaning device comprises: The power-assisting wheel is controlled to rotate backward so that the power-assisting wheel provides the fourth power-assisting force to the cleaning device.

17. The power assist method according to claim 15, characterized in that: The power assist method further includes: During the process of the cleaning device moving forward from the starting position to the first extreme position and / or during the process of the cleaning device moving backward from the first extreme position to the starting position, the power assisting device is controlled to provide a fifth power assisting device to the cleaning device; wherein the direction of the fifth power assisting device is opposite to the direction of the driving force.

18. The power assist method according to claim 17, characterized in that: The fifth assist force is less than or equal to the driving force.

19. The power assist method according to claim 15, characterized in that: The power assist method further includes: When the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, the power assist device is controlled to provide a sixth power assist to the cleaning device; wherein the direction of the sixth power assist is the same as the direction of the driving force.

20. The power assist method according to claim 19, characterized in that: The power-assisting device comprises a power-assisting wheel; The step of controlling the power assist device to provide the sixth power assist to the cleaning device comprises: The power-assisting wheel is controlled to rotate forward so that the power-assisting wheel provides the sixth power-assisting function to the cleaning device.

21. The power assist method according to claim 19, characterized in that: The power assist method further includes: During the process of the cleaning device retreating from the starting position to the second extreme position and / or during the process of the cleaning device moving forward from the second extreme position to the starting position, the power assisting device is controlled to provide a seventh power assisting device to the cleaning device; wherein the direction of the seventh power assisting device is opposite to the direction of the driving force.

22. The power assist method according to claim 21, characterized in that: The seventh assist force is less than or equal to the driving force.

23. A power assist method for cleaning equipment, characterized in that: The cleaning device includes a handle, which is used for a user to hold the handle, and the cleaning device also includes a power-assisting device. The power-assisting method includes: Acquiring control information of the cleaning device, the control information including pressure information applied by the user to both sides of the handle when the handle is held by the user; determining an action of the cleaning device based on the control information, wherein the action of the cleaning device includes a turning action; The power assist device is controlled to operate so as to provide a first power assist for a user to manipulate the cleaning device, wherein the first power assist is configured to drive the cleaning device to turn along a target turning direction.

24. The power assist method according to claim 23, characterized in that: The grip includes a first side and a second side; When the gripping rod is gripped by a user and the pressure on the first side is greater than the pressure on the second side, the cleaning device is controlled to turn toward the second side; Alternatively, when the gripping rod is gripped by the user and the pressure on the first side is greater than a preset value, the cleaning device is controlled to turn toward the second side.

25. The power assist method according to claim 24, characterized in that: When the gripping rod is gripped by a user and the pressure on the first side is less than the pressure on the second side, the cleaning device is controlled to turn toward the first side; Alternatively, when the gripping rod is gripped by the user and the pressure on the second side is greater than a preset value, the cleaning device is controlled to turn toward the first side.

26. The power assist method according to claim 24, characterized in that: The cleaning device also includes a body, a floor brush is connected to the lower end of the body, the cleaning device is configured in a deep cleaning state, the turning action is configured to be performed at least in the deep cleaning state, the deep cleaning state includes the body being in a lying state, the cleaning device is turned on, and the floor brush has a forward movement tendency.

27. The power assist method according to claim 26, characterized in that: In the deep cleaning state, when the cleaning device performs the turning action, the floor brush performs the turning action according to the force information of the first side or the second side of the grip rod.

28. The power assist method according to any one of claims 23 to 27, characterized in that: A first force sensing element is disposed on the first side of the handle or a first force sensing element is disposed on both the first side and the second side of the handle, and the first force sensing element is configured to sense pressure applied to the handle by a user.

29. The power assist method according to any one of claims 23 to 27, characterized in that: The cleaning device also includes a body, a floor brush is connected to the lower end of the body, a connecting pipe is arranged between the body and the floor brush, the connecting pipe and the floor brush are rotatably arranged, a second force sensing element is arranged between one side of the connecting pipe and the floor brush or second force sensing elements are arranged between both sides of the connecting pipe and the floor brush, when the cleaning device performs the turning action, the second force sensing element on one side of the connecting pipe is squeezed by the connecting pipe and the floor brush.

30. The power assist method according to claim 29, characterized in that: The connecting pipe comprises a third side and a fourth side, the third side and the first side are located on the same side, the fourth side and the second side are located on the same side, and the second force sensing element is disposed on the fourth side of the connecting pipe; When the floor brush turns toward the second side, the second force sensing element on the fourth side is squeezed by the connecting tube and the floor brush.

31. The power assist method according to claim 30, characterized in that: The second force sensing element is disposed on the third side of the connecting tube; when the floor brush turns toward the first side, the second force sensing element on the third side is squeezed by the connecting tube and the floor brush.

32. The power assist method according to claim 23, characterized in that: The control information further includes turning direction information of the cleaning device when the user controls the cleaning device to turn along the target turning direction.

33. The power assist method according to claim 32, characterized in that: The cleaning device is further provided with a motion sensing element, and the motion sensing element is configured to sense the turning direction information.

34. The power assist method according to claim 23, characterized in that: When the cleaning device is in a lying state, the cleaning device is also configured with a resistance mode, and the power assist method further includes: Obtaining resistance information of the cleaning device in the resistance mode; According to the resistance information, the power assisting device is controlled to perform corresponding power assisting actions.

35. The power assist method according to claim 34, characterized in that: The step of controlling the power assist device to perform a corresponding power assist action according to the resistance information comprises: comparing the resistance experienced by the cleaning device in the resistance mode with a first resistance threshold and a second resistance threshold, wherein the first resistance threshold is less than the second resistance threshold; If the resistance is greater than or equal to the first resistance threshold and less than or equal to the second resistance threshold, controlling the power assisting device to provide a second power assisting device for the cleaning device to cross the obstacle; If the resistance is greater than the second resistance threshold, the cleaning device is controlled to stop moving.

36. The power assist method according to claim 35, characterized in that: If the resistance is greater than the second resistance threshold, the power assisting device is controlled to provide a third power assisting force to drive the cleaning device to move in a direction away from the obstacle.

37. The power assist method according to claim 23, characterized in that: The cleaning device is also provided with a roller brush, and when the cleaning device is in a lying state, the cleaning device is also configured with a push-pull mode, and the power-assisting method further includes: When the cleaning device moves forward from the starting position to the first extreme position in the push-pull mode, the power-assisting device is controlled to provide a fourth power-assisting device to the cleaning device; wherein, the roller brush provides a forward driving force to the cleaning device during the forward movement of the cleaning device, and the direction of the fourth power-assisting device is opposite to the direction of the driving force.

38. The power assist method according to claim 37, characterized in that: The power-assisting device comprises a power-assisting wheel; The step of controlling the power assist device to provide a fourth power assist to the cleaning device comprises: The power-assisting wheel is controlled to rotate backward so that the power-assisting wheel provides the fourth power-assisting force to the cleaning device.

39. The power assist method according to claim 38, characterized in that: The power assist method further includes: During the process of the cleaning device moving forward from the starting position to the first extreme position and / or during the process of the cleaning device moving backward from the first extreme position to the starting position, the power assisting device is controlled to provide a fifth power assisting device to the cleaning device; wherein the direction of the fifth power assisting device is opposite to the direction of the driving force.

40. The power assist method according to claim 39, characterized in that: The fifth assist force is less than or equal to the driving force.

41. The power assist method according to claim 40, characterized in that: The power assist method further includes: When the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, the power assist device is controlled to provide a sixth power assist to the cleaning device; wherein the direction of the sixth power assist is the same as the direction of the driving force.

42. The power assist method according to claim 41, characterized in that: The power-assisting device comprises a power-assisting wheel; The step of controlling the power assist device to provide the sixth power assist to the cleaning device comprises: The power-assisting wheel is controlled to rotate forward so that the power-assisting wheel provides the sixth power-assisting function to the cleaning device.

43. The power assist method according to claim 42, characterized in that: The power assist method further includes: During the process of the cleaning device retreating from the starting position to the second extreme position and / or during the process of the cleaning device moving forward from the second extreme position to the starting position, the power assisting device is controlled to provide a seventh power assisting device to the cleaning device; wherein the direction of the seventh power assisting device is opposite to the direction of the driving force.

44. The power assist method according to claim 43, characterized in that: The seventh assist force is less than or equal to the driving force.

45. A power assist method for cleaning equipment, characterized in that: The cleaning device comprises a body, a floor brush is connected to the lower end of the body, a connecting pipe is arranged between the body and the floor brush, the connecting pipe and the floor brush are rotatably arranged, a second force sensing element is arranged between the connecting pipe and the floor brush, the floor brush is provided with a power assist device, and the power assist method comprises: Acquiring control information of the cleaning device, the control information including pressure information applied by the connecting pipe and the floor brush to the second force sensing element when the floor brush turns along a target turning direction; The power assist device is controlled to operate so as to provide a first power assist for a user to manipulate the cleaning device, wherein the first power assist is configured to drive the floor brush to turn along the target turning direction.

46. ​​The power assist method according to claim 45, characterized in that: The second force sensing element is arranged between one side of the connecting tube and the floor brush, or the second force sensing element is arranged between both sides of the connecting tube and the floor brush. When the cleaning device performs the turning action, the second force sensing element on one side of the connecting tube is squeezed by the connecting tube and the floor brush.

47. The power assist method according to claim 46, characterized in that: The cleaning device also includes a grip rod, the grip rod is used for a user to hold, and the grip rod includes a first side and a second side; The connecting pipe comprises a third side and a fourth side, the third side and the first side are located on the same side, the fourth side and the second side are located on the same side, and the second force sensing element is disposed on the fourth side of the connecting pipe; When the floor brush turns toward the second side, the second force sensing element on the fourth side is squeezed by the connecting tube and the floor brush.

48. The power assist method according to claim 47, characterized in that: The second force sensing element is disposed on the third side of the connecting tube; when the floor brush turns toward the first side, the second force sensing element on the third side is squeezed by the connecting tube and the floor brush.

49. A power assist method for cleaning equipment, characterized in that: When the cleaning device is in a lying state, the cleaning device is configured with a push-pull mode, the cleaning device includes a power assist device and a roller brush, and the power assist method includes: When the cleaning device moves forward from the starting position to the first extreme position in the push-pull mode, the power-assisting device is controlled to provide a fourth power-assisting device to the cleaning device; wherein, the roller brush provides a forward driving force to the cleaning device during the forward movement of the cleaning device, and the direction of the fourth power-assisting device is opposite to the direction of the driving force.

50. The power assist method according to claim 49, characterized in that: The power-assisting device comprises a power-assisting wheel; The step of controlling the power assist device to provide a fourth power assist to the cleaning device comprises: The power-assisting wheel is controlled to rotate backward so that the power-assisting wheel provides the fourth power-assisting force to the cleaning device.

51. The power assist method according to claim 49, characterized in that: The power assist method further includes: During the process of the cleaning device moving forward from the starting position to the first extreme position and / or during the process of the cleaning device moving backward from the first extreme position to the starting position, the power assisting device is controlled to provide a fifth power assisting device to the cleaning device; wherein the direction of the fifth power assisting device is opposite to the direction of the driving force.

52. The power assist method according to claim 49, characterized in that: The power assist method further includes: When the cleaning device retreats from the starting position to the second extreme position in the push-pull mode, the power assist device is controlled to provide a sixth power assist to the cleaning device; wherein the direction of the sixth power assist is the same as the direction of the driving force.

53. The power assist method according to claim 51, characterized in that: The power-assisting device comprises a power-assisting wheel; The step of controlling the power assist device to provide the sixth power assist to the cleaning device comprises: The power-assisting wheel is controlled to rotate forward so that the power-assisting wheel provides the sixth power-assisting function to the cleaning device.

54. The power assist method according to claim 52, characterized in that: The power assist method further includes: During the process of the cleaning device retreating from the starting position to the second extreme position and / or during the process of the cleaning device moving forward from the second extreme position to the starting position, the power assisting device is controlled to provide a seventh power assisting device to the cleaning device; wherein the direction of the seventh power assisting device is opposite to the direction of the driving force.

Images