Cleaning device and control method thereof

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a cleaning device and a control method thereof. The ground brush of the cleaning device is provided with an auxiliary wheel which is used for assisting the ground brush to advance. Based on the control information of the cleaning device, the auxiliary wheel is controlled to rotate around the first rotating axis so as to guide the ground brush to turn on the to-be-cleaned surface. In other words, according to the embodiment of the invention, the auxiliary wheel deflects to guide the floor brush to turn on the to-be-cleaned surface, so that the turning radius of the floor brush can be reduced, the area covered by the floor brush during cleaning work in a narrow area is increased, the cleaning effect of the floor brush on the narrow area is further improved, and the floor brush is operated to turn more flexibly.

Description

Technical Field

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

[0002] A floor scrubber is a cleaning device suitable for home use, mainly used to clean and wash the surface of household floors. Floor scrubbers usually have water spraying and water suction 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.

[0003] However, currently, users usually turn the floor brush by rotating the body of the floor scrubber. The turning radius of the floor brush is too large, resulting in a small coverage area when the floor brush is cleaning narrow areas such as the bottom of the bed and the corner of the table, which easily creates cleaning dead corners, and the user's turning action of operating the floor brush is not flexible enough. Summary of the invention

[0004] The present application provides a cleaning device and a control method thereof, which can reduce the turning radius of a floor brush to improve the cleaning effect of the floor brush on narrow areas, and the turning operation of the floor brush is more flexible.

[0005] The present application provides a control method for a cleaning device, wherein the cleaning device comprises a connected body and a floor brush, the floor brush is used to clean a surface to be cleaned, and the floor brush is provided with auxiliary wheels; the control method comprises: determining control information of the cleaning device, wherein the control information comprises a user's expected turning direction; based on the control information, controlling the auxiliary wheels to rotate around a first rotation axis to guide the auxiliary wheels to turn on the surface to be cleaned along the user's expected turning direction, wherein an angle between the first rotation axis and the surface to be cleaned is greater than or equal to 85°.

[0006] In the present application, the auxiliary wheels are controlled to deflect according to the control information, so that the deflection direction of the auxiliary wheels can help the user to easily turn in the expected turning direction; the deflected auxiliary wheels can reduce the resistance of the entire floor brush during the turning process, and the user only needs to gently push the handle in the expected turning direction without twisting the wrist, and then the user can move in the direction of movement with the least resistance under the guidance of the deflected auxiliary wheels, so that the turning radius of the entire floor brush approaches the turning radius guided by the auxiliary wheels, thereby achieving a significant reduction in the overall turning radius of the floor brush, which is particularly suitable for flexible turning in narrow spaces, and the thrust can be effectively converted into turning force, making the entire turning process easy and labor-saving;

[0007] If the auxiliary wheels cannot be deflected and remain consistent with the original forward direction of the floor brush, then when the user needs to make the floor brush turn as a whole, he will find that the expected turning direction of the floor brush as a whole has a large angle with the original forward direction of the floor brush. When the user pushes the floor brush with the handle, the floor brush will involuntarily move to one side of the original forward direction because the resistance in the original forward direction of the floor brush is the smallest, making the overall turning radius of the floor brush very large, which is not conducive to use in narrow areas. The user's thrust is difficult to convert into turning force, and the user needs to pull the body to drag the floor brush as a whole to reduce the turning radius. The overall weight of the body and the floor brush is heavy, which puts too much pressure on the user's wrist and affects the user experience.

[0008] In one embodiment of the present application, the fuselage has a second rotation axis passing through itself, the fuselage extends along the second rotation axis, the fuselage is rotatably connected to the floor brush, and the fuselage is configured to be able to rotate around the second rotation axis; wherein the control information includes the angle information of the fuselage rotating around the second rotation axis. Among them, the information of the user's expected turning direction can be obtained by analyzing the angle information of the fuselage rotating around the second rotation axis. For example, if the angle of the fuselage rotating around the second rotation axis exceeds 30°, it indicates that the user wants to turn left, and the information of the expected turning direction is left turn; of course, the information of the user's expected turning direction can also be actively input through the preset buttons on the fuselage. For example, the fuselage is provided with a left turn button and a right turn button, which respectively match the left turn and right turn in the information of the user's expected turning direction.

[0009] In one embodiment of the present application, based on the control information, the step of controlling the auxiliary wheel to rotate around the first rotation axis includes: determining whether the angle of rotation of the fuselage around the second rotation axis is greater than or equal to a preset angle threshold; if so, controlling the auxiliary wheel to rotate around the first rotation axis.

[0010] In one embodiment of the present application, the preset angle threshold is the maximum angle of rotation of the fuselage around the second rotation axis.

[0011] In one embodiment of the present application, the auxiliary wheel is configured to be able to rotate and switch between a first state and a second state around a first rotation axis, and the angle between the travel direction of the auxiliary wheel and the travel direction of the floor brush in the first state is greater than the angle between the travel direction of the auxiliary wheel and the travel direction of the floor brush in the second state; the step of determining whether the angle of rotation of the fuselage around the second rotation axis is greater than or equal to a preset angle threshold includes: if so, controlling the auxiliary wheel to rotate and switch to the first state; if not, controlling the auxiliary wheel to rotate and switch to the second state.

[0012] In one embodiment of the present application, in the second state, the moving direction of the auxiliary wheel is the same as the moving direction of the floor brush.

[0013] In one embodiment of the present application, after the step of controlling the auxiliary wheel to rotate and switch to the first state, it includes: during the turning process of the floor brush, continuously judging whether the real-time angle of the body rotation around the second rotation axis is less than a preset angle threshold; if so, controlling the auxiliary wheel to rotate and switch to the second state.

[0014] In one embodiment of the present application, based on the control information, the step of controlling the auxiliary wheel to rotate around the first rotation axis includes: controlling the auxiliary wheel to rotate around the first rotation axis to a target angle, wherein the size of the target angle is positively correlated with the size of the rotation angle of the fuselage around the second rotation axis.

[0015] In one embodiment of the present application, the control information also includes direction information of the rotation of the fuselage around the second rotation axis; the step of controlling the auxiliary wheel to rotate around the first rotation axis includes: when the fuselage rotates toward the left side around the second rotation axis, controlling the auxiliary wheel to rotate toward the left side around the first rotation axis; when the fuselage rotates toward the right side around the second rotation axis, controlling the auxiliary wheel to rotate toward the right side around the first rotation axis.

[0016] In one embodiment of the present application, the cleaning device also includes a control element; the step of determining control information of the cleaning device includes: controlling the control element to receive control information input by a user, the control information including turning direction information and / or turning angle information that the user expects the floor brush to perform a turning action; based on the control information, the step of controlling the auxiliary wheel to rotate around the first rotation axis includes: controlling the auxiliary wheel to rotate around the first rotation axis; wherein the rotation direction of the auxiliary wheel is the same as the turning direction that the user expects the floor brush to perform a turning action, and / or the rotation angle of the auxiliary wheel corresponds to the turning angle that the user expects the floor brush to perform a turning action.

[0017] In one embodiment of the present application, the cleaning device has at least a tilted use state and a lying flat state, and the angle between the body and the surface to be cleaned in the tilted use state is greater than the angle between the body and the surface to be cleaned in the lying flat state; the step of determining the control information of the cleaning device includes: when the cleaning device is in the lying flat state, controlling the control element to receive control information input by the user.

[0018] In one embodiment of the present application, the cleaning device also includes a power-assisting element, which is transmission-connected to the auxiliary wheel; the control method also includes: during the turning process of the floor brush, controlling the power-assisting element to work, so that the power-assisting element provides assistance to the user through the auxiliary wheel to control the turning of the floor brush.

[0019] In one embodiment of the present application, the control method also includes: controlling the power-assisting element to operate before controlling the auxiliary wheel to rotate around the first rotation axis; or controlling the power-assisting element to operate while controlling the auxiliary wheel to rotate around the first rotation axis; or controlling the power-assisting element to operate after controlling the auxiliary wheel to rotate around the first rotation axis.

[0020] Correspondingly, the present application also provides a control method for a cleaning device, the cleaning device comprising a connected body and a floor brush, the floor brush being provided with auxiliary wheels; the control method comprising: determining control information of the cleaning device; based on the control information, controlling the auxiliary wheels to guide the floor brush to turn on the surface to be cleaned; wherein the step of controlling the auxiliary wheels to guide the floor brush to turn on the surface to be cleaned comprises: controlling the auxiliary wheels on both sides of the floor brush to have different rolling directions and / or different rotation speeds, so that the auxiliary wheels can guide the floor brush to turn on the surface to be cleaned; or, the auxiliary wheels are Mecanum wheels.

[0021] Accordingly, the present application also provides a cleaning device, which can execute a program to implement the control method described in the above embodiment.

[0022] Correspondingly, the present application also provides a cleaning device, which includes a body and a floor brush, the body being rotatably connected to the floor brush, the body being provided with a handle for holding, and the floor brush being used to clean the surface to be cleaned; the floor brush includes: a floor brush body connected to the body; and a cleaning member arranged on the floor brush body, the cleaning member being used to clean the surface to be cleaned; the cleaning device also includes: an auxiliary wheel arranged on the floor brush body; a drive assembly drivingly connected to the auxiliary wheel, the drive assembly being configured to drive the auxiliary wheel to rotate around a first rotation axis based on control information of the cleaning device to guide the floor brush to turn on the surface to be cleaned, wherein the angle between the first rotation axis and the surface to be cleaned is greater than or equal to 85°.

[0023] In the present application, the auxiliary wheel is controlled to deflect by the driving component, and the deflected auxiliary wheel can reduce the resistance of the entire floor brush during the turning process. The user only needs to gently push the handle in the expected turning direction without twisting the wrist, and then the user can move in the direction of least resistance under the guidance of the deflected auxiliary wheel, so that the turning radius of the entire floor brush approaches the turning radius guided by the auxiliary wheel, thereby achieving a significant reduction in the overall turning radius of the floor brush, which is particularly suitable for flexible turning in narrow spaces, and the thrust can be effectively converted into turning force, making the entire turning process easy and labor-saving;

[0024] If the auxiliary wheels cannot be deflected and are kept consistent with the original forward direction of the floor brush, then when the user needs to make the floor brush turn as a whole, he will find that the expected turning direction of the floor brush as a whole has a large angle with the original forward direction of the floor brush. When the user pushes the floor brush with the handle, the floor brush will involuntarily move to one side of the original forward direction because the resistance in the original forward direction of the floor brush is the smallest, making the overall turning radius of the floor brush very large, which is not conducive to use in narrow areas. The user's thrust is difficult to convert into turning force, and the user needs to pull the body to drag the floor brush as a whole to reduce the turning radius. The overall weight of the body and the floor brush is heavy, which puts too much pressure on the user's wrist and affects the user experience.

[0025] In one embodiment of the present application, the floor brush also has a first direction and a second direction, the first direction and the second direction are perpendicular to each other, and the first direction and the second direction are parallel to the surface to be cleaned, and the cleaning member is arranged near the front end of the floor brush body in the first direction; the driving assembly includes a driving member and a moving member, the driving member is connected to the auxiliary wheel through the moving member, and the driving member is configured to drive the moving member to move in the second direction or in the opposite direction of the second direction, so that the moving member drives the auxiliary wheel to rotate around the first rotation axis.

[0026] In one embodiment of the present application, the driving member includes a steering gear and a rudder arm, the rudder arm is rotatably arranged on the steering gear, the rudder arm is transmission-connected to the movable member, and the steering gear is configured to drive the rudder arm to rotate so as to drive the movable member to move in a second direction or in the opposite direction of the second direction through the rudder arm.

[0027] In one embodiment of the present application, the body has a second rotation axis passing through itself, the body extends along the second rotation axis, the body is rotatably connected to the floor brush, and the body is configured to be able to rotate around the second rotation axis; the driving member is arranged on the body, and the driving member is configured to be able to rotate synchronously with the body to drive the moving member to move in the second direction or in the opposite direction of the second direction.

[0028] In one embodiment of the present application, the driving assembly further comprises a steering rod, one end of which is pivotally connected to the moving member and the other end of which is rotationally connected to the auxiliary wheel.

[0029] In one embodiment of the present application, the cleaning device also includes a steering knuckle, which is rotatably arranged on the floor brush body and is also connected to the auxiliary wheel, wherein the rotation axis of the steering knuckle relative to the floor brush body is recorded as a first rotation axis, and the first rotation axis is perpendicular to the surface to be cleaned.

[0030] The beneficial effects of the present application are as follows: Different from the prior art, the present application provides a cleaning device and a control method thereof. The floor brush of the cleaning device is provided with auxiliary wheels, which are used to assist the floor brush in moving. The embodiment of the present application controls the auxiliary wheels to rotate around the first rotation axis based on the control information of the cleaning device to guide the floor brush to turn on the surface to be cleaned. In other words, the embodiment of the present application guides the floor brush to turn on the surface to be cleaned by deflecting the auxiliary wheels, which can reduce the turning radius of the floor brush, increase the area covered by the floor brush when cleaning in a narrow area, thereby improving the cleaning effect of the floor brush on the narrow area, and making the operation of the floor brush to turn more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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.

[0032] Figure 1 It is a structural schematic diagram of the first embodiment of the cleaning device of the present application;

[0033] Figure 2 yes Figure 1 A schematic structural diagram of the cleaning device from another perspective;

[0034] Figure 3 yes Figure 1 A schematic diagram of the structure of a driving assembly of the cleaning device shown;

[0035] Figure 4 yes Figure 3 An exploded schematic diagram of the drive assembly shown;

[0036] Figure 5 yes Figure 3 A schematic structural diagram of an embodiment of a driving assembly driving the auxiliary wheel to deflect to the left;

[0037] Figure 6 yes Figure 3 A schematic structural diagram of an embodiment of a driving assembly driving the auxiliary wheel to deflect to the right;

[0038] Figure 7 It is a structural schematic diagram of an embodiment of a steering tie rod of the present application;

[0039] Figure 8 It is a structural schematic diagram of an embodiment of a steering knuckle of the present application;

[0040] Fig. 9 It is a structural schematic diagram of the second embodiment of the cleaning device of the present application;

[0041] Fig.10 This is a schematic structural diagram of an embodiment of the present application in which a driving member is arranged on the fuselage;

[0042] Fig.11 yes Fig. 9 A schematic diagram of the structure of a driving assembly of the cleaning device shown;

[0043] Fig.12 yes Fig.11 A schematic structural diagram of an embodiment of a driving assembly driving the auxiliary wheel to deflect to the left;

[0044] Fig.13 yes Fig.11A schematic structural diagram of an embodiment of a driving assembly driving the auxiliary wheel to deflect to the right;

[0045] Fig.14 It is a flow chart of the first embodiment of the control method of the cleaning device of the present application;

[0046] Fig.15 It is a flow chart of a second embodiment of the control method of the cleaning device of the present application;

[0047] Fig.16 It is a flow chart of the third embodiment of the control method of the cleaning device of the present application;

[0048] Fig.17 is a flow chart of a fourth embodiment of a control method for a cleaning device of the present application;

[0049] Fig.18 It is a flow chart of the fifth embodiment of the control method of the cleaning device of the present application.

[0050] Description of reference numerals:

[0051] 10 cleaning device; 10a surface to be cleaned; 20 body; 30 floor brush; 31 floor brush body; 311 first base; 312 second base; 313 third base; 32 cleaning member; 40 auxiliary wheel; 50 driving assembly; 51 driving member; 511 steering gear; 512 rudder arm; 513 first guide rod; 514 first baffle; 515 second guide rod; 516 second baffle; 52 moving member; 521 first guide groove; 522 second guide groove; 53 steering rod; 531 first rod portion; 532 second rod portion; 533 third rod portion; 541 first rotating connection member; 542 second rotating connection member; 55 fixed seat; 551 upper seat body; 552 lower seat body; 60 steering knuckle; 61 first steering portion; 62 second steering portion; 63 pivoting portion. DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] The present application provides a cleaning device and a control method thereof, which are 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.

[0055] See also Figure 1 , Figure 1 It is a structural schematic diagram of the first embodiment of the cleaning device of the present application.

[0056] In one embodiment, the cleaning device 10 may be a cleaning device such as a floor scrubber. The user holds the cleaning device 10 and pushes the cleaning device 10 to move on the ground, the surface of the object to be cleaned, and the cleaning surface 10a, so that the cleaning device 10 cleans the area it passes through. Of course, the cleaning device 10 may also be a cleaning device such as a cleaning robot. The cleaning device 10 can move on the surface to be cleaned 10a by itself, and the cleaning device 10 can clean the area it passes through. The embodiment of the present application is described by taking a floor scrubber as an example, which is not limited to this.

[0057] Specifically, the cleaning device 10 includes a body 20 and a floor brush 30. The body 20 is rotatably connected to the floor brush 30. The body 20 is provided with a handle for holding. The floor brush 30 is also called a cleaning head or a suction head, and the floor brush 30 is used to clean the surface to be cleaned 10a. The floor brush 30 includes a floor brush body 31 and a cleaning member 32. The floor brush body 31 is rotatably connected to the body 20. The cleaning member 32 is arranged on the floor brush body 31, and the cleaning member 32 is used to clean the surface to be cleaned 10a. The user holds the handle on the body 20 to drive the floor brush 30 to move on the surface to be cleaned 10a, and the cleaning member 32 on the floor brush 30 can clean the area it passes through. The cleaning member 32 can be a roller brush, a cleaning brush, a brush, a brush disc, etc., which is not limited here. The cleaning device 10 also includes an auxiliary wheel 40, which is used to assist the floor brush 30 in moving. The auxiliary wheel 40 can be specifically arranged on the floor brush body 31.

[0058] Please also read Figure 2 and Figure 3 , Figure 2 yes Figure 1The schematic diagram of the structure of the cleaning device from another perspective is shown. Figure 3 yes Figure 1 A schematic structural diagram of a driving assembly of the cleaning device shown.

[0059] In one embodiment, the cleaning device 10 further includes a driving assembly 50, which is in transmission connection with the auxiliary wheel 40. The driving assembly 50 is configured to drive the auxiliary wheel 40 to rotate around the first rotation axis O1, so as to drive the auxiliary wheel 40 to deflect on the surface to be cleaned 10a. In this way, when the user pushes the cleaning device 10 to move forward, the deflected auxiliary wheel 40 can guide the floor brush 30 to turn in the corresponding direction.

[0060] In the above manner, the auxiliary wheel 40 of the embodiment of the present application is configured to be able to deflect relative to the floor brush body 31. The driving assembly 50 drives the auxiliary wheel 40 to rotate around the first rotation axis O1, so that when the user pushes the cleaning device 10 to move forward, the floor brush 30 is guided to turn on the surface to be cleaned 10a through the deflected auxiliary wheel 40. The auxiliary wheel 40 deflects relative to the floor brush body 31, which can reduce the turning radius of the floor brush 30, so that the area covered by the floor brush 30 when cleaning in a narrow area is increased, thereby improving the cleaning effect of the floor brush 30 on the narrow area, and operating the floor brush 30 to turn is more flexible.

[0061] In one embodiment, the cleaning device 10 further includes a knuckle 60, which is rotatably disposed on the floor brush body 31, and the driving assembly 50 is connected to the auxiliary wheel 40 via the knuckle 60. The rotation axis of the knuckle 60 relative to the floor brush body 31 is recorded as a first rotation axis O1.

[0062] In the above manner, the auxiliary wheel 40 of the embodiment of the present application is configured to be able to deflect relative to the floor brush body 31. The driving assembly 50 drives the steering knuckle 60 to rotate around the first rotation axis O1, driving the auxiliary wheel 40 to rotate synchronously around the first rotation axis O1, so that when the user pushes the cleaning device 10 to move forward, the floor brush 30 is guided to turn on the surface to be cleaned 10a through the deflected auxiliary wheel 40. The auxiliary wheel 40 deflects relative to the floor brush body 31, which can reduce the turning radius of the floor brush 30, so that the area covered by the floor brush 30 when cleaning in a narrow area is increased, thereby improving the cleaning effect of the floor brush 30 on the narrow area, and operating the floor brush 30 to turn is more flexible.

[0063] The drive assembly 50 of the embodiment of the present application is described below.

[0064] Please also read Figure 4 , Figure 4 yes Figure 3 Schematic diagram of the exploded structure of the drive assembly shown.

[0065] In one embodiment, the floor brush 30 has a first direction X and a second direction Y, the first direction X and the second direction Y are perpendicular to each other, and the first direction X and the second direction Y are parallel to the surface to be cleaned 10a. The first direction X is the moving direction of the floor brush 30, and the cleaning member 32 is disposed near the front end of the floor brush body 31 in the first direction X.

[0066] The driving assembly 50 includes a driving member 51 and a moving member 52. The driving member 51 is connected to the steering knuckle 60 through the moving member 52, and the driving member 51 is configured to drive the moving member 52 to move along the second direction Y, so that the moving member 52 drives the steering knuckle 60 to rotate around the first rotation axis O1.

[0067] Specifically, the driving member 51 comprises a steering gear 511 and a rudder arm 512, the rudder arm 512 is rotatably arranged on the steering gear 511, the rudder arm 512 is transmission-connected with the moving member 52, and the steering gear 511 is configured to drive the rudder arm 512 to rotate, so as to drive the moving member 52 to move along the second direction Y through the rudder arm 512. Further, the driving assembly 50 also comprises a steering rod 53, one end of the steering rod 53 is pivotally connected with the moving member 52, and the other end of the steering rod 53 is pivotally connected with the steering knuckle 60. When the moving member 52 moves along the second direction Y, the moving member 52 drives the steering knuckle 60 to rotate around the first rotation axis O1 through the steering rod 53. The two ends of the steering rod 53 are pivotally connected with the moving member 52 and the steering knuckle 60 respectively, so that the steering rod 53 can support the driving mode of the moving member 52 to drive the steering knuckle 60 to rotate by moving along the second direction Y.

[0068] For example, the floor brush 30 is provided with auxiliary wheels 40 on both sides of the moving member 52, and each auxiliary wheel 40 is pivotally connected to the moving member 52 through a corresponding steering knuckle 60 and a steering tie rod 53. When the auxiliary wheel 40 guides the floor brush 30 to move, the auxiliary wheel 40 rolls around its own rotation center axis. The steering knuckle 60 is located on the rotation center axis of the auxiliary wheel 40, that is, in the second direction Y, the auxiliary wheel 40, the steering knuckle 60 and the floor brush body 31 are arranged along the rotation center axis of the auxiliary wheel 40. Figure 2 The left and right directions are shown. The driving assembly 50 is connected to each steering knuckle 60, and the driving assembly 50 is configured to be able to synchronously drive each steering knuckle 60 to rotate around its respective first rotation axis O1, and the rotation direction of each steering knuckle 60 is the same, so that the auxiliary wheels 40 on both sides of the floor brush 30 deflect in the same direction, and the auxiliary wheels 40 on both sides of the floor brush 30 cooperate to guide the floor brush 30 to turn in the corresponding direction. The steering knuckle 60 connected to each auxiliary wheel 40 is located on the same side of the moving member 52 in the first direction X, and is located on both sides of the moving member 52 in the second direction Y, so that the moving member 52 can drive each steering knuckle 60 to rotate in the same direction. The moving member 52 is away from the cleaning member 32 relative to the steering knuckle 60 in the first direction X.

[0069] like Figure 5As shown, when the user wants to control the floor brush 30 to turn left, the steering gear 511 drives the steering arm 512 to turn left. Figure 5 The rudder arm 512 correspondingly drives the moving member 52 along the second direction Y and toward Figure 5 The moving member 52 moves to the right side, and the moving member 52 drives the steering knuckles 60 on both sides to rotate counterclockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left; Figure 6 As shown, when the user wants to control the floor brush 30 to turn right, the steering engine 511 drives the steering arm 512 to turn right. Figure 6 The rudder arm 512 correspondingly drives the moving member 52 along the second direction Y and toward Figure 6 The movable member 52 moves to the left side, and the movable member 52 drives the steering knuckles 60 on both sides to rotate clockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right.

[0070] In one embodiment, one of the moving member 52 and the tiller arm 512 is provided with a first guide rod 513, and the other is provided with a first guide groove 521 extending in a direction perpendicular to the surface 10a to be cleaned, and the first guide rod 513 is movably embedded in the first guide groove 521. When the tiller arm 512 drives the moving member 52 to move along the second direction Y, the first guide rod 513 moves along the first guide groove 521 synchronously, so that the rotation of the tiller arm 512 can be converted into the movement of the moving member 52 along the second direction Y.

[0071] For example, Figure 4It is exemplarily shown that the first guide rod 513 is arranged on the tiller arm 512 and the first guide groove 521 is arranged on the moving member 52. When the tiller arm 512 rotates toward one side in the second direction Y, the first guide rod 513 moves toward the bottom of the first guide groove 521 in the first guide groove 521 to guide the moving member 52 to move toward the same side of the second direction Y. When the user wants to control the floor brush 30 to turn left, the servo 511 drives the tiller arm 512 to rotate toward the right side in the second direction Y, the first guide rod 513 moves toward the bottom of the first guide groove 521 in the first guide groove 521 so that the tiller arm 512 drives the moving member 52 to move toward the right side in the second direction Y, and the moving member 52 drives the steering knuckles 60 on both sides to rotate counterclockwise through the steering pull rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left; When the user wants to control the floor brush 30 to turn right, the servo 511 drives the rudder arm 512 to rotate toward the left side in the second direction Y, and the first guide rod 513 moves in the first guide groove 521 toward the bottom of the first guide groove 521 so that the rudder arm 512 drives the moving member 52 to move toward the left side in the second direction Y, and the moving member 52 drives the steering knuckles 60 on both sides to rotate clockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right.

[0072] Of course, in other embodiments of the present application, the first guide rod 513 may be arranged on the movable member 52, and the first guide groove 521 may be arranged on the rudder arm 512. In this way, when the rudder arm 512 rotates toward one side in the second direction Y, the first guide rod 513 moves in the first guide groove 521 toward the top of the first guide groove 521 to guide the movable member 52 to move toward the same side of the second direction Y. This is not limited here.

[0073] Moreover, the moving member 52 can also be close to the cleaning member 32 relative to the steering knuckle 60 in the first direction X. In this way, when the moving member 52 moves toward the right along the second direction Y, the moving member 52 drives the steering knuckles 60 on both sides to rotate clockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right; when the moving member 52 moves toward the left along the second direction Y, the moving member 52 drives the steering knuckles 60 on both sides to rotate counterclockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left.

[0074] In one embodiment, the end of the first guide rod 513 away from the rudder arm 512 is further connected to a first baffle 514, and the first baffle 514 is configured to cooperate with the moving member 52 to limit the first guide rod 513 from escaping from the first guide groove 521. Figure 5 As shown, in the first direction X, the rudder arm 512 is located on the side of the moving member 52 close to the cleaning member 32, and the first baffle 514 is located on the side of the moving member 52 away from the cleaning member 32. The first baffle 514 can abut the moving member 52 around the first guide groove 521, thereby cooperating to limit the first guide rod 513 from escaping from the first guide groove 521.

[0075] Of course, in other embodiments of the present application, in the first direction X, the rudder arm 512 may be located on the side of the moving member 52 away from the cleaning member 32, and the first baffle 514 may be located on the side of the moving member 52 close to the cleaning member 32. The first baffle 514 can abut the moving member 52 around the first guide groove 521, and then cooperate to limit the first guide rod 513 from escaping from the first guide groove 521, which is not limited here.

[0076] In one embodiment, the driving assembly 50 further includes a fixing seat 55, which is fixed to the floor brush body 31. Specifically, the fixing seat 55 includes an upper seat body 551 and a lower seat body 552, which are connected to each other in a direction perpendicular to the surface 10a to be cleaned. The steering engine 511 is fixed to the fixing seat 55.

[0077] The steering knuckle 60 is rotatably disposed on the fixed seat 55. For the example in which the auxiliary wheels 40 are respectively disposed on both sides of the floor brush 30 in the second direction Y, the steering knuckles 60 connected to the auxiliary wheels 40 are distributed on both sides of the fixed seat 55 in the second direction Y. The driving assembly 50 also includes a first rotating connection member 541, and the steering knuckle 60 is rotatably disposed on the fixed seat 55 through the first rotating connection member 541. Optionally, the first rotating connection member 541 may include a rotating shaft and a bearing, the rotating shaft is embedded in the steering knuckle 60, and the upper seat body 551 and the lower seat body 552 of the fixed seat 55 are respectively embedded with bearings, and the two ends of the rotating shaft are respectively connected to the bearings on the upper seat body 551 and the lower seat body 552, so as to realize the rotation connection between the steering knuckle 60 and the fixed seat 55.

[0078] The driving assembly 50 further includes a second rotating connecting member 542, and the two ends of the steering rod 53 are respectively pivoted with the steering knuckle 60 and the moving member 52 through the second rotating connecting member 542. Optionally, the second rotating connecting member 542 may include a double-headed screw and a nut, the double-headed screw extending in a direction perpendicular to the surface 10a to be cleaned, and the two ends of the double-headed screw are respectively locked by corresponding nuts. The design of the pivot connection between the steering rod 53 and the moving member 52 through the second rotating connecting member 542 enables the moving member 52 to move along the second direction Y, while limiting the moving member 52 from moving in other directions.

[0079] Please also read Figure 7 , Figure 7 It is a structural schematic diagram of an embodiment of a steering tie rod of the present application.

[0080] In one embodiment, the steering rod 53 includes a first rod portion 531, a second rod portion 532 and a third rod portion 533. The first rod portion 531 has two opposite ends, namely a first end and a second end, wherein the first end is pivotally connected to the moving member 52 and the second end is pivotally connected to the steering knuckle 60; the second rod portion 532 is connected to the first end, the third rod portion 533 is connected to the second end, and the end of the second rod portion 532 away from the first end is connected to the end of the third rod portion 533 away from the second end, and the first rod portion 531, the second rod portion 532 and the third rod portion 533 are arranged at an angle in pairs. In other words, the first rod portion 531, the second rod portion 532 and the third rod portion 533 of the steering rod 53 form a stable structure similar to a triangle, which is conducive to ensuring the structural strength of the steering rod 53.

[0081] Please also read Figure 8 , Figure 8 It is a structural schematic diagram of an embodiment of a steering knuckle of the present application.

[0082] In one embodiment, the steering knuckle 60 includes a first steering portion 61, a second steering portion 62, and a pivot portion 63. The pivot portion 63 is rotatably disposed on the floor brush body 31, and the rotation axis of the pivot portion 63 relative to the floor brush body 31 is recorded as a first rotation axis O1. The first steering portion 61 is connected to the pivot portion 63, and the first steering portion 61 is also pivotally connected to the moving member 52. The second steering portion 62 is connected to the pivot portion 63, and the second steering portion 62 is also connected to the auxiliary wheel 40.

[0083] Please continue reading Figure 2 In one embodiment, the floor brush body 31 includes a first base 311, a second base 312 and a third base 313 which are sequentially distributed along the travel direction (i.e., the first direction X) of the floor brush 30, that is, the first base 311, the second base 312 and the third base 313 are sequentially distributed from front to back in the first direction X. The cleaning member 32 is disposed on the first base 311, the body 20 is connected to the second base 312, and at least part of the driving assembly 50 and the auxiliary wheel 40 are disposed on the third base 313.

[0084] In the above manner, many components are installed on the first base 311 and the second base 312. Compared with the case where the driving component 50 is arranged on the first base 311 or the second base 312, at least part of the driving component 50 and the auxiliary wheel 40 of this embodiment are arranged on the third base 313. The driving component 50 is arranged on the rear side of the auxiliary wheel 40, which can avoid the driving component 50 occupying the installation space of the first base 311 and the second base 312, which is beneficial to the layout and installation of the internal components of the floor brush 30.

[0085] Of course, in other embodiments of the present application, the floor brush body 31 may include a first base 311 and a second base 312 distributed along the travel direction of the floor brush 30, that is, the first base 311 and the second base 312 are distributed sequentially from front to back in the first direction X. The cleaning member 32 is provided on the first base 311, and the body 20 is connected to the second base 312. At least part of the driving assembly 50 is provided on the first base 311 and / or the second base 312. The cleaning device 10 has at least an inclined use state and a lying flat state. The angle between the body 20 in the inclined use state and the surface to be cleaned 10a is greater than the angle between the body 20 in the lying flat state and the surface to be cleaned 10a. Preferably, the body 20 in the lying flat state is parallel to the surface to be cleaned 10a. The driving assembly 50 is disposed on the front side of the auxiliary wheel 40, and the third base 313 of the above embodiment can be omitted, so that when the cleaning device 10 is in a flat state, its body 20 can be laid as flat as possible to avoid the third base 313 from interfering with the body 20. In addition, the driving assembly 50 can be hidden inside the floor brush body 31 or disposed near the bottom of the floor brush body 31, which can minimize the impact of the driving assembly 50 on the overall product appearance of the floor brush 30.

[0086] In one embodiment, the cleaning device 10 further includes a universal wheel (not shown), which is disposed on the side of the floor brush body 31 facing the surface to be cleaned 10a. When the floor brush 30 turns, the universal wheel can roll in the corresponding direction with the floor brush 30, and the turning radius of the universal wheel is always consistent with the turning radius of the floor brush 30, so that the motion trajectory of the universal wheel is parallel to the motion trajectory of the floor brush 30, thereby enabling the floor brush 30 to turn smoothly.

[0087] In the case where a guide wheel that can only roll in one direction is provided at the bottom of the floor brush 30, the turning radius of the guide wheel will be different from the turning radius of the floor brush 30, causing the movement trajectory of the guide wheel to interfere with the movement trajectory of the floor brush 30, resulting in jamming during the turning process of the floor brush 30 or the floor brush 30 dragging the guide wheel and causing excessive wear of the guide wheel.

[0088] In one embodiment, the cleaning device 10 further includes a control element, which is configured to receive control information input by a user, so that the driving component 50 drives the steering knuckle 60 to rotate around the first rotation axis O1 according to the control information. For example, the control element can be a button for controlling the auxiliary wheel 40 to turn left or right or a touch area on the cleaning device 10. The user inputs control information for controlling the auxiliary wheel 40 to turn left or right through the control element, so that the driving member 51 drives the moving member 52 to move according to the control information, so as to drive the steering knuckle 60 to turn left or right through the moving member 52, thereby driving the auxiliary wheel 40 to turn left or right.

[0089] In an alternative embodiment, the cleaning device 10 further includes a sensor configured to detect the rotation angle of the body 20 around the second rotation axis O2, so that the driving assembly 50 drives the auxiliary wheel 40 to rotate around the first rotation axis O1 according to the angle detected by the sensor.

[0090] For example, in this embodiment, the sensor can be used to detect whether the rotation angle of the fuselage 20 around the second rotation axis O2 reaches a preset angle threshold, and then determine whether to drive the auxiliary wheel 40 to rotate around the first rotation axis O1. For example, when the sensor detects that the rotation angle of the fuselage 20 around the second rotation axis O2 reaches the preset angle threshold, the driving member 51 is controlled to drive the moving member 52 to move, so as to drive the steering knuckle 60 to turn left or right through the moving member 52, and then drive the auxiliary wheel 40 to turn left or right; and when the sensor detects that the rotation angle of the fuselage 20 around the second rotation axis O2 does not reach the preset angle threshold, the rotation center axis of the auxiliary wheel 40 is kept parallel to the second direction Y, that is, the auxiliary wheel 40 is not driven to rotate around the first rotation axis O1; or, in this embodiment, the sensor can also be used to detect the rotation angle of the fuselage 20 around the second rotation axis O2, so as to drive the auxiliary wheel 40 to rotate around the first rotation axis O1 by a target angle, wherein the size of the target angle is positively correlated with the size of the rotation angle of the fuselage 20 around the second rotation axis O2, which is not limited here.

[0091] Please also read Figures 9 to 11 , Fig. 9 is a schematic structural diagram of the second embodiment of the cleaning device of the present application, Fig.10 This is a schematic diagram of the structure of an embodiment of the present application in which a driving member is arranged on the fuselage. Fig.11 yes Fig. 9 A schematic structural diagram of a driving assembly of the cleaning device shown.

[0092] In an alternative embodiment, the body 20 has a second rotation axis O2 passing through the body 20, the body 20 extends along the second rotation axis O2, and the body 20 is configured to be able to rotate around the second rotation axis O2. The difference between this embodiment and the above embodiment is that the driving member 51 is disposed on the body 20, and the driving member 51 is configured to be able to rotate synchronously with the body 20 to drive the moving member 52 to move along the second direction Y.

[0093] When the body 20 rotates around the second rotation axis O2, the driving member 51 rotates around the second rotation axis O2 synchronously with the body 20. Fig.12 As shown, when the user wants to control the floor brush 30 to turn left, the user controls the body 20 to rotate leftward around the second rotation axis O2, and the driving member 51 rotates synchronously with the body 20 to drive the moving member 52 to rotate along the second direction Y and toward Fig.12 The moving member 52 moves to the right side, and the moving member 52 drives the steering knuckles 60 on both sides to rotate counterclockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left; Fig.13 As shown, when the user wants to control the floor brush 30 to turn right, the user controls the body 20 to rotate rightward around the second rotation axis O2, and the driving member 51 rotates synchronously with the body 20 to drive the moving member 52 to rotate along the second direction Y and toward Fig.13 The movable member 52 moves to the left side, and the movable member 52 drives the steering knuckles 60 on both sides to rotate clockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right.

[0094] The body 20 also has a third rotation axis O3 parallel to the second direction Y, and the body 20 is also configured to be able to rotate relative to the brush 30 around the third rotation axis O3. For the above-mentioned example in which the cleaning device 10 has an inclined use state and a lying flat state, the body 20 rotates relative to the brush 30 around the third rotation axis O3, so that the cleaning device 10 switches between the inclined use state and the lying flat state. One of the driving member 51 and the moving member 52 is provided with a second guide rod 515, and the other is provided with a second guide groove 522 extending circumferentially along the third rotation axis O3, and the second guide rod 515 is movably embedded in the second guide groove 522. The driving member 51 can drive the moving member 52 to move along the second direction Y through the cooperation of the second guide rod 515 and the second guide groove 522, and the design of the second guide groove 522 extending circumferentially along the third rotation axis O3 allows the body 20 to rotate relative to the brush 30 around the third rotation axis O3, thereby allowing the cleaning device 10 to switch between the inclined use state and the lying flat state.

[0095] Further, the end of the second guide rod 515 away from the driving member 51 is connected to a second baffle 516. The second guide rod 515 is inserted into the second guide slot 522, and the driving member 51 and the second baffle 516 are respectively located on both sides of the second guide slot 522 in the second direction Y. The second baffle 516 is configured to cooperate with the moving member 52 to limit the second guide rod 515 from escaping from the second guide slot 522.

[0096] For example, the driving member 51 is provided with a second guide rod 515, and the moving member 52 is provided with a second guide groove 522. The second baffle 516 can abut the moving member 52 around the second guide groove 522, and then cooperate to limit the second guide rod 515 from coming out of the second guide groove 522. The driving member 51 is provided with the second guide rods 515 on both sides in the second direction Y, and the ends of each second guide rod 515 away from the driving member 51 are connected to the second baffle 516. The driving member 51 is provided with the second guide groove 522 on both sides in the second direction Y, and each second guide rod 515 is penetrated in the corresponding second guide groove 522.

[0097] like Fig.12 As shown, when the user wants to control the floor brush 30 to turn left, the user controls the body 20 to rotate leftward around the second rotation axis O2, the driving member 51 rotates synchronously with the body 20, and the driving member 51 and / or the second baffle 516 on the left side of the driving member 51 drive the moving member 52 to move along the second direction Y and toward Fig.12 The moving member 52 moves to the right side, and the moving member 52 drives the steering knuckles 60 on both sides to rotate counterclockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left; Fig.13 As shown, when the user wants to control the floor brush 30 to turn right, the user controls the body 20 to rotate rightward around the second rotation axis O2, the driving member 51 rotates synchronously with the body 20, and the driving member 51 and / or the second baffle 516 on the right side of the driving member 51 drive the moving member 52 to move along the second direction Y and toward Fig.13 The movable member 52 moves to the left side, and the movable member 52 drives the steering knuckles 60 on both sides to rotate clockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right.

[0098] In an alternative embodiment, the difference between this embodiment and the above embodiment is that auxiliary wheels 40 and steering knuckles 60 (not shown) are respectively provided on opposite sides of the floor brush body 31, and the driving assembly 50 includes at least two driving members 51, each driving member 51 is respectively connected to a different auxiliary wheel 40 through a different steering knuckle 60, and the driving member 51 is configured to drive the steering knuckle 60 to which it is connected to rotate around the first rotation axis O1.

[0099] When the user wants to control the floor brush 30 to turn left, each driving member 51 drives the steering knuckle 60 to which it is connected to rotate counterclockwise, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left; when the user wants to control the floor brush 30 to turn right, each driving member 51 drives the steering knuckle 60 to which it is connected to rotate clockwise, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right.

[0100] The following is an explanation of the control method of the cleaning device according to the embodiment of the present application. The cleaning device has been explained in detail in the above embodiment, and will not be described in detail below.

[0101] See also Fig.14 , Fig.14 It is a flow chart of the first embodiment of the control method of the cleaning device of the present application.

[0102] S101: Determine control information of a cleaning device.

[0103] In this embodiment, when the user wants to control the floor brush to turn, the user inputs control information of the cleaning device to the cleaning device, so that the cleaning device controls the auxiliary wheel to deflect based on the control information to guide the floor brush to turn on the surface to be cleaned. Therefore, in response to the user inputting the control information of the cleaning device to the cleaning device, the control information is determined to control the auxiliary wheel to deflect based on the control information.

[0104] It should be noted that the form in which the user inputs the control information to the cleaning device will be described below.

[0105] S102: Based on the control information, control the auxiliary wheel to rotate around the first rotation axis to guide the floor brush to turn on the surface to be cleaned.

[0106] In this embodiment, the cleaning device has a first rotation axis, and the angle between the first rotation axis and the surface to be cleaned is greater than or equal to 85°. Preferably, the angle between the first rotation axis and the surface to be cleaned is 90°, that is, the first rotation axis is perpendicular to the surface to be cleaned. After determining the control information of the cleaning device, this embodiment controls the auxiliary wheel to rotate around the first rotation axis based on the control information, that is, drives the auxiliary wheel to deflect on the surface to be cleaned. In this way, when the user pushes the cleaning device to move forward, the deflected auxiliary wheel can guide the floor brush to turn in the corresponding direction.

[0107] In the above manner, the embodiment of the present application controls the auxiliary wheel to rotate around the first rotation axis based on the control information of the cleaning device to guide the floor brush to turn on the surface to be cleaned. In other words, the embodiment of the present application guides the floor brush to turn on the surface to be cleaned by deflecting the auxiliary wheel, which can reduce the turning radius of the floor brush, increase the area covered by the floor brush when cleaning in a narrow area, thereby improving the cleaning effect of the floor brush on the narrow area, and making the floor brush more flexible to turn.

[0108] See also Fig.15 , Fig.15 It is a flow chart of the second embodiment of the control method of the cleaning device of the present application.

[0109] S201: Determine control information of a cleaning device.

[0110] In this embodiment, when the user wants to control the floor brush to turn, the user inputs control information of the cleaning device to the cleaning device, so that the cleaning device controls the auxiliary wheel to deflect based on the control information to guide the floor brush to turn on the surface to be cleaned. Therefore, in response to the user inputting the control information of the cleaning device to the cleaning device, the control information is determined to control the auxiliary wheel to deflect based on the control information.

[0111] This embodiment is based on the body described in the above embodiment having a second rotation axis passing through itself, the body extending along the second rotation axis, the body rotatably connected to the floor brush, and the body configured to be able to rotate around the second rotation axis. In this embodiment, the user inputs control information to the cleaning device in the form of the user controlling the body to rotate around the second rotation axis, and the control information includes the angle information of the body rotating around the second rotation axis, so as to control the deflection of the auxiliary wheel based on the rotation angle of the body. The rotation angle of the body can be detected by the sensor of the above embodiment.

[0112] S202: Determine whether the rotation angle of the body around the second rotation axis is greater than or equal to a preset angle threshold.

[0113] In this embodiment, if the rotation angle of the body around the second rotation axis is greater than or equal to the preset angle threshold, step S203 is executed; if the rotation angle of the body around the second rotation axis is less than the preset angle threshold, step S202 is continued.

[0114] This embodiment determines whether the user intends to control the floor brush to turn by determining whether the angle of the body rotating around the second rotation axis is greater than or equal to a preset angle threshold. Specifically, if the angle of the body rotating around the second rotation axis is greater than or equal to the preset angle threshold, it is determined that the user intends to control the floor brush to turn, and step S203 is executed. If the angle of the body rotating around the second rotation axis is less than the preset angle threshold, it is determined that the user does not intend to control the floor brush to turn, and step S202 is continued.

[0115] It should be noted that the preset angle threshold can be reasonably set to accurately evaluate the user's control intention. If the preset angle threshold is too large, it means that the user needs to control the body to rotate at a larger angle, which will increase the user's operating burden and make it inconvenient for the user to use the cleaning device for cleaning; and if the preset angle threshold is too small, the user controls the body to rotate at a smaller angle, which will trigger the auxiliary wheel deflection, which may easily lead to the auxiliary wheel deflection being triggered by mistake and violate the user's control intention. Optionally, the preset angle threshold can be the maximum angle of the body's rotation around the second rotation axis, which is not limited here.

[0116] S203: Control the auxiliary wheel to rotate around the first rotation axis.

[0117] In this embodiment, the angle of rotation of the body around the second rotation axis is greater than or equal to the preset angle threshold, and it is determined that the user intends to control the floor brush to turn, so the auxiliary wheel is controlled to rotate around the first rotation axis. In this embodiment, the auxiliary wheel is configured to be able to deflect relative to the floor brush body. The drive assembly drives the steering knuckle to rotate around the first rotation axis, and drives the auxiliary wheel to rotate synchronously around the first rotation axis, so that when the user pushes the cleaning device forward, the floor brush is guided to turn on the surface to be cleaned through the deflected auxiliary wheel. The deflection of the auxiliary wheel relative to the floor brush body can reduce the turning radius of the floor brush, thereby increasing the area covered by the floor brush when cleaning in a narrow area, thereby improving the cleaning effect of the floor brush on narrow areas, and operating the floor brush to turn more flexibly.

[0118] Specifically, the auxiliary wheel is configured to be rotatable and switchable around a first rotation axis between a first state and a second state. The angle between the auxiliary wheel travel direction in the first state and the floor brush travel direction is greater than the angle between the auxiliary wheel travel direction and the floor brush travel direction in the second state.

[0119] If the angle of rotation of the body around the second rotation axis is greater than or equal to the preset angle threshold, the auxiliary wheel is controlled to rotate and switch to the first state. At this time, the auxiliary wheel is deflected relative to the floor brush body to guide the floor brush to turn on the surface to be cleaned. In addition, the deflection direction of the auxiliary wheel is compatible with the direction of rotation of the body around the second rotation axis. The control information also includes the direction information of the rotation of the body around the second rotation axis. The above-mentioned step of controlling the auxiliary wheel to rotate around the first rotation axis includes: when the body rotates toward the left side around the second rotation axis, the auxiliary wheel is controlled to rotate toward the left side around the first rotation axis to guide the floor brush to turn left; when the body rotates toward the right side around the second rotation axis, the auxiliary wheel is controlled to rotate toward the right side around the first rotation axis to guide the floor brush to turn right.

[0120] If the angle of the body's rotation around the second rotation axis is less than a preset angle threshold, the auxiliary wheel is controlled to rotate and switch to the second state. In the second state, the auxiliary wheel preferably moves in a direction parallel to the floor brush's direction, that is, the auxiliary wheel's rotation center axis is perpendicular to the first direction. At this time, the auxiliary wheel does not deflect relative to the floor brush body, and guides the floor brush to move forward or backward in a straight line on the surface to be cleaned. In the second state, the auxiliary wheel moves in the same direction as the floor brush, that is, the auxiliary wheel moves forward or backward with the floor brush.

[0121] S204: During the turning process of the floor brush, continuously determine whether the real-time angle of the body rotating around the second rotation axis is less than a preset angle threshold.

[0122] In this embodiment, if the real-time angle of the body rotating around the second rotation axis is less than the preset angle threshold, step S205 is executed; if the real-time angle of the body rotating around the second rotation axis is greater than or equal to the preset angle threshold, step S204 is continued.

[0123] As the floor brush turns, the rotation angle of the body around the second rotation axis will gradually decrease until the floor brush completes the turn. Therefore, in the process of turning the floor brush, this embodiment continuously monitors the real-time rotation angle of the body around the second rotation axis, so as to timely control the auxiliary wheels to restore the undeflected state when the floor brush completes the turn, and guide the floor brush to move forward or backward in a straight line on the surface to be cleaned.

[0124] S205: Control the auxiliary wheel to rotate and switch to the second state.

[0125] In this embodiment, the real-time angle of the body's rotation around the second rotation axis is less than the preset angle threshold, indicating that the floor brush has completed the turn. At this time, the auxiliary wheel is controlled to rotate and switch to the second state, that is, the auxiliary wheel is controlled to restore to an undeflected state, so that the auxiliary wheel guides the floor brush to move forward or backward in a straight line on the surface to be cleaned.

[0126] It should be noted that the cleaning device also includes a power-assisting element, which is in driving connection with the auxiliary wheel. During the turning process of the floor brush, the power-assisting element is controlled to work so that the power-assisting element provides power to the user for manipulating the floor brush to turn through the auxiliary wheel, which can reduce the user's burden of manipulating the floor brush to turn. Specifically, the power-assisting element can provide power for the floor brush to turn by actively driving the auxiliary wheel to roll. Furthermore, the power-assisting element can be controlled to work before the auxiliary wheel is controlled to rotate around the first rotation axis; or, the power-assisting element can be controlled to work while the auxiliary wheel is controlled to rotate around the first rotation axis; or, the power-assisting element can be controlled to work after the auxiliary wheel is controlled to rotate around the first rotation axis.

[0127] See also Fig.16 , Fig.16 It is a flow chart of the third embodiment of the control method of the cleaning device of the present application.

[0128] S301: Determine control information of a cleaning device.

[0129] In this embodiment, when the user wants to control the floor brush to turn, the user inputs control information of the cleaning device to the cleaning device, so that the cleaning device controls the auxiliary wheel to deflect based on the control information to guide the floor brush to turn on the surface to be cleaned. Therefore, in response to the user inputting the control information of the cleaning device to the cleaning device, the control information is determined to control the auxiliary wheel to deflect based on the control information.

[0130] This embodiment is based on the body described in the above embodiment having a second rotation axis passing through itself, the body extending along the second rotation axis, the body rotatably connected to the floor brush, and the body configured to be able to rotate around the second rotation axis. In this embodiment, the user inputs control information to the cleaning device in the form of the user controlling the body to rotate around the second rotation axis, and the control information includes the angle information of the body rotating around the second rotation axis, so as to control the deflection of the auxiliary wheel based on the rotation angle of the body. The rotation angle of the body can be detected by the sensor of the above embodiment.

[0131] S302: Control the auxiliary wheel to rotate around the first rotation axis to a target angle.

[0132] In this embodiment, based on the above control information, the auxiliary wheel is controlled to rotate around the first rotation axis to a target angle. The size of the target angle is positively correlated with the size of the rotation angle of the fuselage around the second rotation axis, that is, the larger the angle of the fuselage rotation around the second rotation axis, the larger the target angle of the auxiliary wheel rotation around the first rotation axis, and the smaller the angle of the fuselage rotation around the second rotation axis, the smaller the target angle of the auxiliary wheel rotation around the first rotation axis. In other words, in this embodiment, the auxiliary wheel is configured to adaptively deflect around the first rotation axis as the fuselage rotates around the second rotation axis, so as to guide the floor brush to turn on the surface to be cleaned.

[0133] The control information also includes information about the direction of the body rotating around the second rotation axis. The step of controlling the auxiliary wheel to rotate around the first rotation axis to a target angle includes: when the body rotates toward the left around the second rotation axis, the auxiliary wheel is controlled to rotate toward the left around the first rotation axis to guide the floor brush to turn left; when the body rotates toward the right around the second rotation axis, the auxiliary wheel is controlled to rotate toward the right around the first rotation axis to guide the floor brush to turn right.

[0134] See also Fig.17 , Fig.17 It is a flow chart of the fourth embodiment of the control method of the cleaning device of the present application.

[0135] S401: Controlling a control element to receive control information input by a user, where the control information includes turning direction information and / or turning angle information that the user desires to perform a turning action by swiping.

[0136] This embodiment is based on the control information input by the user received by the control element as described in the above embodiment, so that the driving component drives the auxiliary wheel to deflect according to the control information. The control information includes the turning direction information and / or the turning angle information that the user desires to perform the turning action, and the driving component drives the auxiliary wheel to deflect in the corresponding turning direction and / or drives the auxiliary wheel to deflect a corresponding angle according to the control information.

[0137] S402: Control the auxiliary wheel to rotate around the first rotation axis; wherein the rotation direction of the auxiliary wheel is the same as the turning direction that the user expects the floor brush to perform a turning action, and / or the rotation angle of the auxiliary wheel corresponds to the turning angle that the user expects the floor brush to perform a turning action.

[0138] In this embodiment, after receiving the control information input by the user, the control element controls the auxiliary wheel to rotate around the first rotation axis. The rotation direction of the auxiliary wheel is the same as the turning direction that the user expects the brush to perform a turning action, and / or the rotation angle of the auxiliary wheel corresponds to the turning angle that the user expects the brush to perform a turning action.

[0139] Specifically, the user inputs control information for controlling the auxiliary wheel to turn left or right through the control element, so that the drive component drives the auxiliary wheel to turn left or right according to the control information. When the user inputs control information for controlling the auxiliary wheel to turn left through the control element, the drive component drives the auxiliary wheel to turn left around the first rotation axis; when the user inputs control information for controlling the auxiliary wheel to turn right through the control element, the drive component drives the auxiliary wheel to turn right around the first rotation axis. And / or, the user inputs control information for controlling the auxiliary wheel to turn left or right at a corresponding angle through the control element, so that the drive component drives the auxiliary wheel to turn left or right at a corresponding angle according to the control information. When the user inputs control information for controlling the auxiliary wheel to turn left at a corresponding angle through the control element, the drive component drives the auxiliary wheel to turn left at a corresponding angle around the first rotation axis; when the user inputs control information for controlling the auxiliary wheel to turn right at a corresponding angle through the control element, the drive component drives the auxiliary wheel to turn right at a corresponding angle around the first rotation axis.

[0140] It should be noted that the cleaning device described in the above embodiment has a tilted use state and a lying flat state, and the above step of determining the control information of the cleaning device includes: when the cleaning device is in the lying flat state, the control element is controlled to receive the control information input by the user. When the user needs to clean low areas such as the bottom of the table, the bottom of the bed, and the bottom of the sofa, the user usually flattens the fuselage of the cleaning device so that the cleaning device is converted to the lying flat state. At this time, it is difficult for the user to control the deflection of the auxiliary wheel by controlling the body to rotate around the second rotation axis. In view of this, the present embodiment receives the control information input by the user through the control element to control the deflection of the auxiliary wheel, which is more convenient for the user to control the deflection of the auxiliary wheel when the cleaning device is in the lying flat state to guide the brush to turn on the surface to be cleaned. The control element can be a button for controlling the auxiliary wheel to turn left and right or a touch area on the cleaning device, and the control element can be set in an area that is easy for the user to touch, such as the handle of the fuselage.

[0141] See also Fig.18 , Fig.18 It is a flow chart of the fifth embodiment of the control method of the cleaning device of the present application.

[0142] S501: Determine control information of a cleaning device.

[0143] In this embodiment, when the user wants to control the floor brush to turn, the user inputs control information of the cleaning device to the cleaning device, so that the cleaning device controls the auxiliary wheel to deflect based on the control information to guide the floor brush to turn on the surface to be cleaned. Therefore, in response to the user inputting the control information of the cleaning device to the cleaning device, the control information is determined to control the auxiliary wheel to deflect based on the control information.

[0144] S502: Based on the control information, control the auxiliary wheel to guide the floor brush to turn on the surface to be cleaned.

[0145] In this embodiment, after the control information of the cleaning device is determined, based on the control information, the auxiliary wheel is controlled to guide the floor brush to turn on the surface to be cleaned. In this embodiment, the auxiliary wheel guides the floor brush to turn on the surface to be cleaned in a manner that the auxiliary wheel deflects around the first rotation axis to guide the floor brush to turn on the surface to be cleaned as described in the above embodiment, or the auxiliary wheel does not deflect to guide the floor brush to turn on the surface to be cleaned.

[0146] The specific method for guiding the floor brush to turn on the surface to be cleaned without the auxiliary wheels deflecting can be: auxiliary wheels can be provided on both sides of the floor brush, and the auxiliary wheels on both sides of the floor brush can be controlled to have different rolling directions and / or different rotation speeds, so that the auxiliary wheels can guide the floor brush to turn on the surface to be cleaned without deflecting; or, the auxiliary wheels are Mecanum wheels, and the auxiliary wheels are controlled to guide the floor brush to turn on the surface to be cleaned, and the auxiliary wheels can guide the floor brush to turn on the surface to be cleaned without deflecting. Of course, the method for guiding the floor brush to turn on the surface to be cleaned without the auxiliary wheels deflecting is not limited to the above, and is not limited here.

[0147] In one embodiment of the present application, a cleaning device is provided. The cleaning device can execute a program to implement the control method as described in the above embodiment, and the control method will not be described in detail here.

[0148] In one embodiment of the present application, a cleaning device is provided. The cleaning device includes a body and a floor brush, the body is rotatably connected to the floor brush, the body is provided with a handle for holding, and the floor brush is used to clean the surface to be cleaned. The floor brush includes a floor brush body, which is connected to the body. The floor brush also includes a cleaning piece, which is arranged on the floor brush body, and the cleaning piece is used to clean the surface to be cleaned. The cleaning device also includes an auxiliary wheel, which is arranged on the floor brush body. The cleaning device also includes a drive assembly, which is transmission-connected to the auxiliary wheel, and the drive assembly is configured to drive the auxiliary wheel to rotate around a first rotation axis based on control information of the cleaning device to guide the floor brush to turn on the surface to be cleaned, wherein the angle between the first rotation axis and the surface to be cleaned is greater than or equal to 85°.

[0149] In one embodiment of the present application, the floor brush further has a first direction and a second direction, the first direction and the second direction are perpendicular to each other, and the first direction and the second direction are parallel to the surface to be cleaned, and the cleaning member is arranged near the front end of the floor brush body in the first direction. The driving assembly includes a driving member and a moving member, the driving member is connected to the auxiliary wheel through the moving member, and the driving member is configured to drive the moving member to move in the second direction or in the opposite direction of the second direction, so that the moving member drives the auxiliary wheel to rotate around the first rotation axis.

[0150] In one embodiment of the present application, the driving member includes a steering gear and a rudder arm, the rudder arm is rotatably arranged on the steering gear, the rudder arm is transmission-connected to the movable member, and the steering gear is configured to drive the rudder arm to rotate so as to drive the movable member to move in a second direction or in the opposite direction of the second direction through the rudder arm.

[0151] In one embodiment of the present application, the body has a second rotation axis passing through the body, the body extends along the second rotation axis, the body is rotatably connected to the floor brush, and the body is configured to be able to rotate around the second rotation axis. The driving member is provided on the body, and the driving member is configured to be able to rotate synchronously with the body to drive the moving member to move in the second direction or in the opposite direction of the second direction.

[0152] In one embodiment of the present application, the driving assembly further comprises a steering rod, one end of which is pivotally connected to the moving member and the other end of which is rotationally connected to the auxiliary wheel.

[0153] In one embodiment of the present application, the cleaning device also includes a steering knuckle, which is rotatably arranged on the floor brush body and is also connected to the auxiliary wheel, wherein the rotation axis of the steering knuckle relative to the floor brush body is recorded as a first rotation axis, and the first rotation axis is perpendicular to the surface to be cleaned.

[0154] In one embodiment of the present application, the driving member is connected to the steering knuckle through a moving member, and the driving member is configured to drive the moving member to move in a second direction or in the opposite direction of the second direction, so that the moving member drives the steering knuckle to rotate around a first rotation axis, wherein the first rotation axis is perpendicular to the surface to be cleaned.

[0155] In one embodiment of the present application, the steering knuckle is located on the rotation center axis of the auxiliary wheel.

[0156] In one embodiment of the present application, the driving member includes a steering gear and a rudder arm, the rudder arm is rotatably arranged on the steering gear, the rudder arm is transmission-connected to the movable member, and the steering gear is configured to drive the rudder arm to rotate so as to drive the movable member to move in a second direction or in the opposite direction of the second direction through the rudder arm.

[0157] In one embodiment of the present application, one of the moving member and the rudder arm is provided with a first guide rod, and the other is provided with a first guide groove extending in a direction perpendicular to the surface to be cleaned, and the first guide rod is movably embedded in the first guide groove.

[0158] In one embodiment of the present application, the first guide rod is arranged on the rudder arm, the first guide groove is arranged on the movable member, and the end of the first guide rod away from the rudder arm is also connected to a first baffle plate, and the first baffle plate is configured to cooperate with the movable member to limit the first guide rod from escaping from the first guide groove.

[0159] In an embodiment of the present application, when the rudder arm rotates toward one side in the second direction, the first guide rod moves in the first guide groove toward the bottom of the first guide groove to guide the moving member to move toward the same side in the second direction.

[0160] In one embodiment of the present application, the fuselage has a second rotation axis passing through itself, the fuselage extends along the second rotation axis, and the fuselage is configured to be able to rotate around the second rotation axis; the driving member is arranged on the fuselage, and the driving member is configured to be able to rotate synchronously with the fuselage to drive the moving member to move in the second direction or in the opposite direction of the second direction.

[0161] In one embodiment of the present application, the body also has a third rotation axis parallel to the second direction, and the body is also configured to be able to rotate relatively around the third rotation axis; one of the driving member and the moving member is provided with a second guide rod, and the other is provided with a second guide groove extending circumferentially along the third rotation axis, and the second guide rod is movably embedded in the second guide groove.

[0162] In one embodiment of the present application, the body has a second rotation axis passing through itself, the body extends along the second rotation axis, and the body is configured to be able to rotate around the second rotation axis; the cleaning device also includes a sensor, the sensor is configured to detect the angle of rotation of the body around the second rotation axis, so that the driving component drives the auxiliary wheel to rotate around the first rotation axis according to the angle detected by the sensor.

[0163] In one embodiment of the present application, the driving assembly further comprises a steering rod, one end of the steering rod is pivotally connected to the moving member, and the other end of the steering rod is pivotally connected to the steering knuckle.

[0164] In one embodiment of the present application, auxiliary wheels are respectively provided on both sides of the moving part of the floor brush body, and each auxiliary wheel is pivotally connected to the moving part through a corresponding steering knuckle and a steering rod; the moving part can drive each auxiliary wheel to rotate in the same direction.

[0165] In one embodiment of the present application, the steering rod includes a first rod portion, a second rod portion and a third rod portion; the opposite ends of the first rod portion are a first end and a second end, respectively, the first end is pivotally connected to the moving member, and the second end is pivotally connected to the steering knuckle; the second rod portion is connected to the first end, the third rod portion is connected to the second end, and the end of the second rod portion away from the first end is connected to the end of the third rod portion away from the second end, and the first rod portion, the second rod portion and the third rod portion are arranged at an angle to each other.

[0166] In one embodiment of the present application, the driving assembly further includes a fixing seat, the fixing seat is fixed to the floor brush body, and the steering knuckle is rotatably disposed on the fixing seat.

[0167] In one embodiment of the present application, auxiliary wheels and steering knuckles are respectively provided on opposite sides of the floor brush body, and the driving assembly includes at least two driving members, each of which is respectively connected to a different auxiliary wheel through a different steering knuckle, and the driving member is configured to drive the steering knuckle to which it is connected to rotate around a first rotation axis.

[0168] In one embodiment of the present application, the floor brush body includes a first base, a second base and a third base sequentially distributed along the moving direction of the floor brush, the cleaning element is arranged on the first base, the body is connected to the second base, and at least part of the driving assembly and the auxiliary wheels are arranged on the third base.

[0169] In one embodiment of the present application, the floor brush body includes a first base and a second base distributed along the travel direction of the floor brush, the cleaning element is arranged on the first base, the body is connected to the second base, and at least part of the driving assembly is arranged on the first base and / or the second base.

[0170] In an embodiment of the present application, the cleaning device further comprises a control element, and the control element is configured to receive a control instruction input by a user, so that the driving component drives the steering knuckle to rotate around the first rotation axis according to the control instruction.

[0171] In one embodiment of the present application, the cleaning device further includes a universal wheel, which is arranged on a side of the floor brush body facing the surface to be cleaned.

[0172] The technical solution provided in the embodiments of the present application is described below in conjunction with specific embodiments.

[0173] Embodiment 1:

[0174] The cleaning device 10 is a floor scrubber. The cleaning device 10 includes a body 20 and a floor brush 30, the body 20 is rotatably connected to the floor brush 30, the body 20 is provided with a handle for holding, and the floor brush 30 is used to clean the surface to be cleaned 10a. The floor brush 30 includes a floor brush body 31 and a cleaning member 32. The floor brush body 31 is connected to the body 20, the cleaning member 32 is arranged on the floor brush body 31, and the cleaning member 32 is used to clean the surface to be cleaned 10a. The cleaning device 10 also includes an auxiliary wheel 40, and the auxiliary wheel 40 is used to assist the floor brush 30 in moving. The cleaning device 10 also includes a steering knuckle 60, which is rotatably arranged on the floor brush body 31, and the steering knuckle 60 is also connected to the auxiliary wheel 40, wherein the rotation axis of the steering knuckle 60 relative to the floor brush body 31 is recorded as a first rotation axis O1, and the angle between the first rotation axis O1 and the surface to be cleaned 10a is greater than or equal to 85°. The cleaning device 10 further includes a driving assembly 50 , which is in driving connection with the steering knuckle 60 . The driving assembly 50 is configured to drive the steering knuckle 60 to rotate around the first rotation axis O1 to drive the auxiliary wheel 40 to deflect on the surface 10 a to be cleaned.

[0175] The driving assembly 50 includes a driving member 51 and a moving member 52. The driving member 51 is connected to the steering knuckle 60 through the moving member 52, and the driving member 51 is configured to drive the moving member 52 to move along the second direction Y, so that the moving member 52 drives the steering knuckle 60 to rotate around the first rotation axis O1.

[0176] Specifically, the driving member 51 includes a steering gear 511 and a steering arm 512. Figure 5 As shown, when the user wants to control the floor brush 30 to turn left, the steering gear 511 drives the steering arm 512 to turn left. Figure 5 The rudder arm 512 correspondingly drives the moving member 52 along the second direction Y and toward Figure 5 The moving member 52 moves to the right side, and the moving member 52 drives the steering knuckles 60 on both sides to rotate counterclockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left; Figure 6 As shown, when the user wants to control the floor brush 30 to turn right, the steering engine 511 drives the steering arm 512 to turn right. Figure 6 The rudder arm 512 correspondingly drives the moving member 52 along the second direction Y and toward Figure 6 The movable member 52 moves to the left side, and the movable member 52 drives the steering knuckles 60 on both sides to rotate clockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right.

[0177] Embodiment 2:

[0178] The cleaning device 10 is a floor scrubber. The cleaning device 10 includes a body 20 and a floor brush 30, the body 20 is rotatably connected to the floor brush 30, the body 20 is provided with a handle for holding, and the floor brush 30 is used to clean the surface to be cleaned 10a. The floor brush 30 includes a floor brush body 31 and a cleaning member 32. The floor brush body 31 is connected to the body 20, the cleaning member 32 is arranged on the floor brush body 31, and the cleaning member 32 is used to clean the surface to be cleaned 10a. The cleaning device 10 also includes an auxiliary wheel 40, and the auxiliary wheel 40 is used to assist the floor brush 30 in moving. The cleaning device 10 also includes a steering knuckle 60, which is rotatably arranged on the floor brush body 31, and the steering knuckle 60 is also connected to the auxiliary wheel 40, wherein the rotation axis of the steering knuckle 60 relative to the floor brush body 31 is recorded as a first rotation axis O1, and the angle between the first rotation axis O1 and the surface to be cleaned 10a is greater than or equal to 85°. The cleaning device 10 further includes a driving assembly 50 , which is in driving connection with the steering knuckle 60 . The driving assembly 50 is configured to drive the steering knuckle 60 to rotate around the first rotation axis O1 to drive the auxiliary wheel 40 to deflect on the surface 10 a to be cleaned.

[0179] The driving assembly 50 includes a driving member 51 and a moving member 52. The driving member 51 is connected to the steering knuckle 60 through the moving member 52, and the driving member 51 is configured to drive the moving member 52 to move along the second direction Y, so that the moving member 52 drives the steering knuckle 60 to rotate around the first rotation axis O1.

[0180] Specifically, the body 20 has a second rotation axis O2 passing through the body 20, the body 20 extends along the second rotation axis O2, and the body 20 is configured to be able to rotate around the second rotation axis O2. The driving member 51 is disposed on the body 20, and the driving member 51 is configured to be able to rotate synchronously with the body 20 to drive the moving member 52 to move along the second direction Y. Fig.12 As shown, when the user wants to control the floor brush 30 to turn left, the user controls the body 20 to rotate leftward around the second rotation axis O2, and the driving member 51 rotates synchronously with the body 20 to drive the moving member 52 to rotate along the second direction Y and toward Fig.12 The moving member 52 moves to the right side, and the moving member 52 drives the steering knuckles 60 on both sides to rotate counterclockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left; Fig.13 As shown, when the user wants to control the floor brush 30 to turn right, the user controls the body 20 to rotate rightward around the second rotation axis O2, and the driving member 51 rotates synchronously with the body 20 to drive the moving member 52 to rotate along the second direction Y and toward Fig.13 The movable member 52 moves to the left side, and the movable member 52 drives the steering knuckles 60 on both sides to rotate clockwise through the steering rods 53 on both sides thereof, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right.

[0181] Embodiment three:

[0182] The cleaning device 10 is a floor scrubber. The cleaning device 10 includes a body 20 and a floor brush 30, the body 20 is rotatably connected to the floor brush 30, the body 20 is provided with a handle for holding, and the floor brush 30 is used to clean the surface to be cleaned 10a. The floor brush 30 includes a floor brush body 31 and a cleaning member 32. The floor brush body 31 is connected to the body 20, the cleaning member 32 is arranged on the floor brush body 31, and the cleaning member 32 is used to clean the surface to be cleaned 10a. The cleaning device 10 also includes an auxiliary wheel 40, and the auxiliary wheel 40 is used to assist the floor brush 30 in moving. The cleaning device 10 also includes a steering knuckle 60, which is rotatably arranged on the floor brush body 31, and the steering knuckle 60 is also connected to the auxiliary wheel 40, wherein the rotation axis of the steering knuckle 60 relative to the floor brush body 31 is recorded as a first rotation axis O1, and the angle between the first rotation axis O1 and the surface to be cleaned 10a is greater than or equal to 85°. The cleaning device 10 further includes a driving assembly 50 , which is in driving connection with the steering knuckle 60 . The driving assembly 50 is configured to drive the steering knuckle 60 to rotate around the first rotation axis O1 to drive the auxiliary wheel 40 to deflect on the surface 10 a to be cleaned.

[0183] The driving assembly 50 includes a driving member 51 and a moving member 52. The driving member 51 is connected to the steering knuckle 60 through the moving member 52, and the driving member 51 is configured to drive the moving member 52 to move along the second direction Y, so that the moving member 52 drives the steering knuckle 60 to rotate around the first rotation axis O1.

[0184] Specifically, auxiliary wheels 40 and steering knuckles 60 are respectively provided on opposite sides of the floor brush body 31, and the driving assembly 50 includes at least two driving members 51, each driving member 51 is respectively connected to a different auxiliary wheel 40 through a different steering knuckle 60, and the driving member 51 is configured to drive the steering knuckle 60 to which it is connected to rotate around the first rotation axis O1. When the user wants to control the floor brush 30 to turn left, each driving member 51 drives the steering knuckle 60 to which it is connected to rotate counterclockwise, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate counterclockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the left, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn left; when the user wants to control the floor brush 30 to turn right, each driving member 51 drives the steering knuckle 60 to which it is connected to rotate clockwise, so that the auxiliary wheels 40 on both sides of the floor brush 30 rotate clockwise, that is, the auxiliary wheels 40 on both sides of the floor brush 30 deflect to the right, and the auxiliary wheels 40 on both sides of the floor brush 30 can guide the floor brush 30 to turn right.

[0185] The cleaning device and the control method thereof provided by the present application are introduced in detail above. Specific examples are used herein 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 those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a connected body and a floor brush, wherein the floor brush is used to clean the surface to be cleaned, and the floor brush is provided with auxiliary wheels; The control method comprises: Determining control information of the cleaning device, wherein the control information includes a user's expected turning direction; Based on the control information, the auxiliary wheel is controlled to rotate around a first rotation axis to guide the auxiliary wheel to turn on the surface to be cleaned along the user's expected turning direction, wherein the angle between the first rotation axis and the surface to be cleaned is greater than or equal to 85°.

2. The control method according to claim 1, characterized in that: The body has a second rotation axis passing through the body, the body extends along the second rotation axis, the body is rotatably connected to the floor brush, and the body is configured to be able to rotate around the second rotation axis; The control information includes angle information of the body rotating around the second rotation axis.

3. The control method according to claim 2, characterized in that: The step of controlling the auxiliary wheel to rotate around the first rotation axis based on the control information comprises: Determining whether the rotation angle of the body around the second rotation axis is greater than or equal to a preset angle threshold; If so, the auxiliary wheel is controlled to rotate around the first rotation axis.

4. The control method according to claim 3, characterized in that: The preset angle threshold is the maximum angle of rotation of the fuselage around the second rotation axis.

5. The control method according to claim 3, characterized in that: The auxiliary wheel is configured to be able to rotate and switch between a first state and a second state around the first rotation axis, and the angle between the auxiliary wheel travel direction and the floor brush travel direction in the first state is greater than the angle between the auxiliary wheel travel direction and the floor brush travel direction in the second state; The step of determining whether the rotation angle of the fuselage around the second rotation axis is greater than or equal to a preset angle threshold comprises: If yes, controlling the auxiliary wheel to rotate and switch to the first state; If not, the auxiliary wheel is controlled to rotate and switch to the second state.

6. The control method according to claim 5, characterized in that: In the second state, the moving direction of the auxiliary wheel is the same as the moving direction of the floor brush.

7. The control method according to claim 5, characterized in that: After the step of controlling the auxiliary wheel to rotate and switch to the first state, the following steps are included: During the turning process of the floor brush, continuously determining whether the real-time angle of the body rotating around the second rotation axis is less than the preset angle threshold; If yes, the auxiliary wheel is controlled to rotate and switch to the second state.

8. The control method according to claim 2, characterized in that: The step of controlling the auxiliary wheel to rotate around the first rotation axis based on the control information comprises: The auxiliary wheel is controlled to rotate around the first rotation axis to a target angle, wherein the target angle is positively correlated with the rotation angle of the fuselage around the second rotation axis.

9. The control method according to any one of claims 2 to 8, characterized in that: The control information also includes direction information of the body rotating around the second rotation axis; The step of controlling the auxiliary wheel to rotate around the first rotation axis comprises: When the fuselage rotates toward the left side around the second rotation axis, the auxiliary wheel is controlled to rotate toward the left side around the first rotation axis; when the fuselage rotates toward the right side around the second rotation axis, the auxiliary wheel is controlled to rotate toward the right side around the first rotation axis.

10. The control method according to claim 1, characterized in that: The cleaning device also includes a control element; The step of determining the control information of the cleaning device comprises: Controlling the control element to receive the control information input by the user, wherein the control information includes turning direction information and / or turning angle information that the user expects the floor brush to perform a turning action; The step of controlling the auxiliary wheel to rotate around the first rotation axis based on the control information comprises: Control the auxiliary wheel to rotate around the first rotation axis; wherein the rotation direction of the auxiliary wheel is the same as the turning direction that the user expects the floor brush to turn, and / or the rotation angle of the auxiliary wheel corresponds to the turning angle that the user expects the floor brush to turn.

11. The control method according to claim 10, characterized in that: The cleaning device has at least a tilted use state and a flat state, wherein the angle between the body and the surface to be cleaned in the tilted use state is greater than the angle between the body and the surface to be cleaned in the flat state; The step of determining the control information of the cleaning device comprises: When the cleaning device is in the lying state, the control element is controlled to receive the control information input by a user.

12. The control method according to claim 1, characterized in that: The cleaning device further comprises a power-assisting element, and the power-assisting element is transmission-connected to the auxiliary wheel; The control method further comprises: During the turning process of the floor brush, the power-assisting element is controlled to work, so that the power-assisting element provides power to the user to control the turning of the floor brush through the auxiliary wheel.

13. The control method according to claim 12, characterized in that: The control method further comprises: The power-assisting element is controlled to operate before the auxiliary wheel is controlled to rotate around the first rotation axis; or, the power-assisting element is controlled to operate while the auxiliary wheel is controlled to rotate around the first rotation axis; or, the power-assisting element is controlled to operate after the auxiliary wheel is controlled to rotate around the first rotation axis.

14. A method for controlling a cleaning device, characterized in that: The cleaning device comprises a connected body and a floor brush, wherein the floor brush is provided with auxiliary wheels; The control method comprises: determining control information of the cleaning device; Based on the control information, controlling the auxiliary wheel to guide the floor brush to turn on the surface to be cleaned; Among them, the step of controlling the auxiliary wheels to guide the floor brush to turn on the surface to be cleaned includes: controlling the auxiliary wheels on both sides of the floor brush to have different rolling directions and / or different rotation speeds, so that the auxiliary wheels can guide the floor brush to turn on the surface to be cleaned; or, the auxiliary wheels are Mecanum wheels.

15. A cleaning device, characterized in that: The cleaning device (10) is capable of executing a program to implement the control method according to any one of claims 1 to 14.

16. A cleaning device, characterized in that: It comprises a machine body (20) and a floor brush (30), wherein the machine body (20) is rotatably connected to the floor brush (30), the machine body (20) is provided with a handle for holding, and the floor brush (30) is used to clean a surface to be cleaned (10a); The floor brush (30) comprises: A floor brush body (31) connected to the machine body (20); and A cleaning member (32) is arranged on the floor brush body (31), and the cleaning member (32) is used to clean the surface to be cleaned (10a); The cleaning device also includes: An auxiliary wheel (40) is arranged on the floor brush body (31); A drive assembly (50) is connected to the auxiliary wheel (40) in a transmission manner, and the drive assembly (50) is configured to drive the auxiliary wheel (40) to rotate around a first rotation axis (O1) based on control information of the cleaning device (10) to guide the floor brush (30) to turn on the surface to be cleaned (10a), wherein the angle between the first rotation axis (O1) and the surface to be cleaned (10a) is greater than or equal to 85°.

17. The cleaning device according to claim 16, characterized in that The floor brush (30) further has a first direction (X) and a second direction (Y), the first direction (X) and the second direction (Y) are perpendicular to each other, and the first direction (X) and the second direction (Y) are both parallel to the surface (10a) to be cleaned, and the cleaning member (32) is arranged close to the front end of the floor brush body (31) in the first direction (X); The driving assembly (50) comprises a driving member (51) and a moving member (52), wherein the driving member (51) is connected to the auxiliary wheel (40) via the moving member (52), and the driving member (51) is configured to drive the moving member (52) to move along the second direction (Y) or in the opposite direction of the second direction (Y), so that the moving member (52) drives the auxiliary wheel (40) to rotate around the first rotation axis (O1).

18. The cleaning device according to claim 17, characterized in that The driving member (51) comprises a steering gear (511) and a rudder arm (512); the rudder arm (512) is rotatably arranged on the steering gear (511); the rudder arm (512) is transmission-connected to the moving member (52); the steering gear (511) is configured to drive the rudder arm (512) to rotate, so as to drive the moving member (52) to move along the second direction (Y) or in the opposite direction of the second direction (Y) through the rudder arm (512).

19. The cleaning device according to claim 17, characterized in that The body (20) has a second rotation axis (O2) passing through the body, the body (20) extends along the second rotation axis (O2), the body (20) is rotatably connected to the floor brush (30), and the body (20) is configured to be able to rotate around the second rotation axis (O2); The driving member (51) is disposed on the body (20), and the driving member (51) is configured to be able to rotate synchronously with the body (20) to drive the moving member (52) to move along the second direction (Y) or in the opposite direction of the second direction (Y).

20. The cleaning device according to any one of claims 17 to 19, characterized in that The driving assembly (50) further comprises a steering rod (53), one end of which is pivotally connected to the moving member (52) and the other end of which is rotationally connected to the auxiliary wheel (40).

21. The cleaning device according to claim 16, characterized in that The cleaning device (10) further comprises a steering knuckle (60), wherein the steering knuckle (60) is rotatably arranged on the floor brush body (31), and the steering knuckle (60) is also connected to the auxiliary wheel (40), wherein the rotation axis of the steering knuckle (60) relative to the floor brush body (31) is recorded as the first rotation axis (O1), and the first rotation axis (O1) is perpendicular to the surface to be cleaned (10a).

Images