Cleaning equipment and control method thereof

Abstract

The invention relates to the technical field of household appliances, in particular to cleaning equipment and a control method thereof.The cleaning equipment comprises a body, a power assisting device and a control device, the power assisting device comprises a power assisting wheel arranged on the body and a driving assembly driving the power assisting wheel to move, and the control device comprises a motion detection device and a controller; the motion detection device is used for detecting motion signals of the floor brush assembly, and the controller controls the driving assembly to work based on the motion signals of the motion detection device. In the embodiment of the invention, the motion detection device is used for detecting the motion state of the floor brush assembly in real time, the power assisting device can be controlled without manual operation of a user, the control response speed of the power assisting device is higher, and the control effect of the power assisting device and the cleaning efficiency of the cleaning equipment are improved.

Description

Technical Field

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

[0002] With the continuous development of smart homes, smart cleaning equipment is increasingly entering people's lives. Among them, floor scrubbers have gradually become popular in households due to their convenience and water-saving advantages.

[0003] In the related art, in order to increase the convenience of using the floor scrubber, power-assisted wheels are often added to the floor scrubber. However, the power-assisted wheels of the floor scrubber in the related art are mostly non-driven, that is, the power-assisted wheels can only rotate passively when the user pushes the floor scrubber, and the power-assisted effect is very limited, making the floor scrubber more laborious to use. Summary of the invention

[0004] In order to improve the control effect of the power-assisting device of a floor scrubber and accurately control the power-assisting wheel, an embodiment of the present disclosure provides a cleaning device and a control method thereof.

[0005] In a first aspect, an embodiment of the present disclosure provides a cleaning device, comprising:

[0006] A body, comprising a floor brush assembly and a handle connected to the floor brush assembly;

[0007] A power-assisting device, disposed on the main body, comprising a power-assisting wheel and a driving assembly for driving the power-assisting wheel to move; and

[0008] The control device includes a motion detection device and a controller. The motion detection device is arranged on the floor brush assembly. The motion detection device is used to detect the motion signal of the floor brush assembly. The controller is configured to control the operation of the driving assembly based on the motion signal detected by the motion detection device.

[0009] In some embodiments, the motion detection device includes an accelerometer, the motion signal includes an acceleration signal detected by the accelerometer, and the controller is configured to:

[0010] When the acceleration signal is a first preset signal, controlling the driving assembly to drive the power-assisted wheel to rotate in a first direction;

[0011] When the acceleration signal is a second preset signal, the driving assembly is controlled to drive the power-assisted wheel to rotate in a second direction, and the first direction is opposite to the second direction.

[0012] In some embodiments, the controller is configured to:

[0013] The movement speed of the power-assisting device is determined based on the magnitude of the acceleration signal detected by the accelerometer, and the driving component is controlled according to the movement speed to drive the power-assisting wheel to move.

[0014] In some embodiments, the power-assisted wheel includes a first wheel group and a second wheel group respectively disposed on both sides of the body, the driving assembly controls the movement of the first wheel group and the second wheel group respectively, the motion detection device includes a gyroscope, and the motion signal includes a horizontal posture signal detected by the gyroscope; the controller is configured as follows:

[0015] Determining the movement direction of the power assist device based on the horizontal posture signal detected by the gyroscope;

[0016] Determine a differential speed parameter between the first wheel set and the second wheel set according to the movement direction;

[0017] The driving assembly is controlled according to the differential parameter to drive the first wheel set and the second wheel set to move respectively.

[0018] In some embodiments, the floor brush assembly includes a shell, a roller brush is provided at the front end of the shell, the power-assisting wheel is provided at the rear end of the shell, an assembly groove is opened at the top of the shell, and the motion detection device is provided in the assembly groove.

[0019] In some embodiments, the control device further includes a control button, wherein the control button is disposed on the handle, and the controller is configured to control a corresponding function of the cleaning device according to a trigger signal of the control button.

[0020] In some embodiments, one end of the handle is movably connected to the floor brush assembly, and the other end is provided with a bent grip portion, the grip portion having a first area that contacts with a finger when held, and the control button is provided on the first area of ​​the grip portion.

[0021] In some embodiments, the control button includes a switch button and / or a function switching button.

[0022] In some embodiments, the body further comprises a water tank, and the water tank is disposed on the handle;

[0023] The floor brush assembly includes a negative pressure assembly arranged at the bottom of the shell.

[0024] In some embodiments, the cleaning device includes a floor scrubber.

[0025] In a second aspect, an embodiment of the present disclosure provides a method for controlling a cleaning device, comprising:

[0026] In response to detecting a motion signal generated by a motion detection device provided on a floor brush assembly of the cleaning device, generating a control signal for a power assist device of the cleaning device based on the motion signal;

[0027] The power assisting device is controlled to operate based on the control signal to provide power assisting to the cleaning device.

[0028] In some embodiments, the motion detection device includes an accelerometer, and the motion signal includes an acceleration signal detected by the accelerometer; and generating a control signal for the power assisting device of the cleaning device based on the motion signal includes:

[0029] Determining the direction of movement of the booster device according to the direction of the acceleration signal, and determining the speed of movement of the booster device according to the magnitude of the acceleration signal;

[0030] The control signal is generated based on the movement direction and the movement speed.

[0031] In some embodiments, the motion detection device includes a gyroscope, and the motion signal includes a horizontal position signal detected by the gyroscope; and generating a control signal for the power assisting device of the cleaning device based on the motion signal includes:

[0032] Determining the movement direction of the power assist device based on the horizontal posture signal detected by the gyroscope;

[0033] Determine a differential speed parameter between the first wheel set and the second wheel set according to the movement direction;

[0034] The driving assembly is controlled according to the differential parameter to drive the first wheel set and the second wheel set to move respectively.

[0035] The cleaning device of the disclosed embodiment includes a body, a power-assisting device and a control device. The power-assisting device includes a power-assisting wheel provided on the body and a driving component for driving the power-assisting wheel to move. The control device includes a motion detection device and a controller. The motion detection device is used to detect the motion signal of the floor brush component. The controller controls the driving component to work based on the motion signal of the motion detection device. In the disclosed embodiment, the motion detection device is used to detect the motion state of the floor brush component in real time. The power-assisting device can be controlled without manual operation by the user. Moreover, the control response speed of the power-assisting device is faster, thereby improving the control effect of the power-assisting device and the cleaning efficiency of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 It is a structural schematic diagram of a floor scrubber in the related art.

[0038] Figure 2 It is a structural block diagram of a cleaning device according to some embodiments of the present disclosure.

[0039] Figure 3 It is a schematic diagram of the structure of a cleaning device according to some embodiments of the present disclosure.

[0040] Figure 4 It is a schematic diagram of the structure of a floor brush assembly according to some embodiments of the present disclosure.

[0041] Figure 5 It is a schematic diagram of the structure of a floor brush assembly according to some embodiments of the present disclosure.

[0042] Figure 6 It is a partial enlarged view of the handle in some embodiments of the present disclosure.

[0043] Figure 7 is a flow chart of a control method according to some embodiments of the present disclosure.

[0044] Figure 8 is a flow chart of a control method according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0045] The technical solution of the present disclosure will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described implementation is a part of the implementation of the present disclosure, rather than all the implementations. Based on the implementation in the present disclosure, all other implementations obtained by ordinary technicians in the field without creative work are within the scope of protection of the present disclosure. In addition, the technical features involved in the different implementations of the present disclosure described below can be combined with each other as long as they do not conflict with each other.

[0046] With the continuous development of smart home technology, smart cleaning equipment is increasingly entering people's lives, such as sweeping robots, sweeping and mopping robots, floor scrubbers, etc. Among them, hand-held wireless floor scrubbers have gradually become popular in households due to their convenience and water-saving advantages.

[0047] During the use of a floor scrubber, the user is required to push the machine back and forth to complete the washing and mopping of the floor. Since the floor scrubber itself has a large weight and the water tank needs to be filled with water during use, which further increases the weight, the user will feel more strenuous during the long cleaning process. In order to improve the convenience of the floor scrubber, power wheels are often added to the floor brush of the floor scrubber.

[0048] For example Figure 1 The schematic diagram of the structure of a floor scrubber is shown. When the user pushes the floor scrubber forward and backward to clean the floor, the power-assisted wheel can convert the sliding friction between the floor brush and the floor into rolling friction, thereby making the floor scrubber relatively easier to use.

[0049] In the related art, the power-assisted wheels of floor scrubbers are divided into two types: non-driven and motor-driven. The non-driven method means that the power-assisted wheels are not driven by a motor and can only passively rotate when the user pushes the floor scrubber. This method has limited power-assisted effect on the user when using the floor scrubber, and the user still feels more laborious during a long cleaning process.

[0050] The motor drive mode means that the power-assisted wheel has a driving motor, and the output power of the motor is used to drive the power-assisted wheel to rotate actively. Since the power-assisted wheel can autonomously generate traction in the forward and backward directions, it is easier for users to use. However, the autonomous control of the power-assisted wheel of the floor scrubber requires complex algorithms, resulting in poor power-assisted effect of the electric power-assisted wheel. For example, the floor scrubber cannot promptly identify the movement changes of the user pushing forward or pulling backward. During the user's pulling backward, the power-assisted wheel still outputs traction to push forward, making it more difficult for users to use.

[0051] Based on the defects of the above-mentioned related technologies, the embodiments of the present disclosure provide a cleaning device, which aims to provide an efficient control method for the power-assisting wheel of a floor scrubber, accurately control the power-assisting device, make the user use the floor scrubber more labor-saving, and improve the user experience.

[0052] It should be noted that the cleaning equipment in the embodiments of the present disclosure may include any equipment suitable for providing an assisting device, such as a hand-held floor scrubber, a sweeper, a vacuum cleaner, etc. In the following embodiments of the present disclosure, the cleaning equipment will be described using a floor scrubber as an example, but those skilled in the art will understand that the cleaning equipment provided by the present disclosure is not limited to this.

[0053] In some embodiments, the cleaning device provided by the present disclosure includes a body, a power assist device, and a control device.

[0054] The body refers to the main structure of the cleaning device, including the shell structure and the corresponding electrical structure. For example, in some embodiments of the present disclosure, the cleaning device is a floor scrubber, and the body of the floor scrubber may include hardware structures such as a floor brush assembly, a handle, and a water tank, and may also include electrical structures such as a motor, a water pump, and a circuit board. Those skilled in the art can understand this, and the present disclosure will not elaborate on it.

[0055] The power-assisting device refers to a structural component that assists the movement of the cleaning device. For example, in some embodiments, the power-assisting device is disposed on the main body of the cleaning device, and includes a power-assisting wheel and a driving component that drives the power-assisting wheel to move.

[0056] The power-assisting wheel can be arranged on the main body, and its function is to convert the sliding friction between the cleaning device and the ground into rolling friction when the cleaning device moves relative to the ground, thereby reducing the friction between the cleaning device and the ground, making the force applied by the user smaller and more labor-saving.

[0057] The driving assembly is connected to the power-assisted wheel, and its function is to drive the power-assisted wheel to rotate. In some embodiments, the driving assembly may include a motor and a transmission mechanism, and the transmission mechanism is connected to the output shaft of the motor, so that the rotation of the output shaft of the motor can be applied to the power-assisted wheel through the transmission mechanism, thereby driving the power-assisted wheel to rotate.

[0058] In some embodiments of the present disclosure, the driving assembly can drive the power-assisted wheel to rotate forward or reverse, thereby providing forward or backward traction for the cleaning device. In other embodiments, the power-assisted wheel can include multiple wheel groups, each wheel group is provided with an independent driving assembly, so that steering is achieved through the cooperation of multiple wheel groups, which is explained below in the present disclosure and is not described in detail here.

[0059] The control device refers to the relevant structure and functional modules used to control the movement of the power-assisting device. In the embodiment of the present disclosure, the control device includes a motion detection device and a controller. The motion detection device is arranged on the floor brush assembly. The function of the motion detection device is to detect the movement state of the floor brush assembly and generate a corresponding motion signal according to the movement state of the floor brush assembly. Therefore, the controller can control the operation of the driving assembly according to the motion signal, and the driving assembly can drive the power-assisting wheel to move.

[0060] Figure 2 The structural block diagram of the cleaning device in some embodiments of the present disclosure is shown below. Figure 2 Provide explanation.

[0061] like Figure 2As shown, in the embodiment of the present disclosure, the control device includes a motion detection device 603 and a controller, and the controller includes a processor 601 and a memory 602 , wherein the processor 601 , the memory 602 and the motion detection device 603 establish a communicative connection between any two of them through a bus 604 .

[0062] The processor 601 may be any type of processor having one or more processing cores, and may perform single-thread or multi-thread operations, and may be used to parse instructions to perform operations such as acquiring data, performing logical operations, and issuing operation processing results.

[0063] The memory 602 may include volatile and / or non-volatile computer-readable storage media, such as at least one disk storage device, flash memory device, etc. The memory 602 may have a program storage area for storing non-volatile software programs, non-volatile computer executable programs, and modules for the processor 601 to call so that the processor 601 executes corresponding method steps to implement the relevant functions described below in the present disclosure. The memory 602 may also include a volatile random storage medium, or a storage part such as a hard disk, as a data storage area, for storing the operation processing results and data output by the processor 601.

[0064] The motion detection device 603 may be provided on the floor brush assembly of the cleaning device. The motion detection device 603 may include, for example, an accelerometer and / or a gyroscope. The function of the motion detection device 603 is to detect the motion state of the floor brush assembly of the floor brush assembly. When the motion state of the floor brush assembly changes, the motion detection device 603 can detect the motion direction, motion speed and other information of the floor brush assembly, which is the motion signal described in the present disclosure. The motion signal can be sent to the processor 601 via the bus 604, so that the processor 601 controls the driving component 605 to work according to the received motion signal. It can be understood that when the driving component 605 is working, it can drive the power-assisted wheel 606 to move, so as to provide traction for the cleaning device to move forward or backward, and / or control the steering of the cleaning device.

[0065] Combination Figure 1 It can be seen from the application scenarios of floor scrubbers that when users use floor scrubbers to clean the floor, they often need to push and pull the floor scrubber repeatedly, that is, the floor scrubber needs to move forward and backward repeatedly. Since the handle is movably connected to the floor brush assembly, the motion state of the handle cannot truly reflect the motion state of the floor scrubber. Therefore, in the embodiment of the present disclosure, the motion detection device 603 is provided on the floor brush assembly. When the user pushes the floor scrubber forward or pulls the floor scrubber backward, the motion state changes of the floor brush assembly can be detected in time by the motion detection device, so that the control response to the power-assisted wheel is faster, there is almost no lag delay, it can adapt well to the user's cleaning rhythm, and it is more labor-saving to use.

[0066] From the above, it can be seen that in the embodiment of the present disclosure, a motion detection device is used to detect the movement state of the floor brush assembly in real time, and the power-assisting device can be controlled without manual operation by the user. Moreover, the control response speed of the power-assisting device is faster, thereby improving the control effect of the power-assisting device and the cleaning efficiency of the cleaning equipment.

[0067] Figures 3 to 5 The schematic diagram of the structure of the cleaning device in some embodiments of the present disclosure is shown below. Figures 3 to 5 A cleaning device according to an embodiment of the present disclosure will be described.

[0068] like Figure 3 As shown, in this example, the cleaning device takes a floor scrubber as an example. The main body of the cleaning device includes a handle 1 and a floor brush assembly 2. The handle 1 is movably connected to the floor brush assembly 2. The movable connection can be, for example, hinged. When the user pushes and pulls the floor scrubber, the user only needs to provide forward or forward and backward force to easily push or pull back the floor brush through the hinge between the handle 1 and the floor brush assembly 2.

[0069] In some embodiments, see Figure 3 As shown, the lower end of the handle 1 is movably connected to the floor brush assembly 2, and the upper end of the handle 1 is bent to form a gripping portion 110, and the gripping portion 110 serves to facilitate user gripping.

[0070] like Figure 4 As shown, the active connection position between the floor brush assembly 2 and the handle 1 is provided with a booster wheel 606, which is provided on the left and right sides of the floor brush assembly 2. It is worth noting that Figure 4 In the example, a power-assisting wheel 606 is provided on each of the left and right sides of the floor brush assembly 2. In other embodiments, a power-assisting wheel group may be provided on each of the left and right sides of the floor brush assembly 2, and each power-assisting wheel group includes one or more power-assisting wheels 606.

[0071] For example, in one example, two power-assisting wheels 606 may be provided on the left and right sides of the floor brush assembly 2, that is, the floor brush assembly 2 includes a total of four power-assisting wheels. Of course, those skilled in the art can understand that the power-assisting wheel set may also include a larger number of power-assisting wheels, which will not be described in detail in this disclosure.

[0072] In the disclosed embodiment, the power-assisted wheel group on one side of the floor brush assembly 2 is defined as the first wheel group, and the power-assisted wheel group on the other side is defined as the second wheel group. The first wheel group and the second wheel group are independently controlled by the driving assembly, that is, the rotation speed and direction of the first wheel group can be different from those of the second wheel group.

[0073] Of course, it can be understood that the floor brush assembly 2 is also provided with other corresponding hardware structures or functional modules, for example, see Figure 2As shown, the front end of the floor brush assembly 2 is also provided with a roller brush assembly 609. After the floor scrubber is turned on, the roller brush assembly 609 continuously rotates and rubs against the ground to remove the stains attached to the ground. A negative pressure assembly 608 is also provided at the bottom of the floor brush assembly 2. The negative pressure assembly 608 may include a negative pressure fan to provide negative pressure suction to suck the stains removed by the roller brush assembly 609 into the garbage bin inside the floor brush assembly 2. A water pump assembly 607 is also provided inside the floor brush assembly 2. The water pump assembly 607 can absorb water from the water tank on the handle 1 to achieve mopping of the floor through the roller brush assembly 609.

[0074] See also Figure 5 As shown, the floor brush assembly 2 includes a shell, a roller brush is provided at the front end of the shell, the roller brush assembly 609 includes a roller brush, and the power-assisting wheel 606 is provided at the rear end of the shell. An assembly groove 210 is provided at the top of the shell, and the assembly groove 210 is used to assemble all or part of the electrical components such as the water pump assembly 607, the negative pressure assembly 608, and the roller brush assembly 609. In the embodiment of the present disclosure, the motion detection device 603 can be arranged in the assembly groove 210, for example, the motion detection device 603 is fixedly assembled in the assembly groove.

[0075] Of course, those skilled in the art will appreciate that the motion detection device 603 may also be installed at other locations of the floor brush assembly, and the present disclosure does not limit this.

[0076] In some embodiments, the motion detection device includes an accelerometer, which is a device for measuring the linear acceleration of a moving object. Thus, when the floor brush assembly 2 moves, the motion signal detected by the motion detection device includes the acceleration signal detected by the accelerometer, and the acceleration signal can well reflect the changes in the motion state of the floor brush assembly.

[0077] In some embodiments of the present disclosure, the process of the controller controlling the drive component based on the acceleration signal includes: when the acceleration signal is a first preset signal, controlling the drive component to drive the power-assisted wheel to rotate in a first direction; when the acceleration signal is a second preset signal, controlling the drive component to drive the power-assisted wheel to rotate in a second direction.

[0078] The first direction and the second direction are opposite. For example, the first direction of the power-assisting wheel is forward rotation, and the second direction of the power-assisting wheel is backward rotation.

[0079] In the embodiment of the present disclosure, the acceleration signal can be divided into a first preset signal and a second preset signal based on the direction of the acceleration signal. For example, when the direction of the acceleration signal is "forward", the acceleration signal is determined to be the first preset signal. Conversely, when the direction of the acceleration signal is "backward", the acceleration signal is determined to be the second preset signal.

[0080] In one example, Figure 4Taking the direction shown as an example, when the user pushes the floor scrubber to move forward, the direction of the acceleration signal detected by the accelerometer is forward, thereby determining that the acceleration signal is a first preset signal. At this time, the controller can control the drive assembly to drive the power-assisted wheel to rotate forward, so that the power-assisted wheel can drive the floor brush assembly forward and provide forward traction for the cleaning equipment.

[0081] When the user pulls the floor scrubber to move backward, the direction of the acceleration signal detected by the accelerometer is backward, thereby determining that the acceleration signal is the second preset signal. At this time, the controller can control the driving assembly to drive the power-assisted wheel to rotate backward, so that the power-assisted wheel can drive the floor brush assembly to move backward, providing backward traction for the cleaning equipment.

[0082] Through the above process, when the user is using the floor scrubber, the accelerometer can automatically detect the movement state of the floor scrubber and automatically control the power assist device to move forward or backward, thereby assisting the user in using the cleaning equipment.

[0083] In some embodiments, in addition to controlling the power-assisting device to move forward or backward according to the direction of the acceleration signal, the controller may further determine the movement speed of the power-assisting device according to the magnitude of the acceleration signal.

[0084] For example, in an example, Figure 4 Taking the direction shown as an example, when the user pushes the floor scrubber forward, the direction of the acceleration signal detected by the accelerometer is forward, and the acceleration value is a. Therefore, the controller controls the driving component to drive the power-assisted wheel to rotate forward according to the direction of the acceleration signal, and controls the forward movement speed of the power-assisted wheel according to the specific acceleration value a, thereby providing forward traction for the cleaning equipment.

[0085] When the user pulls the floor scrubber backward, the direction of the acceleration signal detected by the accelerometer is backward, and the acceleration value is b. Therefore, the controller controls the driving component to drive the power-assisted wheel to rotate backward according to the direction of the acceleration signal, and controls the backward movement speed of the power-assisted wheel according to the specific acceleration value b, thereby providing backward traction for the cleaning equipment.

[0086] Through the above process, when the user is using the floor scrubber, the accelerometer can not only automatically detect the movement state of the floor scrubber and realize automatic control of the power-assisting device forward or backward, but also control the movement speed of the power-assisting device according to the acceleration signal, thereby improving the power-assisting control effect of the cleaning equipment.

[0087] In some embodiments, the motion detection device 603 of the present disclosure may also include a gyroscope, which is an angular motion detection device that can be used to detect the position information of a moving object in space. In the embodiment of the present disclosure, since the floor brush assembly 2 always moves in contact with the ground, the gyroscope is mainly used to detect the position change of the floor brush assembly 2 on the horizontal ground and generate a corresponding horizontal position signal, so that the controller can determine the movement direction of the power assist device according to the horizontal position signal.

[0088] It is understandable that in actual floor washing operations, in addition to operating the floor washing machine to move forward and backward, after cleaning a certain floor, the user needs to operate the floor washing machine to switch to another floor to continue cleaning operations, thereby requiring the floor washing machine to complete the reversing operation. In the embodiment of the present disclosure, the cleaning device can realize the steering of the power-assisted wheel through the gyroscope included in the motion detection device 603 provided on the floor brush assembly, thereby realizing automatic steering of the floor washing machine.

[0089] In some embodiments, the process of the controller controlling the steering of the power-assisted wheel includes: determining the movement direction of the power-assisted device based on the horizontal posture signal detected by the gyroscope, determining the differential parameters of the first wheel group and the second wheel group according to the movement direction, and controlling the drive component to drive the first wheel group and the second wheel group to move respectively according to the differential parameters.

[0090] Combined with the above Figure 4 As shown, a first wheel group and a second wheel group are respectively provided on the left and right sides of the floor brush assembly. To complete the steering of the floor brush assembly, the rotation speed difference between the first wheel group and the second wheel group can be utilized.

[0091] For example, in the example scenario of the present disclosure, when the user pushes the cleaning device to turn, the gyroscope provided on the floor brush assembly 2 can detect the corresponding horizontal posture signal, so that the controller can determine the direction of the movement trend of the floor brush assembly according to the horizontal posture signal, and the direction of the movement trend is also the direction in which the power assist device needs to move.

[0092] For example, in one example, when the controller determines that the direction of movement of the power-assisting device is to turn left, the controller can determine the speed difference between the first wheel group and the second wheel group according to the direction of movement, and the speed difference is the differential parameter. After determining the differential parameter between the first wheel group and the second wheel group, the motor of the drive assembly can output the corresponding power according to the differential parameter, and control the differential movement of the first wheel group and the second wheel group respectively to achieve a left turn. For example, in one example, the speed of the power-assisting wheel on the right side of the floor brush assembly can be controlled to be greater than the speed of the power-assisting wheel on the left side, so that the floor brush assembly turns left; for example, in another example, the power-assisting wheel on the right side of the floor brush assembly can be controlled to rotate forward, and the power-assisting wheel on the left side of the floor brush assembly can be controlled to rotate backward, so that the floor brush assembly turns left. The principle of turning right is similar to that of turning left, and those skilled in the art can understand it by referring to the above description, and the present disclosure will not repeat it.

[0093] It can be seen from the above process that in the embodiment of the present disclosure, the accelerometer is used not only to automatically detect the movement state of the floor scrubber and realize automatic control of the forward or backward movement of the power-assisting device and the movement speed, but also to combine the gyroscope signal to control the automatic steering of the power-assisting device, which greatly improves the convenience of users when using the floor scrubber for a long time.

[0094] In some embodiments, see Figure 3 , Figure 6 As shown, the lower end of the handle 1 is movably connected to the floor brush assembly 2, and the upper end of the handle 1 is bent to form a gripping portion 110, and the gripping portion 110 serves to facilitate user gripping.

[0095] See also Figure 6 As shown, combined with the actual scenario of users using the floor scrubber, it can be known that when the user holds the gripping portion 110 of the handle 1, the user often holds the gripping portion 110 with the palm. At this time, the thumb can be naturally placed on the area A outside the gripping portion 110, which is most in line with the user's natural force state.

[0096] Therefore, in the embodiment of the present disclosure, when the user naturally holds the gripping portion 110 of the handle 1, the area A that the thumb contacts can be defined as the first area A. The position of the first area A can be as follows: Figure 6 The positions indicated in are used as reference.

[0097] In some implementations of the present disclosure, the control device further includes a control button 5, which may be a physical button or a virtual button. The control button 5 includes but is not limited to a switch button, a function switching button, and the like.

[0098] See also Figure 6 As shown, the control button 5 can be arranged on the first area A, that is, the control button 5 is arranged in the area where the grip portion 110 contacts the user's thumb. In the embodiment of the present disclosure, the controller is connected to the control button 5, so that the controller can control the corresponding functions of the cleaning device according to the signals triggered by each control button, such as turning on / off the machine, switching functions, etc.

[0099] From the above, it can be seen that in the embodiment of the present disclosure, the control button is arranged on the first area of ​​the handle grip portion, which can perfectly fit the operation scenario when the user uses the cleaning device, and greatly facilitates the user's control of the floor scrubber.

[0100] In some embodiments, see Figure 3 and Figure 4As shown, in the floor scrubber of the example disclosed in the present invention, the main body also includes a water tank, which can be arranged on the handle 1, and the floor brush assembly includes a shell, a roller brush is arranged at the front end of the shell, and a negative pressure assembly is arranged at the bottom of the shell, etc. Those skilled in the art can realize it by referring to the relevant technology, and the present disclosure will not elaborate on this.

[0101] From the above, it can be seen that in the embodiment of the present disclosure, the motion detection device is used to detect the motion state of the floor brush assembly in real time, and the power-assisting device can be controlled without manual operation by the user, and the control response speed of the power-assisting device is faster, thereby improving the control effect of the power-assisting device and the cleaning efficiency of the cleaning equipment. In addition, the accelerometer can not only automatically detect the motion state of the floor scrubber to realize automatic control of the power-assisting device to move forward or backward, but also control the motion speed and motion direction of the power-assisting device according to the acceleration signal, which greatly improves the convenience of users when using the floor scrubber for a long time.

[0102] On the basis of the above-mentioned embodiments, the present disclosure provides a control method for a cleaning device. The method can be applied to the cleaning device of any of the above-mentioned embodiments, and the processing is executed by the processor of the cleaning device to realize the control of the power assisting device of the cleaning device.

[0103] like Figure 7 As shown, in some embodiments, the control method of the cleaning device of the present disclosure example includes:

[0104] S710: In response to detecting a motion signal generated by a motion detection device provided on a floor brush assembly of a cleaning device, generating a control signal for a power assisting device of the cleaning device based on the motion signal.

[0105] S720: Control the power assist device to operate based on the control signal to provide power assist to the cleaning device.

[0106] In combination with the foregoing, in some embodiments, the motion detection device includes an accelerometer disposed on the floor brush assembly, so that the motion signal generated by the motion detection device is the acceleration signal detected by the accelerometer.

[0107] In one example, Figure 4 Taking the direction shown as an example, when the user pushes the scrubber forward and backward, the accelerometer detects the direction of the acceleration signal, so that the controller can determine the direction of movement of the power-assisting device according to the direction of the acceleration signal. At the same time, the controller determines the movement speed of the power-assisting device according to the magnitude of the acceleration signal. Therefore, a control signal for controlling the power-assisting device can be generated according to the movement direction and movement speed, and then the power-assisting device is controlled to move based on the control signal to provide a power-assisting effect.

[0108] In some embodiments, the motion detection device 603 of the present disclosure may also include a gyroscope, which can be used to detect the horizontal posture signal of the floor brush assembly, so that the controller can determine the motion direction of the power assist device according to the horizontal posture signal. Figure 8 Provide explanation.

[0109] like Figure 8 As shown, in some embodiments, the control method of the present disclosure example generates a control signal for the power assist device, including:

[0110] S810: Determine the movement direction of the power assist device based on the horizontal posture signal detected by the gyroscope.

[0111] S820: Determine a differential speed parameter between the first wheel set and the second wheel set according to the moving direction.

[0112] S830: Generate a control signal according to the differential speed parameter.

[0113] For example, in the example scenario of the present disclosure, when the user pushes the cleaning device to turn, the gyroscope provided on the floor brush assembly 2 can detect the corresponding horizontal posture signal, so that the controller can determine the direction of the movement trend of the floor brush assembly according to the horizontal posture signal, and the direction of the movement trend is also the direction in which the power assist device needs to move.

[0114] For example, in one example, when the controller determines that the direction of movement of the power-assisting device is to turn left, the controller can determine the speed difference between the first wheel group and the second wheel group according to the direction of movement, and the speed difference is the differential parameter. After determining the differential parameter between the first wheel group and the second wheel group, the motor of the drive assembly can output the corresponding power according to the differential parameter, and control the differential movement of the first wheel group and the second wheel group respectively to achieve a left turn. For example, in one example, the speed of the power-assisting wheel on the right side of the floor brush assembly can be controlled to be greater than the speed of the power-assisting wheel on the left side, so that the floor brush assembly turns left; for example, in another example, the power-assisting wheel on the right side of the floor brush assembly can be controlled to rotate forward, and the power-assisting wheel on the left side of the floor brush assembly can be controlled to rotate backward, so that the floor brush assembly turns left. The principle of turning right is similar to that of turning left, and those skilled in the art can understand it by referring to the above description, and the present disclosure will not repeat it.

[0115] From the above, it can be seen that in the embodiment of the present disclosure, the motion detection device is used to detect the motion state of the floor brush assembly in real time, and the power-assisting device can be controlled without manual operation by the user, and the control response speed of the power-assisting device is faster, thereby improving the control effect of the power-assisting device and the cleaning efficiency of the cleaning equipment. In addition, the accelerometer can not only automatically detect the motion state of the floor scrubber to realize automatic control of the power-assisting device to move forward or backward, but also control the motion speed and motion direction of the power-assisting device according to the acceleration signal, which greatly improves the convenience of users when using the floor scrubber for a long time.

[0116] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the embodiments. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A cleaning device, characterized in that: include: A body, comprising a floor brush assembly and a handle connected to the floor brush assembly; A power-assisting device, provided on the main body, comprising a power-assisting wheel and a driving assembly for driving the power-assisting wheel to move; as well as The control device includes a motion detection device and a controller. The motion detection device is arranged on the floor brush assembly. The motion detection device is used to detect the motion signal of the floor brush assembly. The controller is configured to control the operation of the driving assembly based on the motion signal detected by the motion detection device.

2. The cleaning device according to claim 1, characterized in that The motion detection device includes an accelerometer, the motion signal includes an acceleration signal detected by the accelerometer, and the controller is configured as follows: When the acceleration signal is a first preset signal, controlling the driving assembly to drive the power-assisted wheel to rotate in a first direction; When the acceleration signal is a second preset signal, the driving assembly is controlled to drive the power-assisted wheel to rotate in a second direction, and the first direction is opposite to the second direction.

3. The cleaning device according to claim 2, characterized in that: The controller is configured to: The movement speed of the power-assisting device is determined based on the magnitude of the acceleration signal detected by the accelerometer, and the driving component is controlled according to the movement speed to drive the power-assisting wheel to move.

4. The cleaning device according to any one of claims 1 to 3, characterized in that: The power-assisted wheel comprises a first wheel group and a second wheel group respectively arranged on both sides of the body, the driving assembly controls the movement of the first wheel group and the second wheel group respectively, the motion detection device comprises a gyroscope, and the motion signal comprises a horizontal posture signal detected by the gyroscope; the controller is configured as follows: Determining the movement direction of the power assist device based on the horizontal posture signal detected by the gyroscope; Determine a differential speed parameter between the first wheel set and the second wheel set according to the movement direction; The driving assembly is controlled according to the differential parameter to drive the first wheel set and the second wheel set to move respectively.

5. The cleaning device according to claim 1, characterized in that: The floor brush assembly comprises a shell, a roller brush is arranged at the front end of the shell, the power-assisting wheel is arranged at the rear end of the shell, an assembly groove is opened at the top of the shell, and the motion detection device is arranged in the assembly groove.

6. The cleaning device according to claim 1, characterized in that The control device further comprises a control button, wherein the control button is arranged on the handle, and the controller is configured to control a corresponding function of the cleaning device according to a trigger signal of the control button.

7. The cleaning device according to claim 6, characterized in that One end of the handle is movably connected to the floor brush assembly, and the other end is provided with a bent gripping portion, wherein the gripping portion has a first area that contacts with a finger when being gripped, and the control button is provided on the first area of ​​the gripping portion.

8. A method for controlling a cleaning device, characterized in that: include: In response to detecting a motion signal generated by a motion detection device provided on a floor brush assembly of the cleaning device, generating a control signal for a power assist device of the cleaning device based on the motion signal; The power assisting device is controlled to operate based on the control signal to provide power assisting to the cleaning device.

9. The method according to claim 8, characterized in that The motion detection device includes an accelerometer, and the motion signal includes an acceleration signal detected by the accelerometer; and the control signal for the power assist device of the cleaning device generated based on the motion signal includes: Determining the direction of movement of the booster device according to the direction of the acceleration signal, and determining the speed of movement of the booster device according to the magnitude of the acceleration signal; The control signal is generated based on the movement direction and the movement speed.

10. The method according to claim 8, characterized in that The motion detection device includes a gyroscope, and the motion signal includes a horizontal posture signal detected by the gyroscope; and the control signal for the power assist device of the cleaning device generated based on the motion signal includes: Determining the movement direction of the power assist device based on the horizontal posture signal detected by the gyroscope; Determining a differential speed parameter between the first wheel set and the second wheel set according to the movement direction; The control signal is generated according to the differential speed parameter.

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