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 and a driving assembly driving the power assisting wheel to move, and the control device is electrically connected with the driving assembly and comprises a trigger assembly arranged on a watch of the body; the control device controls the driving assembly to provide assistance for the assistance wheel based on a trigger signal generated by the trigger assembly. According to the power assisting device control method and device, control over the power assisting device is achieved through interaction between the trigger assembly and the user, response time delay of the power assisting device during equipment motion state switching is reduced, the control effect of the power assisting device is improved, the trigger assembly is arranged on the handle, the user can achieve accurate control over the power assisting device without additional operation, and the user experience is improved. And the cleaning efficiency in the cleaning process is 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] A control device is electrically connected to the driving component, wherein the control device includes a trigger component disposed on the handle, and the control device is configured to control the driving component to operate based on a trigger signal generated by the trigger component.

[0009] In some embodiments, the trigger assembly includes a button and a sensor, wherein the sensor is located inside the handle and is used to detect a state of the button and generate a trigger signal corresponding to the state.

[0010] 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 gripping portion, the gripping portion having a first area that contacts with a finger when held, and the button is provided on the first area of ​​the gripping portion.

[0011] In some embodiments, the first area is located on a side of the holding portion facing the floor brush assembly, or the first area is located at a bending position of the holding portion.

[0012] In some implementations, the button is a key, and the sensor is a pressure sensor, and the pressure sensor is used to detect the force with which the key is pressed, wherein different forces correspond to different states.

[0013] In some embodiments, the control device is configured to:

[0014] When the force detected by the pressure sensor is greater than or equal to a preset pressure threshold, controlling the driving assembly to drive the power-assisting wheel to move in a first direction to provide the cleaning device with power assistance in the first direction;

[0015] When the force detected by the pressure sensor is less than a preset pressure threshold, the driving assembly is controlled to drive the power-assisting wheel to move in a second direction to provide the cleaning device with power assistance in the second direction; wherein the first direction is opposite to the second direction.

[0016] In some embodiments, the pressing surface of the button protrudes from the surface of the first area, and at least one arc-shaped structure that fits a finger is provided on the pressing surface.

[0017] In some embodiments, the button is a tactile button and the sensor is a bending sensor;

[0018] The bending sensor is used to identify information about the force applied to the touch button, different information about the force corresponds to different states, and the information about the force includes the magnitude and / or direction of the force.

[0019] 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, and the driving assembly controls the movement of the first wheel group and the second wheel group respectively; the control device is configured as follows:

[0020] Determining the movement direction of the power assist device based on information of the force detected by the bending sensor;

[0021] Determine a differential speed parameter between the first wheel set and the second wheel set according to the movement direction;

[0022] The driving assembly is controlled according to the differential parameter to drive the first wheel set and the second wheel set to move respectively.

[0023] In some embodiments, the control device is configured to:

[0024] Based on the information of the force detected by the bending sensor, the movement speed of the power-assisting device is determined, and the driving assembly is controlled according to the movement speed to drive the power-assisting wheel to move.

[0025] In some embodiments, the trigger assembly includes a control button disposed on the handle, and the control device is configured to control the power on and off and / or function switching of the cleaning device based on a signal from the control button.

[0026] In a second aspect, an embodiment of the present disclosure provides a method for controlling a cleaning device, comprising:

[0027] In response to detecting a trigger signal generated by a trigger component provided on the cleaning device, generating a control signal for a power assist device of the cleaning device based on the trigger signal;

[0028] The power assisting device is controlled to operate based on the control signal to provide power assisting to the cleaning device.

[0029] In some embodiments, the trigger component includes a button, and the trigger signal includes the pressing force generated by the button; and the control signal for the power assist device of the cleaning device generated based on the trigger signal includes:

[0030] In response to detecting that the pressing force generated by the button is greater than or equal to a preset pressure threshold, generating a first control signal, wherein the first control signal is a signal for controlling the power assist device to move in a first direction;

[0031] In response to detecting that the pressing force generated by the button is less than a preset pressure threshold, a second control signal is generated, the second control signal being a signal for controlling the power assist device to move in a second direction, the first direction being opposite to the second direction.

[0032] In some embodiments, the trigger component includes a touch button, and the trigger signal includes information about the force applied to the touch button; and generating a control signal for the power assist device of the cleaning device based on the trigger signal includes:

[0033] Determining the movement direction and movement speed of the power assist device based on the detected information of the force applied to the touch button;

[0034] Determining a differential speed parameter of a first wheel set and a second wheel set included in the power assist device according to the movement direction;

[0035] The control signal is generated according to the differential speed parameter and the movement speed.

[0036] In some embodiments, the control method of the present disclosure further includes:

[0037] In response to detecting a first pressing signal generated by double-clicking the touch button, switching the power on / off state of the cleaning device based on the first pressing signal;

[0038] and / or,

[0039] When the cleaning device is in a powered-on state, in response to detecting a second pressing signal generated by a single press of the touch button, the working gear of the cleaning device is switched based on the second pressing signal.

[0040] 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 and a driving component for driving the power-assisting wheel to move. The control device is electrically connected to the driving component. The control device includes a trigger component arranged on the watch of the body. The control device controls the driving component to work based on a trigger signal generated by the trigger component. In the disclosed embodiment, the power-assisting device is controlled by interacting with the user through the trigger component, the response delay of the power-assisting device when the motion state of the device is switched is reduced, and the control effect of the power-assisting device is improved. Moreover, the trigger component is arranged on the handle, and the user can achieve precise control of the power-assisting device without additional operation, thereby improving the cleaning efficiency of the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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.

[0042] Figure 1 It is a structural schematic diagram of a floor scrubber in the related art.

[0043] Figure 2 It is a structural block diagram of a cleaning device according to some embodiments of the present disclosure.

[0044] Figure 3 It is a schematic diagram of the structure of a cleaning device according to some embodiments of the present disclosure.

[0045] Figure 4 It is a schematic diagram of the structure of a floor brush assembly according to some embodiments of the present disclosure.

[0046] Figure 5 It is a partial enlarged view of the handle in some embodiments of the present disclosure.

[0047] Figure 6 It is a structural diagram of buttons in some implementation modes of the present disclosure.

[0048] Figure 7 It is a partial enlarged view of the handle in some embodiments of the present disclosure.

[0049] Figure 8It is a schematic diagram of the structure of the trigger component in some embodiments of the present disclosure.

[0050] Fig. 9 It is a partial enlarged view of the handle in some embodiments of the present disclosure.

[0051] Fig.10 is a flowchart of a method for controlling a cleaning device according to some embodiments of the present disclosure.

[0052] Fig.11 is a flowchart of a method for controlling a cleaning device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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 a complex algorithm. On the one hand, it is necessary to identify the user's movement trend of pushing forward or pulling backward, and on the other hand, the speed of the power-assisted wheel needs to adapt to the user's movement rhythm of pushing forward or pulling backward, resulting in poor power-assisted effect of the electric power-assisted wheel. For example, the floor scrubber cannot promptly identify the user's movement changes of pushing forward or pulling backward. During the user's pulling backward, the power-assisted wheel still outputs traction force to push forward, making it more difficult for the user to use.

[0059] 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.

[0060] 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.

[0061] In some embodiments, the cleaning device provided by the present disclosure includes a body, a power assist device, and a control device.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] The control device refers to the related 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 trigger component arranged on the handle of the cleaning device. The trigger component refers to the related structure used to interact with the user to trigger the control instructions for the power-assisting device.

[0068] In an embodiment of the present disclosure, the trigger component may include a button and a sensor. The button may be arranged on the handle, and the sensor is arranged inside the handle. The sensor is used to detect the state of the button and generate a corresponding trigger signal according to the state of the button.

[0069] For example, in some implementations, the button may be a press-operated key, and thus the sensor may be a pressure sensor disposed under the button. The pressure sensor may detect the force with which the button is pressed, and determine different operating states according to the force.

[0070] For example, in some other embodiments, the button may be a tactile button operated by a rocker, and the sensor may be a bending sensor. The bending sensor may detect force information when the tactile button is triggered. The force information may include, for example, the direction and / or magnitude of the force, so that different operating states are determined according to different directions and / or magnitudes of the force.

[0071] The specific structure and working principle of the trigger component will be described in the following embodiments of the present disclosure and will not be described in detail here.

[0072] In the embodiment of the present disclosure, when the user operates the trigger component, the trigger component can detect the user operation and generate a corresponding trigger signal, so that the control device can control the operation of the drive component according to the trigger signal, and the drive component can drive the power-assisted wheel to move.

[0073] Figure 2 The structural block diagram of the cleaning device in some embodiments of the present disclosure is shown below. Figure 2 Provide explanation.

[0074] like Figure 2 As shown, in the embodiment of the present disclosure, the control device includes a processor 601, a memory 602 and a trigger component 603. The processor 601, the memory 602 and the trigger component 603 establish a communicative connection between any two of them through a bus 604.

[0075] 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.

[0076] 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.

[0077] The trigger component 603 may be disposed on the handle of the cleaning device. When the user operates the trigger component 603, the trigger component 603 may generate a corresponding trigger signal according to the user operation. The trigger signal of the trigger component 603 may be sent to the processor 601 via the bus 604, so that the processor 601 may control the driving component 605 to work according to the trigger signal. It is understood that when the driving component 605 is working, it may drive the power-assisted wheel 606 to move, so as to provide the cleaning device with traction to move forward or backward, and / or control the steering of the cleaning device.

[0078] 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. Relying on sensors to autonomously identify movement trends often has obvious lags, so the self-driven power-assisted wheel control algorithm is very complex and has poor accuracy. For example, when the user uses the floor scrubber to switch from the forward state to the backward state, the control algorithm is relatively lagging and often cannot switch the power-assisted wheel from the forward motion to the backward motion in time, resulting in the continued output of traction in the forward direction. The user needs to provide greater pulling force to pull the floor scrubber, making the cleaning process more laborious.

[0079] In the embodiment of the present disclosure, by setting a trigger component on the handle of the cleaning device, the user can manually control the power-assist device through the trigger component, and the response speed of the power-assist wheel motion state switching is faster, and there is almost no lag delay, which can be well adapted to the user's cleaning rhythm and is more labor-saving to use. Moreover, since the trigger component is set on the handle, the interactive operation of the trigger component is completely in line with the use habits of the floor scrubber, and the user can achieve precise control of the power-assist device without additional operation, thereby improving the control effect.

[0080] From the above, it can be seen that in the embodiment of the present disclosure, the trigger component is used to interact with the user to realize the control of the power-assisting device, reduce the response delay of the power-assisting device when the motion state of the equipment is switched, and improve the control effect of the power-assisting device. Moreover, the trigger component is set on the handle, and the user can realize precise control of the power-assisting device without additional operation, thereby improving the cleaning efficiency of the cleaning process.

[0081] Figures 3 to 6 The schematic diagram of the structure of the cleaning device in some embodiments of the present disclosure is shown below. Figures 3 to 6 A cleaning device according to an embodiment of the present disclosure will be described.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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 2 As 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.

[0087] As for the structure and related principles of each functional module of the floor scrubber, those skilled in the art can undoubtedly understand and fully implement them by referring to the relevant technologies, and the present disclosure will not elaborate on them.

[0088] In the embodiments of the present disclosure, see Figure 3 , Figure 5 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.

[0089] See also Figure 5 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 to work, the user often holds the gripping portion 110 with the palm of the hand. At this time, the user's other four fingers except the thumb are in contact with the area A on the inner side of the gripping portion 110, and the thumb can be naturally placed on the area B on the outer side of the gripping portion 110, which is most in line with the user's natural force state.

[0090] Therefore, in the embodiment of the present disclosure, when the user naturally holds the gripping portion 110 of the handle 1, the area A where the four fingers touch is defined as the first area A, and the area B where the thumb touches is defined as the first area B. The positions of the first area A and the first area B can be defined as follows: Figure 5 The position indicated by the arrow is used as a reference.

[0091] exist Figure 5 In the example, the button of the trigger component is key 4, and the sensor is a pressure sensor, which can be arranged below key 4 inside the handle 1, so it is not shown in the figure. The pressure sensor is a sensor that detects pressure changes. When the pressure acting on the pressure sensor changes, the pressure sensor can generate a corresponding piezoelectric signal, and the magnitude of the pressure can be determined according to the piezoelectric signal.

[0092] In the example disclosed in the present disclosure, the pressure sensor is electrically connected to the controller, so that when the button 4 is pressed, the pressure sensor can generate a corresponding piezoelectric signal according to the force with which the button 4 is pressed. Different pressing forces correspond to different piezoelectric signals. The controller can determine the current operating state of the button 4 based on the piezoelectric signal, and then control the operation of the drive component 605 to drive the power-assisted wheel 606 to move.

[0093] It is worth noting that in some embodiments of the present disclosure, the button 4 is arranged on the first area A, that is, the button 4 is arranged in the area where the grip 110 contacts the four fingers of the user. In the embodiments of the present disclosure, the button 4 is arranged in the first area A, which can perfectly fit the force application scenario when the user uses the floor scrubber, and combined with the control method, the precise control of the power assist device can be achieved, which is described in detail below.

[0094] Combination Figure 3 and Figure 5 As shown, when the user holds the gripping portion 110 of the handle 1, when the user pushes the floor scrubber forward, the user's palm should mainly exert force, so that the force exerted by the four fingers on the first area A is very small, and the floor scrubber is mainly pushed forward by the palm force. On the contrary, when the user pulls the floor scrubber backward, the user's four fingers should mainly exert force, and the force exerted by the four fingers on the first area A is relatively large, so the floor scrubber is mainly pulled backward by the four fingers.

[0095] In combination with the actual working scenario, in the embodiment of the present disclosure, the button 4 is arranged on the first area A, and the pressure sensor can be used to detect the pressing pressure of the button 4, so that the controller can determine the pressed state of the button 4 according to the piezoelectric signal corresponding to different pressing pressures, and control the power-assisted wheel 606 to rotate forward or reverse.

[0096] In some implementation scenarios, a pressure threshold can be set in advance for the piezoelectric signal of the pressure sensor. When the user pulls the floor scrubber backward, the force mainly relies on four fingers, so that the pressure on button 4 is relatively large, and the pressing force detected by the pressure sensor is greater than or equal to the pressure threshold. At this time, it means that the user's operation is to pull the floor scrubber backward, so the controller can control the drive component to drive the power wheel 606 to rotate in the first direction. The first direction is the direction of driving the floor scrubber backward. Due to the rotation of the power wheel 606 in the first direction, a traction force is generated to drive the floor scrubber backward, which helps the user to pull the floor scrubber backward, making it easier for the user to pull the floor scrubber.

[0097] When the user pushes the floor scrubber forward, the force mainly depends on the palm, so the pressure on the button 4 is small, and the pressing force detected by the pressure sensor is less than the pressure threshold. At this time, it means that the user's operation is to push the floor scrubber forward, so the controller can control the driving component to drive the power wheel 606 to rotate in the second direction, and the second direction is the direction to drive the floor scrubber forward. Since the power wheel 606 rotates in the second direction, a traction force is generated to drive the floor scrubber forward, which helps the user to push the floor scrubber forward, making it easier for the user to push the floor scrubber.

[0098] In some embodiments, see Figure 6 As shown, in order to facilitate the user to press the button 4, one or more arc structures 401 can be set on the surface of the button 4 protruding from the handle. The arc structure 401 can fit the user's fingers, thereby better conforming to the user's holding habits.

[0099] From the above, it can be seen that in the embodiment of the present disclosure, the actual force scenario of the user when using the floor scrubber is fully considered, and the touch component is arranged on the first area of ​​the grip. The user does not need any additional control operation, and can control the forward or backward movement of the floor scrubber assisting device only according to the natural force scenario. Compared with the self-driven assisting device, it is more in line with the user's operating habits, has a faster response speed, and a better assisting effect. The user can save more effort and have higher working efficiency when using the floor scrubber.

[0100] In the above Figures 3 to 6 In the embodiment, the trigger component is implemented in the form of a button 4 and a pressure sensor provided in the first area A. In other embodiments, the trigger component can also be implemented using other embodiments. Figures 7 to 9 The implementation method is described.

[0101] like Figure 7 As shown, in this example, the trigger component 603 is arranged on the first area B of the grip portion 110 of the handle 1. As can be seen from the above, when the user naturally grips the grip portion 110, the thumb naturally contacts the first area B. Therefore, in the embodiment of the present disclosure, the trigger component 603 can be arranged on the first area B and controlled by the user's thumb. In order to clearly show the structure of the trigger component 603, Figure 8 The outer shell structure of the handle 1 is hidden, and only the trigger component 603 structure is retained.

[0102] like Figure 8As shown, in this example, the trigger component 603 includes a touch button 45, a substrate 41, and a bending sensor 42. The substrate 41 can be, for example, a ceramic plate. The touch button 45 is fixed on the substrate 41, so that when the touch button 45 is subjected to external pressure, the touch button 45 can drive the substrate 41 to deform. One or more bending sensors 42 are arranged on the substrate 41. The function of the bending sensor 42 is to detect the deformation of the substrate 41, so as to identify the information of the force applied to the touch button 45 according to the deformation, such as the magnitude and / or direction of the force. The number of the bending sensors 42 can be one or more.

[0103] For example Figure 8 In the example, a bending sensor 42 is respectively disposed on the substrate 41 in four directions of the touch button 45 . The four bending sensors 42 can detect not only the degree of deformation of the substrate 41 but also the direction of deformation of the substrate 41 .

[0104] exist Figure 8 In an exemplary implementation, the touch button 45 may be equivalent to a rocker structure, and the user may apply force in any direction to the touch button 45, thereby realizing a variety of control methods for the driving component.

[0105] For example, in an example scenario, when the user pushes the touch button 45 forward, the touch button 45 drives the substrate 41 to deform forward under the force applied by the user, and each bending sensor 42 provided on the substrate 41 can detect the magnitude and direction of the corresponding force. The controller determines that the trigger state of the touch button 45 is forward based on the force information detected by each bending sensor 42, so as to control the driving component to drive the power-assisted wheel to rotate forward, and provide traction to drive the floor scrubber forward.

[0106] When the user pushes the touch button 45 backward, the touch button 45 drives the base plate 41 to deform backward under the force applied by the user, and each bending sensor 42 provided on the base plate 41 can detect the magnitude and direction of the corresponding force. The controller determines that the trigger state of the touch button 45 is backward based on the force information detected by each bending sensor 42, so as to control the driving component to drive the power wheel to rotate backward, and provide traction to drive the floor scrubber backward.

[0107] Through the above example process, the user can control the forward or backward movement of the power-assisted wheel by pushing the touch button 45 forward and backward. Furthermore, in other embodiments, the steering control of the floor scrubber can also be achieved through the touch button 45.

[0108] It is understandable that in actual floor washing operations, in addition to operating the floor washing machine forward and backward, after cleaning a certain floor, the user also needs to operate the floor washing machine to switch to another floor to continue cleaning, thus requiring the floor washing machine to complete the reversing operation. Figure 8 In the implementation manner, the user can realize the steering of the power-assisted wheel by operating the touch button 45, thereby realizing automatic steering of the floor scrubber.

[0109] In some embodiments, the controller is based on Figure 6 The touch button 45 of the trigger assembly shown controls the movement of the power-assisted wheel, including: determining the movement direction of the power-assisted device based on the force information detected by the bending sensor, determining the differential parameters of the first wheel group and the second wheel group according to the movement direction, and controlling the driving assembly to drive the first wheel group and the second wheel group to move respectively according to the differential parameters.

[0110] See also Figure 8 As shown, in an example scenario, when the user pushes the touch button 45 to the left, the touch button 45 drives the substrate 41 to deform to the left under the force applied by the user, and each bending sensor 42 provided on the substrate 41 can detect the corresponding force information. The controller can determine that the trigger state of the touch button 45 is to the left according to the force information detected by each bending sensor 42, that is, the movement direction of the power assist device is to turn left.

[0111] 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.

[0112] For example, in the aforementioned example, after the controller determines that the direction of movement of the power-assisting device is to turn left, it 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 parameters of the first wheel group and the second wheel group, the motor of the drive assembly can output the corresponding power according to the differential parameters, and respectively control the differential movement of the first wheel group and the second wheel group 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.

[0113] The principle of turning right is similar to that of turning left. The user only needs to apply a rightward force to the touch button 45. Those skilled in the art can understand this by referring to the foregoing description, and the present disclosure will not elaborate on it.

[0114] Through the above process, we can know that using Figure 8The touch button 45 shown can not only realize the forward and backward control of the power-assisting device, but also realize the steering control of the power-assisting device, which greatly improves the convenience of users when using the floor scrubber for a long time.

[0115] In some embodiments, the force information detected by the bending sensor 42 can be used to determine not only the direction of movement of the power assist device, but also the speed of movement of the power assist device. Figure 8 As shown, when the user applies forces of different magnitudes to the touch button 45 , the touch button 45 causes the substrate 41 to bend to different degrees, so that the magnitude of the force detected by the bending sensor 42 also varies.

[0116] In the embodiment of the present disclosure, the controller can determine the corresponding movement speed according to the magnitude of the force detected by the bending sensor 42, and the movement speed is proportional to the magnitude of the force, that is, the greater the detected force, the greater the movement speed of the assisting device. Figure 8 When the trigger assembly shown controls the power-assisting device, the greater the force applied to the touch button 45, the faster the driving assembly drives the power-assisting wheel to rotate. Conversely, the smaller the force applied by the user to the touch button 45, the slower the driving assembly drives the power-assisting wheel to rotate.

[0117] like Fig. 9 As shown, in some embodiments, in addition to the above-mentioned touch button 45, the trigger component 603 also includes one or more control buttons in the first area B. The control buttons can be used to control one or more functions of the cleaning device.

[0118] For example Fig. 9 In the example, the control button includes a switch button 43 and a function switch button 44. The switch button 43 can control the power on and off of the cleaning device, and the function switch button 44 can control the function switch of the cleaning device. Of course, those skilled in the art will appreciate that the switch button 43 and the function switch button 44 can also be arranged on Figure 3 In the implementation mode, the present disclosure does not limit this. As for the cleaning function of the cleaning device, those skilled in the art can refer to the relevant technology, and the present disclosure will not elaborate on this.

[0119] As can be seen from the above, in the exemplary embodiment of the present disclosure, the power-assist device is controlled by the trigger component disposed in the first area B, so that when the user uses the cleaning device, the power-assist control can be realized only by using the thumb, which conforms to the user's operating habits, does not require additional operations, and is convenient for the user to control. In addition, the trigger component can not only control the forward and backward movement of the power-assist wheel, but also control the steering and speed of the power-assist wheel, providing the user with more power-assist functions, greatly facilitating the user's cleaning operation, and improving the control effect and cleaning efficiency.

[0120] 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.

[0121] like Fig.10 As shown, in some embodiments, the control method of the cleaning device of the present disclosure example includes:

[0122] S100 , in response to detecting a trigger signal generated by a trigger component provided on a cleaning device, generating a control signal for a power assisting device of the cleaning device based on the trigger signal.

[0123] S200: Control the power assisting device to operate based on the control signal to provide power assisting to the cleaning device.

[0124] In combination with the above, it can be known that in the embodiment of the present disclosure, the trigger component includes a button and a sensor. The button can be, for example, Figure 4 In the embodiment, the button may also be, for example Figure 7 When the user operates the trigger component, the cleaning device detects the corresponding trigger signal through the trigger component, generates a corresponding control signal based on the trigger signal, and then controls the power-assisting wheel of the power-assisting device to work according to the control signal, so as to drive the power-assisting device to provide power assistance to the cleaning device.

[0125] In some embodiments, the trigger component is Figure 4 Take the button 4 and pressure sensor shown as an example. In some implementation scenarios, a pressure threshold can be set in advance for the piezoelectric signal of the pressure sensor. When the user pulls the floor scrubber backward, the force mainly depends on four fingers, so that the pressure of the button 4 is relatively large, and the pressing force detected by the pressure sensor is greater than or equal to the pressure threshold. At this time, it means that the user's operation is to pull the floor scrubber backward, so the controller can generate a first control signal, which is a signal for controlling the power assist device to move backward.

[0126] When the user pushes the floor scrubber forward, the force mainly depends on the palm, so the pressure on the button 4 is small, and the pressing force detected by the pressure sensor is less than the pressure threshold. At this time, it means that the user's operation is to push the floor scrubber forward, so the controller can generate a second control signal, which is a signal for controlling the power assist device to move forward.

[0127] In some embodiments, the trigger component is Figure 7 As an example, the process of generating the control signal can be as follows: Fig.11 shown.

[0128] like Fig.11 As shown, in some embodiments, the control method of the present disclosure example generates a control signal based on a trigger signal, including:

[0129] S110 : Determine the movement direction and movement speed of the power assist device based on the detected information of the force applied to the touch button.

[0130] S120, determining a differential parameter of a first wheel set and a second wheel set included in the power assist device according to the movement direction.

[0131] S130, generating a control signal according to the differential speed parameter and the movement speed.

[0132] Combination Figure 8 As shown, when the touch button 45 is subjected to external pressure, the touch button 45 can cause the substrate 41 to deform, so that the bending sensor 42 can detect the deformation of the substrate 41 and identify the information of the force applied to the touch button 45 according to the deformation, such as the magnitude and / or direction of the force.

[0133] For example, in an example scenario, when the user pushes the touch button 45 to the left, the touch button 45 drives the substrate 41 to deform to the left under the force applied by the user, and each bending sensor 42 provided on the substrate 41 can detect the magnitude and direction of the corresponding force. The controller determines the movement direction as forward according to the direction of the force detected by each bending sensor 42, and at the same time, the controller determines the movement speed according to the magnitude of the force detected by the bending sensor 42.

[0134] 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.

[0135] For example, in the above example, after determining the direction and speed of movement of the power-assisting device, the speed difference between the first wheel set and the second wheel set can be determined according to the direction of movement, and the speed difference is the differential parameter. After determining the differential parameter between the first wheel set and the second wheel set, the motor of the drive assembly can determine the control signal for controlling the power-assisting device according to the differential parameter and the speed of movement of the power-assisting device. Then, based on the control signal, the differential movement of the first wheel set and the second wheel set of the power-assisting device is controlled respectively, so as to realize the steering assistance of the cleaning device.

[0136] From the above process, it can be seen that the touch button can not only realize the forward and reverse control of the power-assisting device, but also realize the steering control of the power-assisting device, which greatly improves the convenience of users when using the floor scrubber for a long time.

[0137] In some embodiments, the control method of the present disclosure further includes:

[0138] In response to detecting a first pressing signal generated by double-clicking the touch button, the power on / off state of the cleaning device is switched based on the first pressing signal.

[0139] In the example of the embodiment of the present disclosure, the on / off function can be further realized by the touch button 45. Figure 8 As shown, in one example, when the cleaning device is in the off state, the user can quickly double-click the touch button 45, so that the trigger device can detect the first pressing signal of the touch button 45 being double-clicked, thereby controlling the cleaning device to turn on. Conversely, when the cleaning device is in the on state, the user can quickly double-click the touch button 45, so that the trigger device can detect the first pressing signal of the touch button being double-clicked, thereby controlling the cleaning device to turn off.

[0140] In some embodiments, the control method of the present disclosure further includes:

[0141] When the cleaning device is in a powered-on state, in response to detecting a second pressing signal generated by a single press of the touch button, the working gear of the cleaning device is switched based on the second pressing signal.

[0142] Similar to the above, when the cleaning device is turned on, the user can click and press the touch button 45, so that the trigger device can detect the second pressing signal of the touch button 45 being pressed by a single click, thereby switching the working gear of the cleaning device. For example, in one example, the cleaning device defaults to the "standard" cleaning gear when it is turned on. When the user presses the touch button 45 downward once, the trigger device detects the second pressing signal, so that the controller can control the cleaning device to switch from the "standard" cleaning gear to the "strong" cleaning gear according to the second pressing signal.

[0143] As can be seen from the above, in the exemplary implementation of the present disclosure, the power assist device is controlled by the trigger component, so that when the user uses the cleaning device, the user only needs to use the thumb to achieve power assist control, which conforms to the user's operating habits, does not require additional operations, and is convenient for the user to control. In addition, the trigger component can not only control the forward and backward movement of the power assist wheel, but also control the steering and speed of the power assist wheel, providing the user with more power assist functions, greatly facilitating the user's cleaning operation, and improving the control effect and cleaning efficiency.

[0144] 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, for outputting power assistance, the power-assisting device comprising a power-assisting wheel and a driving component for driving the power-assisting wheel to move; as well as A control device is electrically connected to the driving component, wherein the control device includes a trigger component disposed on the handle, and the control device is configured to control the driving component to operate based on a trigger signal generated by the trigger component.

2. The cleaning device according to claim 1, characterized in that The trigger assembly includes a button and a sensor. The sensor is located inside the handle and is used to detect the state of the button and generate a trigger signal corresponding to the state.

3. The cleaning device according to claim 2, 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 button is provided on the first area of ​​the gripping portion.

4. The cleaning device according to claim 3, characterized in that: The first area is located on a side of the holding portion facing the floor brush assembly, or the first area is located at a bending position of the holding portion.

5. The cleaning device according to claim 3, characterized in that: The button is a key, and the sensor is a pressure sensor, and the pressure sensor is used to detect the force with which the key is pressed, wherein different forces correspond to different states.

6. The cleaning device according to claim 5, characterized in that The control device is configured to: When the force detected by the pressure sensor is greater than or equal to a preset pressure threshold, controlling the driving assembly to drive the power-assisting wheel to move in a first direction to provide the cleaning device with power assistance in the first direction; When the force detected by the pressure sensor is less than a preset pressure threshold, the driving assembly is controlled to drive the power-assisting wheel to move in a second direction to provide the cleaning device with power assistance in the second direction; wherein the first direction is opposite to the second direction.

7. The cleaning device according to claim 5, characterized in that The pressing surface of the button protrudes from the surface of the first area, and at least one arc-shaped structure that fits a finger is provided on the pressing surface.

8. The cleaning device according to claim 2, characterized in that: The button is a touch button, and the sensor is a bending sensor; The bending sensor is used to identify information about the force applied to the touch button, different information about the force corresponds to different states, and the information about the force includes the magnitude and / or direction of the force.

9. The cleaning device according to claim 8, characterized in that The power-assisted wheel comprises a first wheel set and a second wheel set respectively arranged on both sides of the body, and the driving assembly controls the movement of the first wheel set and the second wheel set respectively; the control device is configured as follows: Determining the movement direction of the power assist device based on information of the force detected by the bending sensor; 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.

10. The cleaning device according to claim 8, characterized in that The control device is configured to: Based on the information of the force detected by the bending sensor, the movement speed of the power-assisting device is determined, and the driving assembly is controlled according to the movement speed to drive the power-assisting wheel to move.

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

12. The method according to claim 11, characterized in that The trigger component includes a button, and the trigger signal includes the pressing force generated by the button; the control signal for the power assist device of the cleaning device generated based on the trigger signal includes: In response to detecting that the pressing force generated by the button is greater than or equal to a preset pressure threshold, generating a first control signal, the first control signal being a signal for controlling the power assist device to move in a first direction; In response to detecting that the pressing force generated by the button is less than a preset pressure threshold, a second control signal is generated, the second control signal being a signal for controlling the power assist device to move in a second direction, the first direction being opposite to the second direction.

13. The method according to claim 11, characterized in that The trigger component includes a touch button, and the trigger signal includes information about the force applied to the touch button; The generating a control signal for the power assisting device of the cleaning equipment based on the trigger signal comprises: Determining the movement direction and movement speed of the power assist device based on the detected information of the force applied to the touch button; Determining a differential speed parameter of a first wheel set and a second wheel set included in the power assist device according to the movement direction; The control signal is generated according to the differential speed parameter and the movement speed.

14. The method according to claim 13, characterized in that Also includes: In response to detecting a first pressing signal generated by double-clicking the touch button, switching the power on / off state of the cleaning device based on the first pressing signal; and / or, When the cleaning device is in a powered-on state, in response to detecting a second pressing signal generated by a single press of the touch button, the working gear of the cleaning device is switched based on the second pressing signal.

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