Cleaning machine working method, cleaning machine and storage medium

Abstract

The invention relates to a cleaning machine working method, a cleaning machine comprises a handle and a strain gauge arranged on the handle, and the strain gauge generates different voltage signals based on deformation of the handle in the forward and backward push-pull action; detecting and acquiring a voltage vector signal V generated by the strain sensor; determining a power assisting direction based on the voltage vector signal V; when the power assisting direction of the cleaning machine is just switched, after the current power assisting direction is kept for the set duration T, the power assisting direction of the cleaning machine is determined based on the voltage vector signal V obtained in real time, and then power is provided for the cleaning machine through control based on the determined power assisting direction of the cleaning machine. According to the working method of the cleaning machine, walking direction recognition is achieved based on the stress direction on the handle, and the situation that the walking direction is misjudged due to reverse stress caused by assistance during reversing can be effectively avoided. The invention further relates to the cleaning machine applying the working method of the cleaning machine. The invention further relates to a storage medium.

Description

Technical Field

[0001] The invention relates to a cleaning machine working method, a cleaning machine and a storage medium. Background Art

[0002] The use of cleaning appliances such as sweeping robots and floor scrubbers is becoming more and more common. Among them, floor scrubbers are usually provided with a handle, and when in use, the user holds the handle to achieve push and pull operations. In order to reduce the labor intensity of users, existing floor scrubbers are provided with a detection device for detecting the walking direction of the floor scrubber, and a power-assisting mechanism is also provided. In this way, the power-assisting direction is controlled based on the recognition of the walking direction of the floor scrubber, thereby achieving the purpose of labor saving.

[0003] For example, in the Chinese utility model patent "A floor brush and floor cleaning device for floor cleaning equipment" with authorization announcement number CN218279526U (application number 202222215131.4), a coding mechanism is provided in the cleaning equipment disclosed therein, and the walking direction of the cleaning equipment is detected based on the coding mechanism. On the one hand, the coding mechanism has the problem of being unable to be recognized under low-speed and uniform-speed conditions. On the other hand, the coding mechanism is set at the bottom of the shell, and during use, it is prone to risks such as entanglement and water ingress, which in turn affects the detection of direction. Summary of the invention

[0004] The first technical problem to be solved by the present invention is to provide a cleaning machine working method that can identify the walking direction based on the stress direction on the handle and effectively avoid misjudging the walking direction due to reverse stress caused by the power assist during switching.

[0005] The second technical problem to be solved by the present invention is to provide a cleaning machine that applies the above-mentioned working method in view of the above-mentioned prior art.

[0006] The third technical problem to be solved by the present invention is to provide a storage medium for the above-mentioned prior art, storing computer instructions for causing a computer to execute the above-mentioned cleaning machine working method.

[0007] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: a cleaning machine working method, characterized in that: the cleaning machine includes a handle, and a strain sensor arranged on the handle, the strain sensor generates different voltage signals based on the deformation of the handle in the forward and backward pushing and pulling action;

[0008] Detect and obtain the voltage vector signal V generated by the strain sensor;

[0009] Determine the walking direction and power assist direction of the cleaning machine based on the voltage vector signal V;

[0010] When the power assist direction of the cleaning machine is just switched, the current power assist direction is maintained for a set period of time T, and then the power assist direction of the cleaning machine is determined based on the voltage vector signal V obtained in real time, and then the power assist direction of the cleaning machine is controlled based on the determined power assist direction to provide power assist for the cleaning machine.

[0011] As an improvement, the working state of the cleaning machine includes a uniform speed running working state, a stationary working state and a common running working state other than the uniform speed running working state and the stationary working state;

[0012] Preset voltage absolute value threshold intervals corresponding to the average speed running working state and the stationary working state of the cleaning machine, and preset characteristic voltage values ​​corresponding to the average speed running working state, the stationary working state, and the normal running working state of the cleaning machine;

[0013] Determine the working state of the cleaning machine based on the voltage absolute value threshold interval of the absolute value of the voltage vector signal V obtained by real-time detection;

[0014] Under different working conditions of the cleaning machine, the power assist direction of the cleaning machine is determined based on the comparison result between the voltage vector signal V obtained in real time and the corresponding characteristic voltage value.

[0015] As an improvement, for the cleaning machine working at an average speed, characteristic voltage values ​​corresponding to the forward and backward moving directions are preset respectively;

[0016] When the cleaning machine is in a uniform speed working state, the moving direction of the cleaning machine is determined according to the direction of the voltage vector signal V obtained in real time, and V is compared with the characteristic voltage value corresponding to the corresponding moving direction in the current working state of the cleaning machine, and the power assist direction of the cleaning machine is determined according to the comparison result.

[0017] As an improvement, the voltage characteristic value corresponding to the forward moving direction of the cleaning machine is set to Vy under the working state of uniform speed, and the voltage characteristic value corresponding to the forward moving direction of the cleaning machine is set to -Vy, and the first voltage absolute value threshold interval corresponding to the working state of uniform speed is set to [Vy-V1, Vy+V1];

[0018] If |V| is within the first voltage absolute value threshold interval, it is determined that the cleaning machine is operating in a uniform speed travel working state;

[0019] Compare the V obtained in real time with the reference voltage value 0;

[0020] If V>0, the moving direction of the cleaning machine is determined to be forward; then V is compared with the voltage characteristic value Vy. If V-Vy>V1, the power-assisting direction of the cleaning machine is determined to be forward; if V-Vy<-V1, the power-assisting direction of the cleaning machine is determined to be backward. If V is within the range of [Vy-V1, Vy+V1], the current power-assisting direction of the cleaning machine is maintained.

[0021] If V is less than 0, the moving direction of the cleaning machine is determined to be backward; then V is compared with the voltage characteristic value -Vy. If V+Vy>V1, the power-assisting direction of the cleaning machine is determined to be the forward direction; if V+Vy<-V1, the power-assisting direction of the cleaning machine is determined to be the backward direction. If V is within the range of [-Vy+V1,-Vy-V1], the current power-assisting direction of the cleaning machine is maintained.

[0022] As an improvement, if the time duration during which |V| is within the first voltage absolute value threshold interval reaches a set first time limit value, it is determined that the cleaning machine is operating in a uniform speed travel working state.

[0023] As an improvement, the voltage characteristic value corresponding to the parking working state is set to a reference voltage value of 0, and the second voltage absolute value threshold interval corresponding to the parking working state is set to [0, V2];

[0024] If |V| is within the second voltage absolute value threshold interval, it is determined that the cleaning machine is operating in a parked working state;

[0025] The real-time acquired V is compared with the voltage characteristic value 0. If V>V2, the power-assisting direction of the cleaning machine is determined to be the forward direction; if V<-V2, the power-assisting direction of the cleaning machine is determined to be the backward direction.

[0026] As an improvement, if the time duration during which |V| is within the second voltage absolute value threshold interval reaches a set second time limit, it is determined that the cleaning machine is operating in a parked working state.

[0027] As an improvement, the voltage characteristic value corresponding to the normal traveling working state is set to the reference voltage value 0;

[0028] If the voltage vector signal V obtained based on the detection does not meet the judgment condition corresponding to the uniform speed travel working state, and does not meet the judgment condition corresponding to the parking working state, it is judged that the cleaning machine is in the normal travel working state;

[0029] In the normal traveling working state, if the n voltage vector signals V collected and obtained are all greater than 0, the power-assisting direction of the cleaning machine is determined to be the forward direction; if the n voltage vector signals V collected and obtained are all less than 0, the power-assisting direction of the cleaning machine is determined to be the backward direction; where n is a positive integer and n≥2; otherwise, the current power-assisting direction of the cleaning machine is maintained.

[0030] The technical solution adopted by the present invention to solve the above second technical problem is: a cleaning machine, comprising a machine body, a handle connected to the machine body, a controller and a memory arranged in the machine body, the memory being connected to the controller by electrical signals, and running wheels being arranged on both sides of the machine body, characterized in that: a stress sensor for detecting stress deformation caused by forward pushing and backward pulling actions is arranged on the handle, a driving device connected to the running wheel driving is arranged on the machine body, and the stress sensor and the driving device are connected to the controller by electrical signals;

[0031] The memory stores computer instructions, and the controller executes the aforementioned cleaning machine working method by executing the computer instructions.

[0032] Preferably, the stress detector is a strain gauge, and the strain gauge is arranged at a position on the handle that causes maximum stress deformation based on forward pushing and backward pulling actions.

[0033] Preferably, the strain gauge is arranged at the bend above the upper rear portion of the handle and is located on the inner surface of the bend.

[0034] The technical solution adopted by the present invention to solve the third technical problem mentioned above is: a computer-readable storage medium, characterized in that: the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the aforementioned cleaning machine power-assisting control method.

[0035] Compared with the prior art, the advantages of the present invention are as follows: the working method of the cleaning machine in the present invention, when the cleaning machine just switches the power-assisting direction, the power-assisting direction is likely to be inconsistent with the moving direction of the cleaning machine, resulting in the power-assisting generating a reaction force opposite to the power-assisting direction for the strain gauge on the handle, and then in the subsequent process, the power-assisting direction will be misjudged based on the reaction force. However, the working method of the cleaning machine, after maintaining the current power-assisting direction setting for a period of time T, determines the power-assisting direction of the cleaning machine based on the voltage vector signal V obtained in real time, which can eliminate the direction of action of the reaction force, thereby avoiding misjudgment of the power-assisting direction and providing correct power-assisting.

[0036] The cleaning machine using the cleaning machine working method can more accurately judge the power assisting direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Flow chart of the working method of the cleaning machine in an embodiment of the present invention.

[0038] Figure 2 This is a flow chart for determining the power assist direction in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention is further described in detail below with reference to the accompanying drawings.

[0040] The working method of the cleaning machine in this embodiment can be applied to cleaning machines with a handle.

[0041] Specifically, the cleaning machine includes a machine body, a handle connected to the machine body, a controller and a memory arranged in the machine body, the memory is connected to the controller by electrical signals, running wheels are arranged on both sides of the machine body, and a stress sensor for detecting stress deformation caused by forward pushing and backward pulling actions is arranged on the handle. A driving device connected to the running wheel driving is arranged on the machine body, and the stress sensor and the driving device are connected to the controller by electrical signals. The driving device adopts the driving device structure of the existing cleaning machine. Computer instructions are stored in the memory, and the controller executes the computer instructions to execute the following cleaning machine working method.

[0042] The stress detector in this embodiment is a strain gauge, which is set at a position away from the user's hand holding position, and is set at the position on the handle that causes the maximum stress deformation based on the forward push and backward pull action, so as to avoid the user's hand holding force causing excessive influence on the corresponding strain gauge deformation. The strain gauge is set at the position on the handle that causes the maximum stress deformation based on the forward push and backward pull action, and can sense the slight deformation based on the movement during the forward and backward movement of the cleaning machine. Specifically, the strain gauge is set at the bend above the rear part of the handle and is located on the inner surface of the bend.

[0043] The strain gauge generates different voltage signals based on the deformation of the handle in the forward and backward push and pull action. During the product testing phase, the reference voltage value of the strain gauge is determined to be 0 through debugging. In this embodiment, the reference voltage value of the strain gauge is determined to be 0 when the cleaning machine is in the parked state.

[0044] like Figure 1 As shown, the working method of the cleaning machine in this embodiment is specifically as follows.

[0045] The voltage vector signal V generated by the strain sensor is detected and acquired. Since the vector signal is collected, the walking direction of the cleaning machine can be directly determined based on the voltage vector signal V, and the power-assisting direction can also be determined based on the voltage vector signal V, so as to facilitate the provision of power-assisting. However, when the power-assisting direction of the cleaning machine is just switched, the power-assisting direction is likely to be inconsistent with the moving direction of the cleaning machine, resulting in the power-assisting generating a reaction force opposite to the power-assisting direction for the strain gauge on the handle, and then in the subsequent process, the power-assisting direction will be misjudged based on the reaction force. For example, when the cleaning machine is in the forward moving direction, on the basis of the forward power-assisting, it may be necessary to provide backward power-assisting due to the user's backward pulling force. If the power-assisting direction is switched from the forward direction to the backward direction at this time, based on the backward power-assisting, the provided backward pulling force will be reduced, that is, the deformation acting on the strain gauge is changed from backward deformation to forward deformation. At this time, it is easy to judge that a forward thrust has occurred, resulting in the switch to forward power-assisting again, which does not meet the user's demand for the power-assisting direction of the cleaning machine.

[0046] Based on this, in this implementation, after maintaining the current power assist direction setting time T, the set time is sufficient to eliminate the misjudgment of the power assist direction caused by the sudden change of power assist, and then the power assist direction of the cleaning machine is determined based on the voltage vector signal V obtained in real time, and then the power assist direction of the cleaning machine is controlled based on the determined power assist direction of the cleaning machine to provide power assist for the cleaning machine.

[0047] The working state of the cleaning machine in this embodiment includes a uniform speed running working state, a stationary working state, and a common running working state other than the uniform speed running working state and the stationary working state. In particular, in the uniform speed state, the deformation direction of the strain gauge is relatively stable. Therefore, when the operation of switching the moving direction of the cleaning machine occurs based on the uniform speed state, it is not easy to obtain the accurate required power assist direction based on the voltage value of the strain gauge.

[0048] Based on this, in this embodiment, the voltage absolute value threshold intervals corresponding to the average speed running working state and the stationary working state of the cleaning machine are preset, and the characteristic voltage values ​​corresponding to the average speed running working state, the stationary working state, and the normal running working state of the cleaning machine are preset. The working state of the cleaning machine is determined based on the voltage absolute value threshold interval in which the absolute value of the voltage vector signal V obtained by real-time detection is located. Under different working states of the cleaning machine, the power assist direction of the cleaning machine is determined based on the comparison result of the voltage vector signal V obtained in real time and the corresponding characteristic voltage value.

[0049] Especially for the uniform speed working state of the cleaning machine, the characteristic voltage values ​​corresponding to the forward and backward moving directions are preset respectively. When the cleaning machine is in the uniform speed working state, the moving direction of the cleaning machine is determined according to the direction of the voltage vector signal V obtained in real time, and V is compared with the characteristic voltage value corresponding to the corresponding moving direction under the current working state of the cleaning machine, and the power assist direction of the cleaning machine is determined according to the comparison result.

[0050] like Figure 2 As shown, specifically, in the uniform speed working state, the voltage characteristic value corresponding to the forward moving direction of the cleaning machine is set to Vy, the voltage characteristic value corresponding to the forward moving direction of the cleaning machine is -Vy, and the first voltage absolute value threshold interval corresponding to the uniform speed working state is set to [Vy-V1, Vy+V1], where V1 is a very small fluctuation value. The real-time acquired V is compared with the reference voltage value 0. In this embodiment, the method for judging whether the cleaning machine is working in the uniform speed working state is: if |V| is within the first voltage absolute value threshold interval, the cleaning machine is judged to be working in the uniform speed working state. In order to ensure the accuracy of the judgment, if the length of time that |V| is within the first voltage absolute value threshold interval reaches the set first time limit value, the cleaning machine is judged to be working in the uniform speed working state.

[0051] If V>0, the direction of movement of the cleaning machine is determined to be forward; then V is compared with the voltage characteristic value Vy. If V-Vy>V1, the power-assisting direction of the cleaning machine is determined to be the forward direction, that is, the detected V has increased relative to Vy, and the corresponding strain gauge has produced a forward deformation, that is, because the external force has produced a forward force on the handle, and there is a tendency to continue to push forward, and accordingly, power assistance in the forward direction is required. If V-Vy<-V1, the power-assisting direction of the cleaning machine is determined to be the backward direction. If V is within the range of [Vy-V1, Vy+V1], the current power-assisting direction of the cleaning machine is maintained, that is, the detected V has decreased relative to Vy, and the corresponding strain gauge has produced a backward deformation, that is, because the external force has produced a backward force on the handle, and there is a tendency to pull the cleaning machine backward, and accordingly, power assistance in the backward direction is required.

[0052] If V<0, the direction of movement of the cleaning machine is determined to be backward; then V is compared with the voltage characteristic value -Vy, if V+Vy>V1, the power-assisting direction of the cleaning machine is determined to be forward; if V+Vy<-V1, the power-assisting direction of the cleaning machine is determined to be backward, and if V is within the range of [-Vy+V1,-Vy-V1], the current power-assisting direction of the cleaning machine is maintained. The deformation of the strain gauge due to the action of external force is similar to the above content, and the corresponding power-assisting is provided based on the deformation direction of the strain gauge, which can more accurately reflect the user's action trend on the direction of movement of the cleaning machine, and thus provide a more accurate power-assisting direction.

[0053] The voltage characteristic value corresponding to the parked working state is set to the reference voltage value 0, and the second voltage absolute value threshold interval corresponding to the parked working state is set to [0, V2], where V2 is a very small fluctuation value. If |V| is within the second voltage absolute value threshold interval, it is determined that the cleaning machine is working in the parked working state. In order to improve the accuracy of the judgment, if the duration of |V| in the second voltage absolute value threshold interval reaches the set second time limit, it is determined that the cleaning machine is working in the parked working state.

[0054] Compare the real-time acquired V with the voltage characteristic value 0. If V>V2, the corresponding strain gauge is deformed forward relative to the current position and has a tendency to move forward, and the power-assisting direction of the cleaning machine is determined to be the forward direction. If V<-V2, the corresponding strain gauge is deformed backward relative to the current position and has a tendency to move backward, and the power-assisting direction of the cleaning machine is determined to be the backward direction.

[0055] When the cleaning machine is not in the uniform speed running working state, and is not in the stationary working state, the cleaning machine is in the normal running working state. That is, if the voltage vector signal V obtained based on the detection does not meet the judgment condition corresponding to the uniform speed running working state: the time length of |V| in the first voltage absolute value threshold interval reaches the set first time limit value. And does not meet the judgment condition corresponding to the stationary working state: the time length of |V| in the second voltage absolute value threshold interval reaches the set second time limit value, then it is judged that the cleaning machine is in the normal running working state;

[0056] Set the voltage characteristic value corresponding to the normal traveling working state to the reference voltage value 0.

[0057] In the normal traveling working state, if the n voltage vector signals V collected and obtained are all greater than 0, the power-assisting direction of the cleaning machine is determined to be the forward direction; if the n voltage vector signals V collected and obtained are all less than 0, the power-assisting direction of the cleaning machine is determined to be the backward direction; where n is a positive integer and n≥2; otherwise, the current power-assisting direction of the cleaning machine is maintained.

[0058] In the working method of the cleaning machine of the present invention, when the cleaning machine just switches the power-assisting direction, the power-assisting direction is inconsistent with the moving direction of the cleaning machine, which causes the power-assisting to generate a reaction force opposite to the power-assisting direction for the strain gauge on the handle, and then in the subsequent process, the power-assisting direction will be misjudged based on the reaction force. However, the working method of the cleaning machine maintains the current power-assisting direction setting for a period of time T, and then determines the power-assisting direction of the cleaning machine based on the voltage vector signal V obtained in real time, which can eliminate the direction of the reaction force, thereby avoiding misjudgment of the power-assisting direction and providing correct power-assisting.

[0059] The cleaning machine using the cleaning machine working method can more accurately judge the power assisting direction.

[0060] The present invention also relates to a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the above-mentioned cleaning machine power-assisting control method.

[0061] In the specification and claims of the present invention, terms indicating directions, such as "front", "rear", "up", "down", "left", "right", "side", "top", "bottom", etc., are used to describe various exemplary structural parts and elements of the present invention, but these terms are used here only for the purpose of convenience of description and are determined based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in the present invention can be arranged in different directions, these terms indicating directions are only used as explanations and should not be regarded as limitations. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

Claims

1. A cleaning machine working method, characterized in that: The cleaning machine includes a handle, and a strain sensor disposed on the handle, wherein the strain sensor generates different voltage signals based on deformation of the handle during a forward and backward push and pull action; Detect and obtain the voltage vector signal V generated by the strain sensor; Determine the walking direction and power assist direction of the cleaning machine based on the voltage vector signal V; When the power assist direction of the cleaning machine is just switched, the current power assist direction is maintained for a set period of time T, and then the power assist direction of the cleaning machine is determined based on the voltage vector signal V obtained in real time, and then the power assist direction of the cleaning machine is controlled based on the determined power assist direction to provide power assist for the cleaning machine.

2. The cleaning machine working method according to claim 1, characterized in that: The working state of the cleaning machine includes a uniform speed running working state, a stationary working state, and a common running working state other than the uniform speed running working state and the stationary working state; Preset voltage absolute value threshold intervals corresponding to the average speed running working state and the stationary working state of the cleaning machine, and preset characteristic voltage values ​​corresponding to the average speed running working state, the stationary working state, and the normal running working state of the cleaning machine; Determine the working state of the cleaning machine based on the voltage absolute value threshold interval of the absolute value of the voltage vector signal V obtained by real-time detection; Under different working conditions of the cleaning machine, the power assist direction of the cleaning machine is determined based on the comparison result between the voltage vector signal V obtained in real time and the corresponding characteristic voltage value.

3. The cleaning machine working method according to claim 2, characterized in that: According to the average speed working state of the cleaning machine, the characteristic voltage values ​​corresponding to the forward and backward moving directions are preset respectively; When the cleaning machine is in a uniform speed working state, the moving direction of the cleaning machine is determined according to the direction of the voltage vector signal V obtained in real time, and V is compared with the characteristic voltage value corresponding to the corresponding moving direction in the current working state of the cleaning machine, and the power assist direction of the cleaning machine is determined according to the comparison result.

4. The cleaning machine working method according to claim 3, characterized in that: Set the voltage characteristic value corresponding to the forward moving direction of the cleaning machine under the uniform speed working state to Vy, the voltage characteristic value corresponding to the forward moving direction of the cleaning machine to -Vy, and set the first voltage absolute value threshold interval corresponding to the uniform speed working state to [Vy-V1, Vy+V1]; If |V| is within the first voltage absolute value threshold interval, it is determined that the cleaning machine is operating in a uniform speed travel working state; Compare the V obtained in real time with the reference voltage value 0; If V>0, the moving direction of the cleaning machine is determined to be forward; then V is compared with the voltage characteristic value Vy. If V-Vy>V1, the power-assisting direction of the cleaning machine is determined to be forward; if V-Vy<-V1, the power-assisting direction of the cleaning machine is determined to be backward. If V is within the range of [Vy-V1, Vy+V1], the current power-assisting direction of the cleaning machine is maintained. If V is less than 0, the moving direction of the cleaning machine is determined to be backward; then V is compared with the voltage characteristic value -Vy. If V+Vy>V1, the power-assisting direction of the cleaning machine is determined to be the forward direction; if V+Vy<-V1, the power-assisting direction of the cleaning machine is determined to be the backward direction. If V is within the range of [-Vy+V1,-Vy-V1], the current power-assisting direction of the cleaning machine is maintained.

5. The cleaning machine working method according to claim 4, characterized in that: If the time duration during which |V| is within the first voltage absolute value threshold interval reaches a set first time limit, it is determined that the cleaning machine is operating in a uniform speed travel working state.

6. The cleaning machine working method according to any one of claims 2 to 5, characterized in that: The voltage characteristic value corresponding to the parking working state is set to a reference voltage value of 0, and the second voltage absolute value threshold interval corresponding to the parking working state is set to [0, V2]; If |V| is within the second voltage absolute value threshold interval, it is determined that the cleaning machine is operating in a parked working state; The real-time acquired V is compared with the voltage characteristic value 0. If V>V2, the power-assisting direction of the cleaning machine is determined to be the forward direction; if V<-V2, the power-assisting direction of the cleaning machine is determined to be the backward direction.

7. The cleaning machine operating method according to claim 6, characterized in that: If the time duration during which |V| is within the second voltage absolute value threshold interval reaches a set second time limit, it is determined that the cleaning machine is operating in a parked working state.

8. The cleaning machine working method according to any one of claims 22 to 5, characterized in that: Set the voltage characteristic value corresponding to the normal travel working state to the reference voltage value 0; If the voltage vector signal V obtained based on the detection does not meet the judgment condition corresponding to the uniform speed travel working state, and does not meet the judgment condition corresponding to the parking working state, it is judged that the cleaning machine is in the normal travel working state; In the normal traveling working state, if the n voltage vector signals V collected and obtained are all greater than 0, the power-assisting direction of the cleaning machine is determined to be the forward direction; if the n voltage vector signals V collected and obtained are all less than 0, the power-assisting direction of the cleaning machine is determined to be the backward direction; where n is a positive integer and n≥2; otherwise, the current power-assisting direction of the cleaning machine is maintained.

9. A cleaning machine, comprising a machine body, a handle connected to the machine body, a controller and a memory arranged in the machine body, the memory being connected to the controller by electrical signals, and walking wheels being arranged on both sides of the machine body, characterized in that: The handle is provided with a stress sensor for detecting stress deformation caused by forward pushing and backward pulling actions, the machine body is provided with a driving device connected to the running wheel drive, and the stress sensor, the driving device and the controller are connected with electrical signals; The memory stores computer instructions, and the controller executes the cleaning machine working method according to any one of claims 1 to 8 by executing the computer instructions.

10. The cleaning machine according to claim 9, characterized in that: The stress detector is a strain gauge, which is arranged at a position on the handle that causes maximum stress deformation based on forward pushing and backward pulling actions.

11. The cleaning machine according to claim 10, characterized in that: The strain gauge is arranged at a bend above the upper rear portion of the handle and is located on the inner surface of the bend.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the cleaning machine power-assisting control method according to any one of claims 1-8.

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