Cleaning device, method, program product, medium and cleaning system

Abstract

A cleaning apparatus, method, program product, medium and cleaning system, the cleaning apparatus including a cleaning member providing a forward force to the cleaning apparatus during forward movement of the cleaning apparatus and cleaning of a surface to be cleaned, and an assist member providing a forward force to the cleaning apparatus during forward movement of the cleaning apparatus and cleaning of the surface to be cleaned. And the power assisting piece provides backward speed reducing force for the cleaning equipment. In this way, in the process that the cleaning equipment moves forwards depending on the rolling friction force of the cleaning piece, the power assisting piece can be used for providing backward speed reducing force for the cleaning equipment to consume part of the rolling friction force, then the probability that a user is dragged forwards by the cleaning equipment in the process of using the cleaning equipment is reduced, user experience is improved, and user experience is improved. And meanwhile, the cleaning equipment is prevented from moving forwards too fast, and the use safety of a user is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a cleaning equipment, method, program product, medium and cleaning system. Background Art

[0002] Cleaning equipment can clean surface areas such as the floor, helping users improve cleaning efficiency.

[0003] As users' requirements for cleaning equipment continue to increase, cleaning equipment is also constantly being upgraded and updated. In the process of upgrading and updating, the weight of the cleaning equipment will inevitably increase, which in turn increases the burden on users when using the cleaning equipment, affecting the user experience. Therefore, how to reduce the burden on users caused by the increase in the weight of cleaning equipment is an issue that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a cleaning device, method, program product, medium and cleaning system, thereby solving the technical problem in the prior art that the increased weight of the cleaning device increases the burden on the user during use of the cleaning device, thereby affecting the user's usage experience, and achieves the technical effect of reducing the burden on the user caused by the increased weight of the cleaning device.

[0005] In a first aspect, the present application provides a cleaning device, comprising a cleaning member and a power-assisting member. When the cleaning device moves forward and cleans the surface to be cleaned, the cleaning member provides a forward force for the cleaning device, and the power-assisting member provides a backward deceleration force for the cleaning device.

[0006] In some embodiments of the present application, based on the aforementioned solution, the cleaning member includes a roller brush, and the power-assisting member includes a power-assisting wheel.

[0007] In some embodiments of the present application, based on the aforementioned solution, the cleaning device includes a heater, which is used to heat the cleaning liquid of the cleaning device and generate hot cleaning liquid or steam for cleaning the surface to be cleaned.

[0008] In some embodiments of the present application, based on the aforementioned solution, the cleaning member rotates forward, the assisting member rotates backward, or the assisting member does not rotate.

[0009] In some embodiments of the present application, based on the above solution, a method for determining that the power-assisting member provides a backward deceleration force for the cleaning device includes:

[0010]

[0011] Among them, F 轮减 The assisting member provides a backward deceleration force for the cleaning device, δ刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity.

[0012] In some embodiments of the present application, based on the above scheme, δ 刷 ≥0.005.

[0013] In some embodiments of the present application, based on the aforementioned solution, after the cleaning device receives an instruction to move backward, the power-assisting member provides a driving force for the cleaning device to move backward.

[0014] In some embodiments of the present application, based on the aforementioned solution, the driving force provided by the assisting member for the cleaning device to move backward does not exceed the rolling friction between the assisting member and the surface to be cleaned.

[0015] In some embodiments of the present application, based on the above solution, a method for determining the rolling friction force between the assisting member and the surface to be cleaned includes:

[0016]

[0017] Among them, f 轮摩擦实 The mass of the cleaning equipment is m 机实 The rolling friction between the assisting member and the surface to be cleaned, δ 轮 is the friction coefficient between the assisting member and the surface to be cleaned, R 轮 is the radius of the assisting member, m 机实 is the actual mass of the cleaning device, and g is the acceleration due to gravity.

[0018] In some embodiments of the present application, based on the above scheme, 0.005≤δ 轮 ≤0.05.

[0019] In some embodiments of the present application, based on the aforementioned solution, the driving force provided by the power-assisting member for the cleaning device to move backward is positively correlated with the acceleration of the cleaning device moving backward.

[0020] In some embodiments of the present application, based on the aforementioned solution, the driving force provided by the assisting member for the cleaning device to move backward is positively correlated with the actual rotational speed of the motor of the assisting member.

[0021] In some embodiments of the present application, based on the above solution, a method for determining the driving force provided by the power-assisting member for the cleaning device to move backwards includes:

[0022] F 轮驱 <F 轮理 ;

[0023]

[0024] Among them, F 轮驱 It refers to the actual driving force provided by the power-assisting member for the cleaning device to move backward, F 轮理 The force that the assisting member theoretically provides for the cleaning device to move backwards, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element and the surface to be cleaned, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity, a 机 is the acceleration of the cleaning device moving backwards.

[0025] In some embodiments of the present application, based on the above solution, a method for determining the driving force provided by the power-assisting member for the cleaning device to move backwards includes:

[0026] F 轮驱 =F+v 电机 ×k+m 机实 ×a 机 ;

[0027] Among them, F 轮驱 It refers to the actual driving force provided by the assisting member for the cleaning device to move backward, F is the basic driving force of the assisting member, and F is a constant; v 电机 is the actual speed of the power assist motor, k is the coefficient, m is the 机实 is the actual mass of the cleaning equipment, a 机 is the acceleration of the cleaning device moving backwards.

[0028] In some embodiments of the present application, based on the above scheme, 25N≤F≤35N, v 电机 <300r / min;k<0.1.

[0029] In some embodiments of the present application, based on the aforementioned scheme,

[0030]

[0031] Among them, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element and the surface to be cleaned, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, and g is the acceleration due to gravity.

[0032] In some embodiments of the present application, based on the above scheme, F+v 电机 ×k<X,30N≤X≤50N,20N≤F≤30N,70r / min≤v 电机 ≤150r / min.

[0033] In some embodiments of the present application, based on the above scheme, F+v 电机 ×k≤Y,35N≤Y≤60N, 20N≤F≤30N, 150r / min≤v 电机 ≤350r / min.

[0034] In a second aspect, the present application provides a cleaning device control method, wherein the cleaning device comprises a cleaning member and a power-assisting member, and the method comprises:

[0035] During the process of the cleaning device moving forward and cleaning the surface to be cleaned, the cleaning member is controlled to provide a forward force for the cleaning device, and the assisting member is controlled to provide a backward deceleration force for the cleaning device.

[0036] In some embodiments of the present application, based on the aforementioned solution, the cleaning member includes a roller brush, and the power-assisting member includes a power-assisting wheel.

[0037] In some embodiments of the present application, based on the above solution, the cleaning device includes a heater, and the method further includes:

[0038] In response to the heating instruction received by the cleaning device, the heater is controlled to heat the cleaning liquid of the cleaning device and generate hot cleaning liquid or steam for cleaning the surface to be cleaned.

[0039] In some embodiments of the present application, based on the above-mentioned solution, in the process of the cleaning device moving forward and cleaning the surface to be cleaned, controlling the cleaning member to provide a forward force for the cleaning device, and controlling the assisting member to provide a backward deceleration force for the cleaning device, comprises:

[0040] During the process of the cleaning device moving forward and cleaning the surface to be cleaned, the cleaning member is controlled to rotate forward to provide a forward force for the cleaning device, and the assisting member is controlled to rotate backward or not to rotate, so that the assisting member provides a backward deceleration force for the cleaning device.

[0041] In some embodiments of the present application, based on the above solution, a method for determining that the power-assisting member provides a backward deceleration force for the cleaning device includes:

[0042]

[0043] Among them, F 轮减 The assisting member provides a backward deceleration force for the cleaning device, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity.

[0044] In some embodiments of the present application, based on the above scheme, δ 刷 ≥0.005.

[0045] In some embodiments of the present application, based on the above solution, the method further includes:

[0046] In response to a backward movement requirement instruction received by the cleaning device, the power assisting member is controlled to provide a driving force for the backward movement of the cleaning device.

[0047] In some embodiments of the present application, based on the aforementioned solution, the driving force provided by the assisting member for the cleaning device to move backward does not exceed the rolling friction between the assisting member and the surface to be cleaned.

[0048] In some embodiments of the present application, based on the above solution, a method for determining the rolling friction force between the assisting member and the surface to be cleaned includes:

[0049]

[0050] Among them, f 轮摩擦实 The mass of the cleaning equipment is m 机实 The rolling friction between the assisting member and the surface to be cleaned, δ 轮 is the friction coefficient between the assisting member and the surface to be cleaned, R 轮 is the radius of the assisting member, m 机实is the actual mass of the cleaning device, and g is the acceleration due to gravity.

[0051] In some embodiments of the present application, based on the above scheme, 0.005≤δ 轮 ≤0.05.

[0052] In some embodiments of the present application, based on the aforementioned solution, the driving force provided by the power-assisting member for the cleaning device to move backward is positively correlated with the acceleration of the cleaning device moving backward.

[0053] In some embodiments of the present application, based on the aforementioned solution, the driving force provided by the assisting member for the cleaning device to move backward is positively correlated with the actual rotational speed of the motor of the assisting member.

[0054] In some embodiments of the present application, based on the above solution, a method for determining the driving force provided by the power-assisting member for the cleaning device to move backwards includes:

[0055] F 轮驱 <F 轮理 ;

[0056]

[0057] Among them, F 轮驱 It refers to the actual driving force provided by the power-assisting member for the cleaning device to move backward, F 轮理 The force that the assisting member theoretically provides for the cleaning device to move backwards, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element and the surface to be cleaned, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity, a 机 is the acceleration of the cleaning device moving backwards.

[0058] In some embodiments of the present application, based on the above solution, a method for determining the driving force provided by the power-assisting member for the cleaning device to move backwards includes:

[0059] F 轮驱 =F+v 电机 ×k+m 机实 ×a 机 ;

[0060] Among them, F轮驱 It refers to the actual driving force provided by the assisting member for the cleaning device to move backward, F is the basic driving force of the assisting member, and F is a constant; v 电机 is the actual speed of the power assist motor, k is the coefficient, m is the 机实 is the actual mass of the cleaning equipment, a 机 is the acceleration of the cleaning device moving backwards.

[0061] In some embodiments of the present application, based on the above scheme, 25N≤F≤35N, v 电机 <300r / min;k<0.1.

[0062] In some embodiments of the present application, based on the aforementioned scheme,

[0063]

[0064] Among them, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element and the surface to be cleaned, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, and g is the acceleration due to gravity.

[0065] In some embodiments of the present application, based on the above scheme, F+v 电机 ×k<X,30N≤X≤50N,20N≤F≤30N,70r / min≤v 电机 ≤150r / min.

[0066] In some embodiments of the present application, based on the above scheme, F+v 电机 ×k≤Y,35N≤Y≤60N, 20N≤F≤30N, 150r / min≤v 电机 ≤350r / min.

[0067] In a third aspect, the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes the method provided in the second aspect as described above.

[0068] In a fourth aspect, the present application provides a computer-readable storage medium, in which at least one program code is stored, and the at least one program code is loaded and executed by a processor to implement the operations performed by the method provided in the second aspect.

[0069] In a fifth aspect, the present application provides a cleaning device, comprising one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method provided in the second aspect as described above.

[0070] In a sixth aspect, the present application provides a cleaning system, which includes a base station and a cleaning device as provided in the first aspect and / or the fifth aspect.

[0071] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0072] The embodiment of the present application provides a cleaning device, which includes a cleaning member and a power-assisting member. When the cleaning device moves forward and cleans the surface to be cleaned, the cleaning member provides a forward force for the cleaning device, and the power-assisting member provides a backward deceleration force for the cleaning device. In this way, when the cleaning device moves forward relying on the rolling friction of the cleaning member, the power-assisting member can be used to provide a backward deceleration force for the cleaning device to consume a part of the rolling friction, thereby reducing the probability of the user being dragged forward by the cleaning device during use, improving the user experience, and also preventing the cleaning device from moving forward too fast, ensuring the user's safety.

[0073] When the embodiment of the present application receives a user-triggered instruction to move backward, it controls the assisting member to provide a driving force for the cleaning device to move backward, so as to reduce the physical burden of the user dragging the cleaning device backward and improve the user experience. After the cleaning device moves backward, it can continue to clean the surface to be cleaned through the cleaning member. Furthermore, the driving force for the cleaning device to move backward provided by the assisting member can be constrained within a certain range, which can reduce the probability of the force between the assisting member and the surface to be cleaned exceeding the rolling friction between the assisting member and the surface to be cleaned. In other words, it can reduce the probability of the assisting member slipping, thereby improving the user experience and the cleaning quality of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0075] Figure 1 A schematic diagram of a top view of a cleaning device provided in an embodiment of the present application;

[0076] Figure 2 A schematic diagram of the side structure of a cleaning device provided in an embodiment of the present application;

[0077] Figure 3 A schematic diagram of a top view semi-perspective structure of a cleaning device provided in an embodiment of the present application;

[0078] Figure 4 A flow chart of a cleaning equipment control method provided in an embodiment of the present application.

[0079] Reference numerals:

[0080] 1-cleaning device body, 2-handle part, 3-cleaning part, 4-power assist part, 41-left power assist part, 42-right power assist part. DETAILED DESCRIPTION

[0081] The embodiments of the present application provide a cleaning device, method, program product, medium and cleaning system to solve the technical problem in the prior art that increasing the weight of the cleaning device increases the burden on the user during use of the cleaning device and affects the user's experience.

[0082] The technical solution of the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0083] The embodiment of the present application provides a cleaning device, which includes a cleaning member 3 and a power-assisting member 4. When the cleaning device moves forward and cleans the surface to be cleaned, the cleaning member 3 provides a forward force for the cleaning device, and the power-assisting member 4 provides a backward deceleration force for the cleaning device. In this way, when the cleaning device moves forward relying on the rolling friction force of the cleaning member 3, the power-assisting member 4 can be used to provide a backward deceleration force for the cleaning device to consume a part of the rolling friction force, thereby reducing the probability of the user being dragged forward by the cleaning device during use, improving the user experience, and also avoiding the cleaning device from moving forward too fast, ensuring the user's safety.

[0084] When receiving a user-triggered instruction to move backward, the embodiment of the present application controls the assisting member 4 to provide a driving force for the cleaning device to move backward, so as to reduce the physical burden of the user dragging the cleaning device backward and improve the user experience. After the cleaning device moves backward, the cleaning member 3 can continue to clean the surface to be cleaned. Furthermore, the driving force for the cleaning device to move backward provided by the assisting member 4 can be constrained within a certain range, thereby reducing the probability of the force between the assisting member 4 and the surface to be cleaned exceeding the rolling friction between the assisting member 4 and the surface to be cleaned. In other words, the probability of the assisting member 4 slipping can be reduced, thereby improving the user experience and the cleaning quality of the cleaning device.

[0085] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0086] First of all, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0087] Cleaning equipment can clean surface areas such as the floor, helping users improve cleaning efficiency. As users' requirements for cleaning equipment continue to increase, cleaning equipment is also constantly being upgraded and updated. In the process of upgrading and updating, the weight of the cleaning equipment will inevitably increase, which in turn increases the burden on users in the process of using the cleaning equipment, affecting the user's experience. In particular, handheld cleaning equipment, such as floor scrubbers, mops, and handheld sweepers, etc., may seriously affect the user's experience after the weight increases, and increase the physical burden on users in the process of using cleaning equipment. Therefore, how to reduce the burden on users caused by the increase in the weight of cleaning equipment is a problem that needs to be solved urgently.

[0088] In order to solve the above problems, an embodiment of the present application provides a cleaning device, which includes a cleaning member 3 and a power-assisting member 4. In the process of the cleaning device moving forward and cleaning the surface to be cleaned, the cleaning member 3 provides a forward force for the cleaning device, and the power-assisting member 4 provides a backward deceleration force for the cleaning device.

[0089] The types of cleaning equipment provided in the embodiments of the present application may include, but are not limited to, floor scrubbers, mops, vacuum cleaners, steam cleaners, carpet cleaners, sweepers, window cleaners, and the like.

[0090] The cleaning direction of the cleaning device in the embodiment of the present application is roughly divided into two directions, namely the front and the rear. It should be noted that the front and the rear are relative. Usually, the front direction of the user in the process of using the cleaning device is defined as the front, and the back direction of the user is defined as the rear. The angle between the front and the rear can be defined according to actual conditions.

[0091] like Figure 1 2 is a schematic diagram of the top view of the cleaning device, which includes a cleaning device body 1 and a handheld part 2, wherein the dotted line L is the central axis of the cleaning device body 1. When a user uses a cleaning device, the user is usually in Figure 1 The side where the middle handheld part 2 is located is located below the dotted line L, and the front of the user will face the cleaning device. Figure 1 In terms of Figure 1 The upper side direction of the middle dotted line L can be Figure 1 The directions indicated by the black arrows in the figure. Figure 1 In terms of Figure 1 The lower side direction of the middle dotted line L can be Figure 1 The hollow arrows indicate the directions.

[0092] The cleaning device provided in the embodiment of the present application includes a cleaning member 3 and an assisting member 4. The cleaning member 3 may include cleaning parts such as a roller brush, a round mop, and a plate mop, and the assisting member 4 may include auxiliary parts such as a power-assisting wheel, a power-assisting roller brush, and a power-assisting track. The cleaning member 3 and the assisting member 4 are usually arranged at the bottom of the cleaning device body 1, and the number of the cleaning members 3 and the number of the assisting members 4 can be set according to actual needs. For example, 1, 2, 3 or even more cleaning members 3 can be set, and 1, 2, 3 or even more assisting members 4 can also be set. The arrangement of the cleaning members 3 and the assisting members 4 at the bottom of the cleaning device body 1 can be set according to actual needs. For example, the cleaning member 3 can be set on the front side of the central axis L of the cleaning device body 1, that is, Figure 1 In the upper area of ​​the middle dotted line L, the assisting member 4 is arranged on the rear side of the central axis L of the cleaning device body 1, that is, Figure 1 The area below the middle dotted line L.

[0093] Typically, the central axis of the cleaning member 3 and the central axis of the assisting member 4 are parallel to the central axis L of the cleaning device body 1. Figure 2 As shown, it is a side view structural diagram of a cleaning device provided in an embodiment of the present application, such as Figure 3 FIG. 1 is a partial perspective structural diagram of a cleaning device provided in an embodiment of the present application. Figure 2 and Figure 3It can be seen that the cleaning device is equipped with a cleaning member 3 and two assisting members 4, the two assisting members 4 are a left assisting member 41 and a right assisting member 42. Figure 2 and Figure 3 The structural schematic diagram of the cleaning device shown is taken as an example to illustrate the embodiments of the present application.

[0094] The user holds the handheld part 2 and starts the cleaning device. After receiving the start command triggered by the user, the cleaning member 3 rotates under the drive of the motor. Usually, the cleaning member 3 rotates forward. As the cleaning member 3 rotates forward, there is rolling friction between the cleaning member 3 and the surface to be cleaned, and then the cleaning device is driven forward by the rolling friction. At this time, the user can control the cleaning direction of the cleaning device through the handheld part 2.

[0095] The forward movement of the cleaning device mainly depends on the rolling friction between the cleaning member 3 and the surface to be cleaned. The calculation formula of the rolling friction between the cleaning member 3 and the surface to be cleaned is:

[0096]

[0097] Among them, f 刷摩擦 In the case where the mass of the cleaning equipment is m 机 The rolling friction between the cleaning element 3 and the surface to be cleaned is, 刷 is the friction coefficient between the cleaning element 3 and the surface to be cleaned, R 刷 is the radius of the cleaning member 3, m 机 is the mass of the cleaning device, and g is the acceleration due to gravity. If the surface to be cleaned is a tile floor, the corresponding δ 刷 Generally, it is about 0.01 to 0.02, and it is also related to the wetness of the cleaning member 3. The wetter the cleaning member 3 is, the higher the δ 刷 The lower.

[0098] From formula 1, we can see that f 刷摩擦 The size of δ 刷 , R 刷 、m 机 For each cleaning equipment, R 刷 After production, it is basically fixed. 刷 It is related to the cleaning part 3, the material of the surface to be cleaned, and also to m 机 The material of the cleaning element 3 is basically fixed after production. After production of each type of cleaning equipment, the material of the surface to be cleaned is usually determined. Therefore, it can be basically considered that δ 刷 With m 机 About, usually, m 机The larger the δ 刷 The larger the 刷 The variation of δ is usually small, and in rough cases δ can be ignored. 刷 , and thus δ 刷 Basically fixed.

[0099] m 机 After the cleaning equipment is manufactured, it is possible to change, which is usually caused by the weight of water and cleaning fluid. For example, for equipment that requires water, such as floor scrubbers, mops, and steamers, during the use of the cleaning equipment, m 机 It can usually be composed of two parts of mass, one is the mass of the cleaning equipment itself, and the other is the mass of consumables such as water and cleaning fluid. As can be seen from formula 1, m 机 The larger the f 刷摩擦 The bigger.

[0100] It should be noted that when m 机 The larger the f 刷摩擦 The larger the f 刷摩擦 is the driving force of the cleaning equipment in the process of moving forward, f 刷摩擦 If the cleaning device is too large, the user may be dragged forward by the cleaning device during use, resulting in a poor user experience. In order to solve this problem, the solution provided in the embodiment of the present application is: when the cleaning device moves forward through the rolling friction of the cleaning member 3, the assisting member 4 is controlled to provide a backward deceleration force for the cleaning device.

[0101] That is to say, in the process of the cleaning member 3 driving the cleaning device forward, the assisting member 4 applies an opposite force to the cleaning device, which can offset a part of the force of the cleaning member 3 driving the cleaning device forward, so that the cleaning device can be decelerated to a certain extent, thereby reducing the chance of the user being dragged forward by the cleaning device during use of the cleaning device, improving the user's experience, and also avoiding the cleaning device from moving forward too fast, thereby ensuring the user's safety.

[0102] For example, for a cleaning device such as a steam engine, most of the water will turn into steam, and the water consumption during use is relatively large. In order to ensure the single use time, the water tank may store more water, resulting in a larger overall mass of the steam engine in the early stage of a single use. According to the above formula 1, the greater the mass, the greater the rolling friction between the cleaning member 3 and the surface to be cleaned, resulting in the possibility that the user will be dragged by the cleaning device. In this case, the booster 4 can be used to apply a force opposite to the rolling friction of the cleaning member 3 to the steam engine, so that the steam engine can be decelerated to a certain extent in the early stage of a single use, thereby reducing the probability of the user being dragged forward by the steam engine in the early stage of using the steam engine, and improving the user experience. As the use time of the steam engine increases, the water inside the steam engine gradually decreases, and the overall mass also decreases with the increase in the use time, and then the backward deceleration force provided by the booster 4 to the steam engine can be adaptively and gradually reduced, so that the user can complete a single cleaning operation using similar physical strength, arm strength or grip during the use of the steam engine, thereby improving the user experience, and also avoiding the steam engine from moving forward too fast, ensuring the user's safety.

[0103] In addition, cleaning equipment will be continuously updated and upgraded. Usually, a new generation of cleaning equipment will be upgraded based on the previous generation of cleaning equipment, which will also lead to an increase in the quality of the new generation of cleaning equipment.

[0104] For example, for cleaning equipment such as a floor scrubber, the cleaning part 3 can be rotated to rub the ground, and clean water and detergent can be used to efficiently remove dirt on the ground, and the sewage can be recovered through the water absorption system to keep the ground dry. In the process of cleaning the ground by the floor scrubber, the clean water in the water tank will gradually become sewage in the sewage tank. When the amount of clean water in the water tank is insufficient, the cleaning process needs to be terminated. This means that the larger the water tank, the more clean water can be stored, and the single cleaning time of the floor scrubber will increase. In other words, the floor scrubber can be upgraded by increasing the water tank, which will lead to an increase in the quality of the new generation of cleaning equipment.

[0105] Furthermore, floor scrubbers usually use cold water for cleaning, which is less effective for cleaning some dry stains or viscous liquids. To solve this problem, a heating boiler can be added to the floor scrubber. Through the floor scrubber's own heating boiler, the water in the floor scrubber's water tank can be heated into hot water or high-temperature steam and sprayed on the ground to improve the cleaning effect of stubborn stains. This will cause the floor scrubber to consume more water. In order to ensure that the single use time of the machine is not reduced, manufacturers generally choose a larger water tank as a solution. The larger water tank plus the built-in heating boiler and water circuit further increase the quality of the new generation of floor scrubbers.

[0106] When the user's own needs change, the previous generation of floor scrubbers may be eliminated and a new generation of floor scrubbers may be used for cleaning operations. However, the mass of the new generation of floor scrubbers has greatly increased. Based on the aforementioned formula 1, it can be seen that when the mass of the new generation of floor scrubbers has greatly increased, the user may be dragged forward by the cleaning device during the use of the cleaning device, resulting in a poor user experience. In order to solve this problem, the embodiment of the present application can be provided with a power assisting member 4 on the new generation of floor scrubbers. In the process of the floor scrubber relying on the rolling friction of the cleaning member 3 to move forward, the power assisting member 4 generates a backward deceleration force to consume a part of the rolling friction, thereby reducing the probability of the user being dragged forward by the floor scrubber during the use of the floor scrubber, thereby ensuring a good user experience. At the same time, it also avoids the floor scrubber from moving forward too fast, thereby ensuring the user's safety.

[0107] In addition, the cleaning device provided in the embodiment of the present application may also include a heater, which is used to heat the cleaning liquid and generate hot cleaning liquid or steam for cleaning the surface to be cleaned. The cleaning liquid may include liquids such as clean water, decontamination liquid, foam liquid, etc. that can clean the surface to be cleaned.

[0108] Normally, for cleaning equipment with hot water or steam functions, the capacity of the clean water tank is usually large, which will also increase the mass of the cleaning equipment, that is, increase the friction between the cleaning member 3 and the surface to be cleaned. The user may be dragged forward by the cleaning device during use, resulting in a poor user experience. In order to solve this problem, the embodiment of the present application can be provided with an assisting member 4 on the cleaning equipment with hot water or steam function. In the process of the cleaning equipment relying on the rolling friction of the cleaning member 3 to move forward, the assisting member 4 generates a backward deceleration force to consume a part of the rolling friction, thereby reducing the probability of the user being dragged forward by the cleaning device during use of the cleaning device, thereby ensuring a good user experience, while also avoiding the cleaning device from moving forward too fast, thereby ensuring the user's safety.

[0109] In summary, the embodiment of the present application provides a cleaning device, which includes a cleaning member 3 and an assisting member 4. When the cleaning device moves forward and cleans the surface to be cleaned, the cleaning member 3 provides a forward force for the cleaning device, and the assisting member 4 provides a backward deceleration force for the cleaning device. In this way, when the cleaning device moves forward relying on the rolling friction of the cleaning member 3, the assisting member 4 can be used to provide a backward deceleration force for the cleaning device to consume a part of the rolling friction, thereby reducing the probability of the user being dragged forward by the cleaning device during use, improving the user experience, and also avoiding the cleaning device from moving forward too fast, ensuring the user's safety.

[0110] The embodiments of the present application provide a further optimization scheme based on the aforementioned scheme, and the relevant optimization scheme will now be further described.

[0111] When the cleaning member 3 moves forward depending on the rolling friction with the surface to be cleaned, the cleaning member 3 rotates forward, the assisting member 4 rotates backward, or the assisting member 4 does not rotate. Figure 2 As shown, Figure 2 The cleaning member 3 in the cleaning apparatus should rotate clockwise to form a horizontal rightward rolling friction force with the surface to be cleaned, thereby driving the cleaning apparatus to move to the right.

[0112] Figure 2 The state of the assisting member 4 in the embodiment can be divided into two cases, one of which is Figure 2 The assisting member 4 rotates counterclockwise to form a horizontal rolling friction force to the left with the surface to be cleaned, thereby providing a backward deceleration force for the cleaning device to consume a part of the rolling friction force corresponding to the cleaning member 3, thereby reducing the probability of the user being dragged forward by the cleaning device during use, improving the user experience, and also preventing the cleaning device from moving forward too fast, ensuring the user's safety. Another situation is Figure 2 By keeping the assisting member 4 in a non-rotating state, it can form a horizontal leftward sliding friction force with the surface to be cleaned, thereby providing a backward deceleration force for the cleaning device to consume a portion of the rolling friction force corresponding to the cleaning member 3, thereby reducing the chance of the user being dragged forward by the cleaning device during use, thereby improving the user experience and also avoiding the cleaning device from moving forward too fast, thereby ensuring the user's safety.

[0113] In actual application, whether the assisting member 4 rotates counterclockwise or is fixed and does not rotate can be selected according to actual needs. Compared with the two, the deceleration force generated by the rotation of the assisting member 4 is variable and controllable, and the deceleration force generated by the non-rotation of the assisting member 4 is basically constant. If more precise control is desired, the solution of the assisting member 4 rotating to generate the deceleration force can be selected. If precise control is not desired, the solution of the assisting member 4 being fixed and does not rotate to generate the deceleration force can be selected.

[0114] The assisting member 4 provides a backward deceleration force for the cleaning device, that is, the deceleration force generated by the assisting member 4 is relative to the surface to be cleaned, so that the assisting member 4 has a tendency to move backward relative to the surface to be cleaned.

[0115] The method for determining the backward deceleration force provided by the power-assisting member 4 for the cleaning device includes the following formula 2.

[0116]

[0117] Among them, F轮减 The assisting member 4 provides a backward deceleration force for the cleaning device, δ 刷 is the friction coefficient between the cleaning element 3 and the surface to be cleaned, R 刷 is the radius of the cleaning member 3, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity. δ 刷 ≥0.005.

[0118] F 轮减 It refers to the target deceleration force that should be applied to the power assist member 4. After the cleaning equipment is determined, δ 刷 and R 刷 It can be considered to be fixed, or its change is small and can be ignored. 机基 Usually refers to the mass of the cleaning equipment before weight is added, m 机实 Usually refers to the mass of the cleaning equipment after the weight is added.

[0119] For example, m 机基 It can be the body mass of the cleaning equipment after production mentioned above, and the corresponding m 机实 It can be the sum of the mass of water, cleaning fluid and the cleaning equipment itself after adding consumables such as water and cleaning fluid, m 机实 It can vary with the duration of a single use of the cleaning device. For example, if the cleaning device is the steam engine mentioned above, then m 机实 will gradually decrease as the amount of water in the steam engine decreases. Furthermore, m 机基 It can also be the previous generation of cleaning equipment mentioned above, after the previous generation of cleaning equipment is updated, the mass m is obtained 机实 A new generation of cleaning equipment.

[0120] The principle of the above formula 2 is based on the difference in the rolling friction between the cleaning part 3 and the surface to be cleaned caused by the mass difference before and after the mass change of the cleaning equipment. The difference in the rolling friction caused by the mass difference is used as the deceleration force of the assisting part 4. The deceleration force of the assisting part 4 can offset the part of the rolling friction that is increased due to the increase in the mass of the cleaning equipment, thereby reducing the chance of the user being dragged forward by the cleaning equipment during use, thereby improving the user experience, and at the same time avoiding the cleaning equipment from moving forward too fast, thereby ensuring the user's safety.

[0121] For example, for a floor scrubber, the mass of the previous generation floor scrubber is 5.6 kg. After adding a boiler and related configurations, a new generation floor scrubber is formed. The mass of the new generation floor scrubber is 6.7 kg, and the corresponding R 刷 The friction coefficient of the tile floor is 20 mm. 刷 Generally, it is about 0.01 to 0.02 and has a certain relationship with the wetness of the cleaning part 3. The wetter the cleaning part 3 is, the lower the rolling friction coefficient is. According to the above formula 1, the rolling friction force corresponding to the cleaning part 3 increases by about 6N due to the change in the mass of the floor scrubber. In order to offset this part of the increased rolling friction force, a deceleration force opposite to the rolling friction force can be applied to the assisting part 4, that is, F 轮减 It is about 6N.

[0122] The embodiment of the present application has described in the foregoing a scenario in which the cleaning device moves forward to clean by relying on the rolling friction between the cleaning member 3 and the surface to be cleaned. Now, the scenario in which the cleaning device moves backward to clean is described.

[0123] As mentioned above, the forward movement of the cleaning device is achieved based on the rolling friction between the cleaning member 3 and the surface to be cleaned when the cleaning member 3 rolls forward. The switching of the cleaning device from the forward moving state to the backward moving state first depends on the user's demand for backward movement. Specifically, the user can hold the handheld part 2 and pull it backward. When the cleaning device moves backward, it usually automatically triggers the assisting member 4 to rotate, or when the sensor recognizes that the cleaning device is ready to move backward, or when the user triggers the trigger member for backward movement, the cleaning device will receive a demand instruction for backward movement. After the cleaning device receives the demand instruction for backward movement, the assisting member 4 provides the cleaning device with a driving force for moving backward, and the cleaning device moves backward and cleans the surface to be cleaned through the cleaning member 3.

[0124] The power-assisting member 4 provides a driving force for the cleaning device to move backward, and can assist the cleaning device to change from moving forward to moving backward. The rotation direction of the cleaning member 3 during this switching process remains unchanged, that is, it continues to rotate forward.

[0125] The reason why the rotation direction of the cleaning member 3 does not change may be due to the self-cleaning principle of the cleaning member 3. Taking a floor scrubber as an example, the working principle of the floor scrubber is explained as follows: first, clean water in the water tank needs to be injected into the cleaning member 3, and then the cleaning member 3 rotates forward with the clean water to clean the surface to be cleaned, and then the clean water in the cleaning member 3 contacts the surface to be cleaned and becomes sewage, and then the cleaning member 3 continues to rotate forward with the sewage, and finally the sewage in the cleaning member 3 is sucked into the sewage tank through the negative pressure suction device. This cycle is repeated, and the purpose of cleaning the surface to be cleaned is achieved.

[0126] From the principle of the floor scrubber, it can be seen that the water channel for injecting clean water into the cleaning element 3 and the water channel for absorbing sewage from the cleaning element 3 are relatively fixed, at least they cannot be easily exchanged during the cleaning process of the cleaning device. If the cleaning element 3 rotates backward, the sewage cannot be sucked into the sewage tank, and the clean water in the water tank may flow out from the cleaning element 3, resulting in more water stains remaining on the surface to be cleaned, and the surface to be cleaned cannot be cleaned.

[0127] Under the premise that the cleaning member 3 can only rotate forward, the direction of the rolling friction force between the cleaning member 3 and the surface to be cleaned remains forward. Without relying on other auxiliary forces, the user needs to use a large force to drag the cleaning device backward to move the cleaning device backward when using the cleaning device, which will increase the burden on the user to use the cleaning device and seriously affect the user's experience. In order to solve this problem, when the embodiment of the present application receives a user-triggered backward movement request instruction, it controls the power-assisting member 4 to provide a driving force for the cleaning device to move backward, so as to reduce the physical burden of the user dragging the cleaning device backward and improve the user experience. After the cleaning device moves backward, it can continue to clean the surface to be cleaned through the cleaning member 3.

[0128] Furthermore, if the power-assisting member 4 of the cleaning device is driven by a brushless motor, the characteristics of the brushless motor itself need to be considered, specifically, the rotation speed and torque of the brushless motor are inversely correlated. In view of the backward movement of the cleaning device, when the user pulls the cleaning device backward, the power-assisting member 4 will generate a corresponding rotation speed. If the rotation speed is low, the corresponding torque of the brushless motor will be large. The backward torque of the brushless motor and the force of the user dragging the cleaning device backward may exceed the rolling friction between the power-assisting member 4 and the surface to be cleaned, thereby causing the power-assisting member 4 to slip. The slipping of the power-assisting member 4 will cause the user to be unable to control the cleaning device, which will seriously affect the user experience and reduce the cleaning quality of the cleaning device.

[0129] In order to solve this problem, after the cleaning device receives a request to move backward, the embodiment of the present application needs to limit the magnitude of the driving force for the cleaning device to move backward provided by the assisting member 4. Specifically, the driving force for the cleaning device to move backward provided by the assisting member 4 is limited to a state that does not exceed the rolling friction between the assisting member 4 and the surface to be cleaned. In this way, the probability of the assisting member 4 slipping can be reduced, the user experience can be improved, and the cleaning quality of the cleaning device can be improved.

[0130] Wherein, the method for determining the rolling friction force between the power-assisting member 4 and the surface to be cleaned includes the following formula 3.

[0131]

[0132] Among them, f 轮摩擦实 The mass of the cleaning equipment is m 机实 The rolling friction between the assisting member 4 and the surface to be cleaned is, 轮 is the friction coefficient between the assisting member 4 and the surface to be cleaned, R 轮 is the radius of the assisting member 4, m 机实 is the actual mass of the cleaning device, and g is the acceleration due to gravity.

[0133] From formula 3, we can see that f 轮摩擦实 The size of δ 轮 , R 轮 、m 机实 For each cleaning equipment, R 轮 After production, it is basically fixed. 轮 It is related to the auxiliary part 4, the material of the surface to be cleaned, and also to m 机实 The material of the assisting member 4 is basically fixed after production. After production of each type of cleaning equipment, the material of the surface to be cleaned is usually determined. Therefore, it can be basically considered that δ 轮 With m 机实 About, usually, m 机实 The larger the δ 轮 The larger the 轮 The variation of δ is usually small, and in rough cases δ can be ignored. 轮 , and thus δ 轮 Basically fixed. Among them, δ 轮 Before the cleaning equipment leaves the factory, it can be pre-calibrated according to the material of the conventional surface to be cleaned corresponding to the cleaning equipment, for example, 0.005≤δ 轮 ≤0.05.

[0134] m 机实 After the cleaning equipment is manufactured, it is possible to change, which is usually caused by the weight of water and cleaning fluid. For example, for equipment that requires water, such as floor scrubbers, mops, and steamers, during the use of the cleaning equipment, m 机实 It can usually be composed of two parts of mass, one is the mass of the cleaning equipment itself, and the other is the mass of consumables such as water and cleaning fluid. From formula 3, it can be seen that m 机实 The larger the f 轮摩擦实 The bigger.

[0135] In addition, cleaning equipment will be continuously updated and upgraded. Usually, a new generation of cleaning equipment will be upgraded based on the previous generation of cleaning equipment, which will also lead to an increase in the quality of the new generation of cleaning equipment.

[0136] For example, for cleaning equipment such as a floor scrubber, the cleaning part 3 can be rotated to rub the ground, and clean water and detergent can be used to efficiently remove dirt on the ground, and the sewage can be recovered through the water absorption system to keep the ground dry. In the process of cleaning the ground by the floor scrubber, the clean water in the water tank will gradually become sewage in the sewage tank. When the amount of clean water in the water tank is insufficient, the cleaning process needs to be terminated. This means that the larger the water tank, the more clean water can be stored, and the single cleaning time of the floor scrubber will increase. In other words, the floor scrubber can be upgraded by increasing the water tank, which will lead to an increase in the quality of the new generation of cleaning equipment.

[0137] Furthermore, floor scrubbers usually use cold water for cleaning, which is less effective for cleaning some dry stains or viscous liquids. To solve this problem, a heating boiler can be added to the floor scrubber. Through the floor scrubber's own heating boiler, the water in the floor scrubber's water tank can be heated into hot water or high-temperature steam and sprayed on the ground to improve the cleaning effect of stubborn stains. This will cause the floor scrubber to consume more water. In order to ensure that the single use time of the machine is not reduced, manufacturers generally choose a larger water tank as a solution. The larger water tank plus the built-in heating boiler and water circuit further increase the quality of the new generation of floor scrubbers.

[0138] The mass of cleaning equipment increases, resulting in f 轮摩擦实 The increase means that the upper limit of the driving force provided by the assisting member 4 for the backward movement of the cleaning device is increasing, which reduces the probability that the driving force provided by the assisting member 4 for the backward movement of the cleaning device exceeds the upper limit, thereby reducing the probability of the assisting member 4 slipping, thereby improving the user experience and the cleaning quality of the cleaning device.

[0139] The driving force provided by the power-assisting member 4 for the cleaning device to move backward can be theoretically calculated using the following formulas 4 and 5.

[0140]

[0141] Among them, F 轮理 The force of the auxiliary member 4 for the cleaning device to move backwards is theoretically provided by the auxiliary member 4, and f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element 3 and the surface to be cleaned is, 刷 is the friction coefficient between the cleaning element 3 and the surface to be cleaned, R 刷 is the radius of the cleaning member 3, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m机实 >m 机基 , g is the acceleration due to gravity, a 机 is the acceleration of the cleaning device moving backwards.

[0142] It should be noted that Formula 4 and Formula 5 are obtained based on the influence of the mass change of the cleaning device on the backward driving force of the assisting member 4. 刷摩擦基 It refers to the rolling friction between the corresponding cleaning element 3 and the surface to be cleaned before the mass of the cleaning device increases.

[0143] When the cleaning device needs to move backward, if the power-assisting member 4 is used to promote the cleaning device to move backward to save effort for the user, the power-assisting member 4 must not only overcome the rolling friction between the cleaning device 3 rotating forward and the surface to be cleaned before the mass change, that is, f 刷摩擦基 The auxiliary member 4 is also required to overcome the difference in rolling friction between the cleaning member 3 and the surface to be cleaned due to the increase in quality, that is, In addition, the assisting member 4 is required to provide the cleaning device with the force required for the acceleration corresponding to the backward movement of the cleaning device, that is, m 机实 ×a 机 The sum of the three factors that the assisting member 4 has to overcome is F in formula 4. 轮理 .

[0144] However, if the assisting member 4 of the cleaning device is driven by a brushless motor, considering that the rotation speed of the brushless motor is inversely correlated with the torque force, and in combination with the scenario of the cleaning device moving backward, when the user drags the cleaning device backward, the assisting member 4 will generate a corresponding rotation speed. If the rotation speed is low, the corresponding torque force of the brushless motor will be large. The backward torque force of the brushless motor and the force of the user dragging the cleaning device backward may exceed the rolling friction between the assisting member 4 and the surface to be cleaned, thereby causing the assisting member 4 to slip. The slipping of the assisting member 4 will cause the user to be unable to control the cleaning device, which will seriously affect the user experience and reduce the cleaning quality of the cleaning device.

[0145] That is to say, if F 轮理 As the force of the assisting member 4 finally acts on the surface to be cleaned to drive the cleaning device to move backward, there is a problem that the assisting member 4 is easy to slip. 轮理 Usually it is greater than the rolling friction between the assisting member 4 and the surface to be cleaned. 轮理 As the output force of the assisting member 4, the assisting member 4 is prone to slipping. Therefore, the actual driving force F provided by the assisting member 4 for the cleaning device to move backward is 轮驱 This relationship should be satisfied: F 轮驱 <F 轮理 .

[0146] Furthermore, depending on F 轮驱 <F 轮理 This relationship determines F 轮驱 Although it can reduce the probability of the assisting member 4 slipping, improve the user experience, and improve the cleaning quality of the cleaning equipment, its accuracy is still not very high. 轮驱 In order to improve the accuracy, the embodiment of the present application further provides another method for determining the driving force provided by the power-assisting member 4 for the backward movement of the cleaning device, specifically including Formula 6.

[0147] F 轮驱 =F+v 电机 ×k+m 机实 ×a 机 Formula 6

[0148] Among them, F 轮驱 It refers to the actual driving force provided by the assisting member 4 for the cleaning device to move backward, F is the basic driving force of the assisting member 4, and F is a constant; v 电机 is the actual speed of the motor of the assisting member 4, k is the coefficient, m 机实 is the actual mass of the cleaning equipment, a 机 is the acceleration of the cleaning device moving backwards.

[0149] It can be seen from Formula 6 that the driving force provided by the power assisting member 4 for the cleaning device to move backward is positively correlated with the acceleration of the cleaning device to move backward, and the driving force provided by the power assisting member 4 for the cleaning device to move backward is positively correlated with the actual rotational speed of the motor of the power assisting member 4.

[0150] That is to say, the higher the acceleration of the cleaning device moving backward, the higher the user's speed requirement for the cleaning device moving backward. In order to meet the user's speed requirement for the cleaning device moving backward, the driving force provided by the power-assisting member 4 for the cleaning device to move backward should be greater. The lower the acceleration of the cleaning device moving backward, the lower the user's speed requirement for the cleaning device moving backward. In this case, the speed requirement of the user to move the cleaning device backward can be met with a smaller driving force provided by the power-assisting member 4 for the cleaning device to move backward.

[0151] The higher the actual speed of the motor of the assisting member 4, the smaller the actual torque force corresponding to the assisting member 4. In order to assist the cleaning device to move backward normally, the driving force provided by the assisting member 4 for the cleaning device to move backward should be greater. The lower the actual speed of the motor of the assisting member 4, the larger the actual torque force corresponding to the assisting member 4. In order to reduce the possibility that the force applied by the assisting member 4 to the surface to be cleaned exceeds the rolling friction between the assisting member 4 and the surface to be cleaned, the driving force provided by the assisting member 4 for the cleaning device to move backward should be smaller.

[0152] v 电机 is the speed of the motor of the assisting member 4 generated by the user dragging the cleaning device backwards, v 电机 <300r / min. F helps the user overcome the inertia of the machine and change the machine from forward state to backward state. F is a constant value set according to the feel. Usually, 25N≤F≤35N.

[0153] Generally, the v 电机 Usually 0-220r / min, at v 电机 = 100r / min, the assisting member 4 is prone to slip. k is the adjustment v 电机 The coefficient is usually k<0.1.

[0154] F+v 电机 ×k<X,30N≤X≤50N,20N≤F≤30N,70r / min≤v 电机 ≤150r / min. In particular, at F=28N, v 电机 =100r / min, F+v 电机 ×k<35N.

[0155] F+v 电机 ×k≤Y,35N≤Y≤60N, 20N≤F≤30N, 150r / min≤v 电机 ≤350r / min. In particular, at F=28N, v 电机 =220r / min, F+v 电机 ×k≤45N.

[0156] Furthermore, combining Formula 4, F 轮驱 <F 轮理 And formula 6 can be used to obtain the relationship corresponding to formula 7. Based on formula 7, F 轮驱 Constraints are made to improve F 轮驱 accuracy.

[0157]

[0158] Among them, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element 3 and the surface to be cleaned is, 刷 is the friction coefficient between the cleaning element 3 and the surface to be cleaned, R 刷 is the radius of the cleaning member 3, m 机基 is the reference mass of the cleaning equipment, and g is the acceleration due to gravity.

[0159] In summary, when the embodiment of the present application receives a user-triggered instruction to move backward, it controls the assisting member 4 to provide a driving force for the cleaning device to move backward, so as to reduce the physical burden of the user dragging the cleaning device backward and improve the user experience. After the cleaning device moves backward, it can continue to clean the surface to be cleaned through the cleaning member 3. Furthermore, the driving force for the cleaning device to move backward provided by the assisting member 4 can be constrained within a certain range, which can reduce the probability of the force between the assisting member 4 and the surface to be cleaned exceeding the rolling friction between the assisting member 4 and the surface to be cleaned. In other words, it can reduce the probability of the assisting member 4 slipping, thereby improving the user experience and the cleaning quality of the cleaning device.

[0160] Based on the same inventive concept, an embodiment of the present application provides a cleaning equipment control method, which can be applied to the cleaning equipment provided in the above-mentioned embodiments of the present application. For details not disclosed in the embodiments of the present application, please refer to the above-mentioned embodiments of the cleaning equipment of the present application.

[0161] The present application embodiment provides a cleaning device control method, wherein the cleaning device comprises a cleaning member 3 and a power-assisting member 4, and the method comprises: Figure 4 Step S41 is shown.

[0162] Step S41, when the cleaning device moves forward and cleans the surface to be cleaned, the cleaning member 3 is controlled to provide a forward force for the cleaning device, and the power-assisting member 4 is controlled to provide a backward deceleration force for the cleaning device.

[0163] In some embodiments of the present application, based on the aforementioned solution, the cleaning member 3 includes a roller brush, and the power-assisting member 4 includes a power-assisting wheel.

[0164] In some embodiments of the present application, based on the above solution, the cleaning device includes a heater, and the method further includes:

[0165] In response to the heating instruction received by the cleaning device, the heater is controlled to heat the cleaning liquid of the cleaning device and generate hot cleaning liquid or steam for cleaning the surface to be cleaned.

[0166] In some embodiments of the present application, based on the above-mentioned solution, in the process of the cleaning device moving forward and cleaning the surface to be cleaned, the cleaning member 3 is controlled to provide a forward force for the cleaning device, and the assisting member 4 is controlled to provide a backward deceleration force for the cleaning device, including:

[0167] During the process of the cleaning device moving forward and cleaning the surface to be cleaned, the cleaning member 3 is controlled to rotate forward to provide a forward force for the cleaning device, and the assisting member 4 is controlled to rotate backward or the assisting member 4 is controlled not to rotate, so that the assisting member 4 provides a backward deceleration force for the cleaning device.

[0168] In some embodiments of the present application, based on the above solution, a method for determining that the power assisting member 4 provides a backward deceleration force for the cleaning device includes:

[0169]

[0170] Among them, F 轮减 The assisting member 4 provides a backward deceleration force for the cleaning device, δ 刷 is the friction coefficient between the cleaning element 3 and the surface to be cleaned, R 刷 is the radius of the cleaning member 3, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity.

[0171] In some embodiments of the present application, based on the above scheme, δ 刷 ≥0.005.

[0172] In some embodiments of the present application, based on the above solution, the method further includes:

[0173] In response to the backward movement requirement instruction received by the cleaning device, the power assisting member 4 is controlled to provide a driving force for the backward movement of the cleaning device.

[0174] In some embodiments of the present application, based on the aforementioned solution, the driving force provided by the assisting member 4 for the cleaning device to move backward does not exceed the rolling friction between the assisting member 4 and the surface to be cleaned.

[0175] In some embodiments of the present application, based on the above solution, a method for determining the rolling friction force between the assisting member 4 and the surface to be cleaned includes:

[0176]

[0177] Among them, f 轮摩擦实The mass of the cleaning equipment is m 机实 The rolling friction between the assisting member 4 and the surface to be cleaned is, 轮 is the friction coefficient between the assisting member 4 and the surface to be cleaned, R 轮 is the radius of the assisting member 4, m 机实 is the actual mass of the cleaning device, and g is the acceleration due to gravity.

[0178] In some embodiments of the present application, based on the above scheme, 0.005≤δ 轮 ≤0.05.

[0179] In some embodiments of the present application, based on the above-mentioned solution, the driving force provided by the power-assisting member 4 for the cleaning device to move backward is positively correlated with the acceleration of the cleaning device moving backward.

[0180] In some embodiments of the present application, based on the above-mentioned solution, the driving force provided by the assisting member 4 for the cleaning device to move backward is positively correlated with the actual rotation speed of the motor of the assisting member 4 .

[0181] In some embodiments of the present application, based on the above solution, a method for determining the driving force provided by the assisting member 4 for the cleaning device to move backwards includes:

[0182] F 轮驱 <F 轮理 ;

[0183]

[0184] Among them, F 轮驱 It refers to the actual driving force provided by the assisting member 4 for the cleaning device to move backwards, F 轮理 The force of the auxiliary member 4 for the cleaning device to move backwards is theoretically provided by the auxiliary member 4, and f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element 3 and the surface to be cleaned is, 刷 is the friction coefficient between the cleaning element 3 and the surface to be cleaned, R 刷 is the radius of the cleaning member 3, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity, a 机 is the acceleration of the cleaning device moving backwards.

[0185] In some embodiments of the present application, based on the above solution, a method for determining the driving force provided by the assisting member 4 for the cleaning device to move backwards includes:

[0186] F 轮驱 =F+v 电机 ×k+m 机实 ×a 机 ;

[0187] Among them, F 轮驱 It refers to the actual driving force provided by the assisting member 4 for the cleaning device to move backward, F is the basic driving force of the assisting member 4, and F is a constant; v 电机 is the actual speed of the motor of the assisting member 4, k is the coefficient, m 机实 is the actual mass of the cleaning equipment, a 机 is the acceleration of the cleaning device moving backwards.

[0188] In some embodiments of the present application, based on the above scheme, 25N≤F≤35N, v 电机 <300r / min;k<0.1.

[0189] In some embodiments of the present application, based on the aforementioned scheme,

[0190]

[0191] Among them, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element 3 and the surface to be cleaned is, 刷 is the friction coefficient between the cleaning element 3 and the surface to be cleaned, R 刷 is the radius of the cleaning member 3, m 机基 is the reference mass of the cleaning equipment, and g is the acceleration due to gravity.

[0192] In some embodiments of the present application, based on the above scheme, F+v 电机 ×k<X,30N≤X≤50N,20N≤F≤30N,70r / min≤v 电机 ≤150r / min.

[0193] In some embodiments of the present application, based on the above scheme, F+v 电机 ×k≤Y,35N≤Y≤60N, 20N≤F≤30N, 150r / min≤v 电机 ≤350r / min.

[0194] Based on the same inventive concept, an embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device with the processor executes a cleaning equipment control method as provided in the embodiment of the present application.

[0195] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, in which at least one program code is stored. The at least one program code is loaded and executed by a processor to implement the operations performed by a cleaning equipment control method provided in the embodiment of the present application.

[0196] Based on the same inventive concept, an embodiment of the present application provides a cleaning device, which includes one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement a cleaning device control method as provided in the embodiment of the present application.

[0197] Based on the same inventive concept, an embodiment of the present application provides a cleaning system, which includes a base station and a cleaning device as provided in the embodiment of the present application.

[0198] Since the electronic device introduced in this embodiment is an electronic device used to implement the information processing method in the embodiment of the present application, based on the information processing method introduced in the embodiment of the present application, a person skilled in the art can understand the specific implementation of the electronic device of the present embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present application is not described in detail here. As long as a person skilled in the art implements the electronic device used by the information processing method in the embodiment of the present application, it belongs to the scope of protection of this application.

[0199] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0200] The embodiment of the present application provides a cleaning device, which includes a roller brush 3 and a power-assisted wheel 4. In the process of the cleaning device moving forward and cleaning the surface to be cleaned by the roller brush 3, the power-assisted wheel 4 provides a backward deceleration force for the cleaning device. In this way, in the process of the cleaning device moving forward relying on the rolling friction force of the roller brush 3, the power-assisted wheel 4 can be used to provide a backward deceleration force for the cleaning device to consume a part of the rolling friction force, thereby reducing the probability of the user being dragged forward by the cleaning device during use, improving the user experience, and also avoiding the cleaning device from moving forward too fast, ensuring the user's safety.

[0201] When the embodiment of the present application receives a user-triggered instruction to move backward, it controls the power-assisted wheel 4 to provide a driving force for the cleaning device to move backward, so as to reduce the physical burden of the user dragging the cleaning device backward and improve the user experience. After the cleaning device moves backward, it can continue to clean the surface to be cleaned by the roller brush 3. Furthermore, the driving force for the cleaning device to move backward provided by the power-assisted wheel 4 can be constrained within a certain range, which can reduce the probability of the phenomenon that the force between the power-assisted wheel 4 and the surface to be cleaned exceeds the rolling friction between the power-assisted wheel 4 and the surface to be cleaned. In other words, it can reduce the probability of the power-assisted wheel 4 slipping, thereby improving the user experience and the cleaning quality of the cleaning device.

[0202] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0203] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0204] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0205] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0206] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0207] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A cleaning device, characterized in that: The cleaning device comprises a cleaning member and a power-assisting member. When the cleaning device moves forward and cleans the surface to be cleaned, the cleaning member provides a forward force for the cleaning device, and the power-assisting member provides a backward deceleration force for the cleaning device.

2. A cleaning device according to claim 1, characterized in that: The cleaning member comprises a roller brush, and the power-assisting member comprises a power-assisting wheel.

3. A cleaning device according to claim 1, characterized in that: The cleaning device comprises a heater, which is used to heat the cleaning liquid of the cleaning device and generate hot cleaning liquid or steam for cleaning the surface to be cleaned.

4. A cleaning device as claimed in claim 1, characterized in that: The cleaning member rotates forward, and the assisting member rotates backward or the assisting member does not rotate.

5. A cleaning device as claimed in claim 1, characterized in that: The method for determining that the power assisting member provides a backward deceleration force for the cleaning device comprises: Among them, F 轮减 The assisting member provides a backward deceleration force for the cleaning device, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity.

6. A cleaning device as claimed in claim 5, characterized in that: d 刷 ≥0.005。 7. A cleaning device according to claim 1, characterized in that: After the cleaning device receives a demand instruction to move backward, the power-assisting member provides a driving force for the cleaning device to move backward.

8. A cleaning device as claimed in claim 7, characterized in that: The driving force provided by the assisting member for the cleaning device to move backward does not exceed the rolling friction between the assisting member and the surface to be cleaned.

9. A cleaning device according to claim 8, characterized in that: The method for determining the rolling friction between the assisting member and the surface to be cleaned comprises: Among them, f 轮摩擦实 The mass of the cleaning equipment is m 机实 The rolling friction between the assisting member and the surface to be cleaned, δ 轮 is the friction coefficient between the assisting member and the surface to be cleaned, R 轮 is the radius of the assisting member, m 机实 is the actual mass of the cleaning device, and g is the acceleration due to gravity.

10. A cleaning device according to claim 9, characterized in that: 0.005≤δ 轮 ≤0.05。 11. A cleaning device according to claim 7, characterized in that: The driving force provided by the power-assisting member for the cleaning device to move backward is positively correlated with the acceleration of the cleaning device moving backward.

12. A cleaning device according to claim 7, characterized in that: The driving force provided by the assisting member for the cleaning device to move backward is positively correlated with the actual rotation speed of the motor of the assisting member.

13. A cleaning device according to claim 7, characterized in that: The method for determining the driving force provided by the power-assisting member for the cleaning device to move backwards comprises: F 轮驱 <F 轮理 ; Among them, F 轮驱 It refers to the actual driving force provided by the power-assisting member for the cleaning device to move backward, F 轮理 The force that the assisting member theoretically provides for the cleaning device to move backwards, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element and the surface to be cleaned, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity, a 机 is the acceleration of the cleaning device moving backwards.

14. A cleaning device according to claim 7, characterized in that: The method for determining the driving force provided by the power-assisting member for the cleaning device to move backwards comprises: F 轮驱 =F+v 电机 ×k+m 机实 ×a 机 ; Among them, F 轮驱 It refers to the actual driving force provided by the assisting member for the cleaning device to move backward, F is the basic driving force of the assisting member, and F is a constant; v 电机 is the actual speed of the power assist motor, k is the coefficient, m is the 机实 is the actual mass of the cleaning equipment, a 机 is the acceleration of the cleaning device moving backwards.

15. A cleaning device according to claim 14, characterized in that: 25N≤F≤35N,v 电机 <300r / min;k<0.1。 16. A cleaning device according to claim 14, characterized in that: Among them, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element and the surface to be cleaned, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, and g is the acceleration due to gravity.

17. A cleaning device according to claim 14, characterized in that: F+v 电机 ×k<X,30N≤X≤50N,20N≤F≤30N,70r / min≤v 电机 ≤150r / min。 18. A cleaning device according to claim 14, characterized in that: F+v 电机 ×k≤Y,35N≤Y≤60N,20N≤F≤30N,150r / min≤v 电机 ≤350r / min。 19. A cleaning equipment control method, characterized in that: The cleaning device comprises a cleaning member and a power-assisting member, and the method comprises: During the process of the cleaning device moving forward and cleaning the surface to be cleaned, the cleaning member is controlled to provide a forward force for the cleaning device, and the assisting member is controlled to provide a backward deceleration force for the cleaning device.

20. A cleaning equipment control method according to claim 19, characterized in that: The cleaning member comprises a roller brush, and the power-assisting member comprises a power-assisting wheel.

21. A cleaning equipment control method according to claim 19, characterized in that: The cleaning device includes a heater, and the method further includes: In response to the heating instruction received by the cleaning device, the heater is controlled to heat the cleaning liquid of the cleaning device and generate hot cleaning liquid or steam for cleaning the surface to be cleaned.

22. A cleaning equipment control method as claimed in claim 19, characterized in that: In the process of the cleaning device moving forward and cleaning the surface to be cleaned, controlling the cleaning member to provide a forward force for the cleaning device, and controlling the assisting member to provide a backward deceleration force for the cleaning device, comprises: During the process of the cleaning device moving forward and cleaning the surface to be cleaned, the cleaning member is controlled to rotate forward to provide a forward force for the cleaning device, and the assisting member is controlled to rotate backward or the assisting member is controlled not to rotate, so that the assisting member provides a backward deceleration force for the cleaning device.

23. A cleaning equipment control method as claimed in claim 19, characterized in that: The method for determining that the power assisting member provides a backward deceleration force for the cleaning device comprises: Among them, F 轮减 The assisting member provides a backward deceleration force for the cleaning device, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity.

24. A cleaning equipment control method as claimed in claim 23, characterized in that: d 刷 ≥0.005。 25. A cleaning equipment control method as claimed in claim 19, characterized in that: The method further comprises: In response to a backward movement requirement instruction received by the cleaning device, the power assisting member is controlled to provide a driving force for the backward movement of the cleaning device.

26. A cleaning equipment control method according to claim 25, characterized in that: The driving force provided by the assisting member for the cleaning device to move backward does not exceed the rolling friction between the assisting member and the surface to be cleaned.

27. A cleaning equipment control method according to claim 26, characterized in that: The method for determining the rolling friction between the assisting member and the surface to be cleaned comprises: Among them, f 轮摩擦实 The mass of the cleaning equipment is m 机实 The rolling friction between the assisting member and the surface to be cleaned, δ 轮 is the friction coefficient between the assisting member and the surface to be cleaned, R 轮 is the radius of the assisting member, m 机实 is the actual mass of the cleaning device, and g is the acceleration due to gravity.

28. A cleaning equipment control method according to claim 27, characterized in that: 0.005≤δ 轮 ≤0.05。 29. A cleaning equipment control method as claimed in claim 25, characterized in that: The driving force provided by the power-assisting member for the cleaning device to move backward is positively correlated with the acceleration of the cleaning device moving backward.

30. A cleaning equipment control method as claimed in claim 25, characterized in that: The driving force provided by the assisting member for the cleaning device to move backward is positively correlated with the actual rotation speed of the motor of the assisting member.

31. A cleaning equipment control method as claimed in claim 25, characterized in that: The method for determining the driving force provided by the power-assisting member for the cleaning device to move backwards comprises: F 轮驱 <F 轮理 ; Among them, F 轮驱 It refers to the actual driving force provided by the power-assisting member for the cleaning device to move backward, F 轮理 The force that the assisting member theoretically provides for the cleaning device to move backwards, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element and the surface to be cleaned, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, m 机实 is the actual mass of the cleaning equipment, m 机实 >m 机基 , g is the acceleration due to gravity, a 机 is the acceleration of the cleaning device moving backwards.

32. A cleaning equipment control method as claimed in claim 20, characterized in that: The method for determining the driving force provided by the power-assisting member for the cleaning device to move backwards comprises: F 轮驱 =F+v 电机 ×k+m 机实 ×a 机 ; Among them, F 轮驱 It refers to the actual driving force provided by the assisting member for the cleaning device to move backward, F is the basic driving force of the assisting member, and F is a constant; v 电机 is the actual speed of the power assist motor, k is the coefficient, m is the 机实 is the actual mass of the cleaning equipment, a 机 is the acceleration of the cleaning device moving backwards.

33. A cleaning equipment control method as claimed in claim 32, characterized in that: 25N≤F≤35N,v 电机 <300r / min;k<0.1。 34. A cleaning equipment control method as claimed in claim 32, characterized in that: Among them, f 刷摩擦基 The mass of the cleaning equipment is m 机基 The rolling friction between the cleaning element and the surface to be cleaned, δ 刷 is the friction coefficient between the cleaning element and the surface to be cleaned, R 刷 is the radius of the cleaning element, m 机基 is the reference mass of the cleaning equipment, and g is the acceleration due to gravity.

35. A cleaning equipment control method as claimed in claim 32, characterized in that: F+v 电机 ×k<X,30N≤X≤50N,20N≤F≤30N,70r / min≤v 电机 ≤150r / min。 36. A cleaning equipment control method as claimed in claim 32, characterized in that: F+v 电机 ×k≤Y,35N≤Y≤60N,20N≤F≤30N,150r / min≤v 电机 ≤350r / min。 37. A computer program product, characterized in that The computer program product comprises computer instructions which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so as to enable a computer device having the processor to perform the method according to any one of claims 19 to 36.

38. A computer-readable storage medium, characterized in that: At least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by the processor to implement the operations performed by the method according to any one of claims 19 to 36.

39. A cleaning device, characterized in that: The cleaning device comprises one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method according to any one of claims 19 to 36.

40. A cleaning system, characterized in that: The cleaning system comprises a base station and a cleaning device as described in any one of claims 1 to 18 and 39.

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