Cleaning equipment control method and cleaning equipment

Abstract

The embodiment of the invention provides a cleaning equipment control method and cleaning equipment. The cleaning equipment comprises a machine body assembly and a floor brush assembly. The machine body assembly and the floor brush assembly are rotationally connected with each other around a rotating axis, a handle is arranged at the top of the machine body assembly, and the floor brush assembly can advance in a first direction or retreat in a second direction on a surface to be cleaned at least based on driving of first external force applied to the handle by a user; the cleaning equipment further comprises a driving assembly which is used for providing rotation assistance for mutual rotation of the machine body assembly and the ground brush assembly. The method comprises the step of adjusting the rotation assisting power according to the motion state of the cleaning equipment.

Description

Technical Field

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

[0002] Generally, a floor scrubber consists of a body assembly and a floor brush assembly. During use, the user needs to push and pull the body assembly to move the floor brush assembly on the surface to be cleaned, thereby cleaning the surface to be cleaned. However, the body assembly is heavy, and extra effort is required to bear part of the weight of the body assembly during the pushing and pulling process, which increases the labor intensity of the user during the cleaning process and reduces the user experience. Therefore, how to reduce the weight of the body assembly borne by the user and improve the user experience is an urgent problem to be solved. Summary of the invention

[0003] In view of this, an embodiment of the present disclosure provides a cleaning device control method and a cleaning device.

[0004] According to a first aspect of an embodiment of the present disclosure, a cleaning device control method is provided, wherein the cleaning device comprises: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other rotatably around a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device further comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other;

[0005] The method comprises:

[0006] The rotation assistance is adjusted according to the motion state of the cleaning device.

[0007] In the above embodiment, by adjusting the rotation assistance based on the motion state of the cleaning device through the driving component, an auxiliary force that meets the user's needs when operating the cleaning device can be generated, thereby reducing the user's fatigue and improving the user experience.

[0008] In some embodiments, adjusting the rotation assistance according to the motion state of the cleaning device includes at least one of the following:

[0009] The floor brush assembly moves forward along the first direction or moves backward along the second direction on the surface to be cleaned to clean the surface to be cleaned, and the rotation assist is adjusted based on the angle between the lengthwise centerline of the body assembly and the second direction to offset part of the gravity of the body assembly, wherein the lengthwise centerline is perpendicular to the rotation axis;

[0010] The floor brush assembly stops cleaning, and the angle between the lengthwise centerline of the body assembly and the second direction is less than 90 degrees, and the rotation assist is adjusted to offset part of the gravity of the body assembly until the body assembly reaches a predetermined upright position;

[0011] The cleaning device is suspended above the surface to be cleaned, and the rotation assist force is adjusted so that the angle between the bottom surface of the floor brush assembly and the surface to be cleaned is smaller than a first predetermined angle.

[0012] In the above embodiment, the rotation assistance is adjusted based on the angle between the center line of the length direction of the fuselage component and the second direction through the driving component, so that the rotation assistance is adjusted with the gravity torque of the fuselage component, which can reduce the impact of the gravity of the fuselage component on the user and improve the user experience. If the fuselage component does not reach the predetermined upright position, the rotation assistance can be provided to reduce the burden on the user when straightening the fuselage component to the predetermined upright position, thereby improving the user experience.

[0013] At the same time, once the existing floor scrubber is lifted, the floor brush assembly at the bottom will hang down due to gravity, which will directly cause dirty water to drip onto the ground, thereby causing secondary pollution.

[0014] This solution provides corresponding assistance during the lifting of the cleaning device, and controls the floor brush assembly to maintain the angle between the floor brush assembly and the surface to be cleaned in the cleaning state, so as to reduce dripping of the floor brush assembly and improve user experience.

[0015] In some embodiments, adjusting the rotation assist based on the angle between the longitudinal centerline of the fuselage component and the second direction to offset part of the gravity of the fuselage component includes at least one of the following:

[0016] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a first angle range, adjusting the rotation assist to a first value;

[0017] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a second angle range, the rotation assist is adjusted to a second value; wherein the minimum value of the second angle range is greater than or equal to the maximum value of the first angle range, and the maximum value of the second angle range is less than a second predetermined angle; wherein the first value is greater than the second value;

[0018] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a third angle range, the rotation assist is adjusted to a third value; wherein the minimum value of the third angle range is greater than or equal to the second predetermined angle; wherein the second value is greater than the third value;

[0019] When the angle between the lengthwise centerline of the fuselage assembly and the second direction is within a fourth angle range, the rotation assist is adjusted to 0; wherein the minimum value of the fourth angle range is greater than the maximum value of the third angle range.

[0020] In the above embodiment, by setting different rotation assistance for different angles, on the one hand, the flexibility of setting the rotation assistance is improved, and on the other hand, the rotation assistance can be adapted to the assistance requirements of different scenes, thereby improving the user experience.

[0021] Specifically, the above solution provides assistance for multiple scenarios. The actual assistance required is different in different usage states. In other words, due to the different tilt angles of the fuselage, the gravity applied to the user's hand is also different. Therefore, this solution can provide different assistance for different angles.

[0022] In some embodiments, the second predetermined angle is 45 degrees; and / or

[0023] The fourth angle range is an angle range between a center line in the length direction of the fuselage assembly and the second direction when the fuselage assembly is in a predetermined upright state.

[0024] In the above embodiment, the rotation assistance is adjusted based on the angle between the length center line of the fuselage component and the second direction through the driving component, so that the rotation assistance is adjusted along with the gravity torque of the fuselage component, which can reduce the impact of the gravity of the fuselage component on the user and improve the user experience.

[0025] In some embodiments, the second value is negatively correlated with the angle between the lengthwise centerline of the fuselage component and the second direction; and / or

[0026] The third value is negatively correlated with an angle between a lengthwise centerline of the fuselage assembly and the second direction.

[0027] In the above embodiment, by adjusting the rotational assistance according to different angles, the rotational assistance can be adapted to the actual assistance demand, thereby improving the user experience.

[0028] In some embodiments, adjusting the rotation assistance comprises:

[0029] When the angle change between the longitudinal center line of the fuselage assembly and the second direction is greater than or equal to a predetermined angle change threshold, the rotation assist is adjusted.

[0030] In the above embodiment, the rotation assistance is adjusted at intervals of a predetermined angle change threshold, which can reduce the frequent adjustment of the rotation assistance, improve the user's grip feel, and enhance the user experience.

[0031] According to a second aspect of an embodiment of the present disclosure, a cleaning device control method is provided, wherein the cleaning device comprises: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other rotatably around a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device further comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other;

[0032] The method comprises:

[0033] The floor brush assembly moves forward along the first direction or moves backward along the second direction on the surface to be cleaned to clean the surface, and adjusts the rotation assist based on the angle between the lengthwise centerline of the body assembly and the second direction to offset part of the gravity of the body assembly, wherein the lengthwise centerline is perpendicular to the rotation axis.

[0034] In the above embodiment, the rotation assistance is adjusted based on the angle between the length center line of the fuselage component and the second direction through the driving component, so that the rotation assistance is adjusted along with the gravity torque of the fuselage component, which can reduce the impact of the gravity of the fuselage component on the user and improve the user experience.

[0035] In some embodiments, adjusting the rotation assist based on the angle between the longitudinal centerline of the fuselage component and the second direction to offset part of the gravity of the fuselage component includes at least one of the following:

[0036] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a first angle range, adjusting the rotation assist to a first value;

[0037] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a second angle range, the rotation assist is adjusted to a second value; wherein the minimum value of the second angle range is greater than or equal to the maximum value of the first angle range, and the maximum value of the second angle range is less than a second predetermined angle; wherein the first value is greater than the second value;

[0038] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a third angle range, the rotation assist is adjusted to a third value; wherein the minimum value of the third angle range is greater than or equal to the second predetermined angle; wherein the second value is greater than the third value;

[0039] When the angle between the lengthwise centerline of the fuselage assembly and the second direction is within a fourth angle range, the rotation assist is adjusted to 0; wherein the minimum value of the fourth angle range is greater than the maximum value of the third angle range.

[0040] In the above embodiment, by setting different rotation assistance for different angles, on the one hand, the flexibility of setting the rotation assistance is improved, and on the other hand, the rotation assistance can be adapted to the assistance requirements of different scenes, thereby improving the user experience.

[0041] In some embodiments, the second predetermined angle is 45 degrees; and / or

[0042] The fourth angle range is an angle range between a center line in the length direction of the fuselage assembly and the second direction when the fuselage assembly is in a predetermined upright state.

[0043] In the above embodiment, the rotation assistance is adjusted based on the angle between the length center line of the fuselage component and the second direction through the driving component, so that the rotation assistance is adjusted along with the gravity torque of the fuselage component, which can reduce the impact of the gravity of the fuselage component on the user and improve the user experience.

[0044] In some embodiments, the second value is negatively correlated with the angle between the lengthwise centerline of the fuselage component and the second direction; and / or

[0045] The third value is negatively correlated with an angle between a lengthwise centerline of the fuselage assembly and the second direction.

[0046] In the above embodiment, by adjusting the rotational assistance according to different angles, the rotational assistance can be adapted to the actual assistance demand, thereby improving the user experience.

[0047] In some embodiments, adjusting the rotation assistance comprises:

[0048] When the angle change between the longitudinal center line of the fuselage assembly and the second direction is greater than or equal to a predetermined angle change threshold, the rotation assist is adjusted.

[0049] In the above embodiment, the rotation assistance is adjusted at intervals of a predetermined angle change threshold, which can reduce the frequent adjustment of the rotation assistance, improve the user's grip feel, and enhance the user experience.

[0050] According to a third aspect of an embodiment of the present disclosure, a cleaning device control method is provided, wherein the cleaning device comprises: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other rotatably around a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device further comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other;

[0051] The method comprises:

[0052] The floor brush assembly stops cleaning, and the angle between the lengthwise centerline of the body assembly and the second direction is less than 90 degrees, and the rotation assist is adjusted to offset part of the gravity of the body assembly until the body assembly reaches a predetermined upright position.

[0053] In the above embodiment, if the fuselage assembly has not reached the predetermined upright position, rotation assistance can be provided to reduce the burden on the user when straightening the fuselage assembly to the predetermined upright position, thereby improving the user experience.

[0054] In some embodiments, adjusting the rotation assistance comprises:

[0055] When the angle change between the longitudinal center line of the fuselage assembly and the second direction is greater than or equal to a predetermined angle change threshold, the rotation assist is adjusted.

[0056] In the above embodiment, the rotation assistance is adjusted at intervals of a predetermined angle change threshold, which can reduce the frequent adjustment of the rotation assistance, improve the user's grip feel, and enhance the user experience.

[0057] According to a fourth aspect of an embodiment of the present disclosure, a cleaning device control method is provided, wherein the cleaning device comprises: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other rotatably around a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or retreat in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device further comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other;

[0058] The method comprises:

[0059] The cleaning device is suspended above the surface to be cleaned, and the rotation assist force is adjusted so that the angle between the bottom surface of the floor brush assembly and the surface to be cleaned is smaller than a first predetermined angle.

[0060] In the above embodiment, when the cleaning device is lifted, the floor brush assembly can maintain the angle between the floor brush assembly and the surface to be cleaned in the cleaning state to reduce dripping of the floor brush assembly and improve user experience.

[0061] According to a fifth aspect of an embodiment of the present disclosure, a cleaning device control method is provided, wherein the cleaning device comprises: a body assembly, a floor brush assembly and a controller; the body assembly and the floor brush assembly are connected to each other rotatably around a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device further comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other;

[0062] The controller is used to execute the cleaning equipment control method as described in the first aspect, the second aspect, the third aspect or the fourth aspect.

[0063] In the above embodiment, by adjusting the rotation assistance based on the motion state of the cleaning device through the driving component, an auxiliary force that meets the user's needs when operating the cleaning device can be generated, thereby reducing the user's fatigue and improving the user experience.

[0064] The cleaning device control method and cleaning device provided by the disclosed embodiment include: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other rotatably around a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on the surface to be cleaned at least based on the first external force applied by the user to the handle; the cleaning device also includes a driving assembly for providing a rotation assist for the mutual rotation of the body assembly and the floor brush assembly; the method includes: adjusting the rotation assist according to the motion state of the cleaning device. In this way, by adjusting the rotation assist based on the motion state of the cleaning device through the driving assembly, an auxiliary force that meets the needs of the user when operating the cleaning device can be generated, thereby reducing the user's fatigue and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 is a schematic diagram of the structure of a cleaning device according to an embodiment;

[0066] Figure 2 is a schematic diagram of a cleaning state of a cleaning device according to an embodiment;

[0067] Figure 3 is a schematic diagram of the stress state of a body component of a cleaning device according to an embodiment;

[0068] Figure 4 is a schematic flow chart of a cleaning equipment control method according to embodiment 1;

[0069] Figure 5 is a schematic diagram of a first state of a body assembly of a cleaning device according to an embodiment;

[0070] Figure 6 is a schematic diagram of a second state of a body assembly of a cleaning device according to an embodiment;

[0071] Figure 7 is a schematic diagram of a third state of a body assembly of a cleaning device according to an embodiment;

[0072] Figure 8 is a schematic diagram of an angle range according to an embodiment;

[0073] Fig. 9 is a schematic diagram of a fuselage assembly in a fourth state according to an embodiment;

[0074] Fig.10 is a schematic diagram of a fifth state of a fuselage assembly according to an embodiment;

[0075] Fig.11 is a schematic diagram of a sixth state of a fuselage assembly according to an embodiment;

[0076] Fig.12 is a schematic flow chart of a cleaning equipment control method according to Embodiment 2;

[0077] Fig.13 is a schematic flow chart of a cleaning equipment control method according to Embodiment 3;

[0078] Fig.14 is a schematic diagram of a seventh state of a fuselage assembly according to an embodiment;

[0079] Fig.15 is a schematic flow chart of a cleaning equipment control method according to Embodiment 4;

[0080] Fig.16 2 is a schematic diagram of a cleaning device in a lifted state according to an embodiment. DETAILED DESCRIPTION

[0081] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0082] The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0083] In each embodiment of the present disclosure, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0084] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0085] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0086] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0087] In some embodiments, the terms "at least one", "one or more", "a plurality of", "multiple", etc. can be used interchangeably.

[0088] In some embodiments, "at least one of A and B", "A and / or B", "A in one case, B in another case", "A in one case, B in another case", etc., may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0089] In some embodiments, the recording method of "A or B" may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above is also similar.

[0090] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, value or content of the description objects. The statement of the description object refers to the description in the context of the claims or embodiments, and should not constitute redundant restrictions due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and the "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the numerical value of the description object is not limited by the ordinal number, and can be one or more. Taking the "first device" as an example, the numerical value of the "device" can be one or more. In addition, the objects modified by different prefixes may be the same or different. For example, if the description object is "device", then the "first device" and the "second device" may be the same device or different devices, and their types may be the same or different. For another example, if the description object is "information", then the "first information" and the "second information" may be the same information or different information, and their contents may be the same or different.

[0091] In some embodiments, “including A”, “comprising A”, “used to indicate A”, and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0092] In some embodiments, terms such as “…”, “determine…”, “in the case of…”, “at the time of…”, “when…”, “if…”, “if…”, etc. can be used interchangeably.

[0093] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0094] In addition, each element, each row, or each column in the table of the embodiments of the present disclosure may be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns may also be implemented as an independent embodiment.

[0095] For details, see Figure 1 and Figure 2 As shown, the cleaning device comprises at least a body assembly 10 and a floor brush assembly 20; the body assembly and the floor brush assembly are rotatably connected to each other around a rotation axis, a handle 11 is provided on the top of the body assembly, and the floor brush assembly can move on the surface to be cleaned.

[0096] The body assembly and the floor brush assembly can rotate around the rotation axis within a predetermined rotation angle range.

[0097] In a possible implementation, a rotation shaft may be provided between the body assembly and the floor brush assembly, and the rotation axis may be the axis of the rotation shaft.

[0098] In a possible implementation, the floor brush assembly can be driven at least based on a first external force applied by a user on the handle to move along a first direction (such as Figure 2 A) or in a second direction (as shown by the arrow A Figure 2 The first direction is opposite to the second direction.

[0099] In a possible implementation, the user can also control the moving direction of the floor brush assembly through the handle.

[0100] In a possible implementation, the floor brush assembly may have a partial driving force for moving the cleaning device, and the user may provide a first external force for moving part or all of the floor brush assembly through the handle.

[0101] In a possible implementation, the floor brush assembly may include: a floor brush body, a walking system, a cleaning member (a rolling brush, a mop), etc. In a possible implementation, the floor brush assembly may clean the floor through a rolling brush, a mop, etc.

[0102] In a possible implementation, the cleaning device further includes a clean water tank, a sewage tank, and a dust suction device. Any one of the clean water tank, the sewage tank, and the dust suction device can be disposed on the floor brush assembly or on the body assembly.

[0103] In a possible implementation, the floor brush assembly further includes a power-assisted wheel 21 for assisting the movement of the floor brush assembly.

[0104] In a possible implementation, the power-assisted wheel can be provided with a driving part (such as a motor) for driving the power-assisted wheel. In a possible implementation, the floor brush assembly and / or the body assembly further includes a sensing system (not shown).

[0105] The above sensor system can include at least one of a vision sensor, a laser sensor, a gyroscope, an accelerometer, a speed sensor, a mechanical sensor, an infrared sensor, an ultrasonic sensor, a vision sensor, an angle sensor, etc., to obtain at least one of information such as the motion state information, position information, and obstacle information of the cleaning device.

[0106] For example, a speed sensor, an acceleration sensor, etc. can be used to detect the speed, acceleration, etc. of the cleaning device. An infrared sensor, an ultrasonic sensor, a vision sensor, etc. are used to detect the distance between the cleaning device and an obstacle. An angle sensor, etc. is used to determine the tilt angle of the body assembly, etc. An angle sensor, etc. is used to determine the tilt angle of the floor brush assembly, etc.

[0107] The above controller can include a microcontroller unit (MCU). Of course, the above controller can also include other devices capable of having a control function.

[0108] It can be understood that the above cleaning device is only for illustration and does not constitute a limitation of the embodiments of this specification.

[0109] Such as Figure 2 During the cleaning process of the cleaning device, the body assembly is usually in an inclined state. The body assembly itself has gravity (the direction of gravity is shown by arrow G). However, the rotating shaft between the body assembly and the floor brush assembly does not have sufficient supporting force to offset the gravity of the body assembly itself. Therefore, the user needs to spend extra effort through the handle to bear part of the gravity of the body assembly during the use of the cleaning device. During a long cleaning process, it increases the fatigue of the user and reduces the user experience. Therefore, how to reduce the gravity of the body assembly borne by the user and improve the user experience is an urgent problem to be solved.

[0110] Embodiment 1

[0111] In some embodiments, the cleaning device further includes a driving component for providing rotational assistance for the mutual rotation of the body assembly and the floor brush assembly.

[0112] like Figure 3 As shown, a driving assembly can be arranged between the body assembly and the floor brush assembly to provide rotation assistance.

[0113] Here, the implementation method of the drive assembly is not limited. For example, the drive assembly may include an electric power assist, such as providing rotation assistance through a servo motor, a stepper motor, etc. The motor may provide rotation assistance through gears, etc. The drive assembly may also include a hydraulic power assist, such as generating rotation assistance through a hydraulic cylinder.

[0114] In a possible implementation, the rotation assist can at least provide a force component in the direction opposite to the gravity direction of the fuselage component. Figure 3 In the state shown, the direction of the rotation assist is as shown by arrow F, and the rotation assist can provide a component force in the direction shown by arrow F', thereby offsetting the gravity of part of the fuselage components, reducing the gravity of the fuselage components borne by the user, and improving the user experience.

[0115] Accordingly, the present disclosure provides a cleaning device control method, which can be applied to the above cleaning device.

[0116] The method comprises: Figure 4 As shown, the cleaning equipment control method includes:

[0117] Step 401: adjusting the rotation assistance according to the motion state of the cleaning device.

[0118] In a possible implementation, the cleaning device control method of this embodiment may be executed by a controller in the cleaning device.

[0119] In a possible implementation, the controller may control the driving assembly to adjust the rotation assistance. For example, the controller may adjust the rotation assistance by adjusting the input current of the motor.

[0120] In one possible implementation, the motion state of the cleaning device may include the motion state of the cleaning device as a whole and / or the motion state of the cleaning device components (such as a floor brush assembly, a body assembly) during the cleaning process and / or other situations outside the cleaning process.

[0121] For example, the motion state may include at least one of the following: a moving speed of the cleaning device, a distance between the floor brush assembly and the surface to be cleaned, and an inclined angle between the body assembly and the surface to be cleaned.

[0122] For example, Figure 5As described above, during the cleaning process of the cleaning device, the floor brush assembly remains on the surface to be cleaned to clean the surface to be cleaned, and the user moves the floor brush assembly by pushing and pulling the body assembly. During this process, the angle between the body assembly and the surface to be cleaned will change. Based on the lever principle, the gravity torque generated by the gravity of the body assembly will continue to change. Therefore, the user needs to constantly adjust the first external force applied to the handle to balance the gravity torque. This will increase the user's fatigue and reduce the user experience.

[0123] In a possible implementation, adjusting the rotation assistance according to the motion state of the cleaning device includes at least one of the following:

[0124] When the cleaning device is determined to be in motion, the driving assembly is controlled to generate a rotation assist to offset at least part of the gravity torque;

[0125] Based on the change in the motion state of the cleaning device, the controller can adjust the rotation assistance through the driving component to offset at least part of the change in the gravity torque.

[0126] In one possible implementation, Figure 6 As shown, when the cleaning device switches the process of cleaning the surface to be cleaned to the storage state, it is usually necessary to convert the body assembly to a position with a predetermined storage angle (such as 90 degrees, with a deviation of plus or minus 5 degrees) with the floor brush assembly, and the drive assembly can generate rotational assistance to maintain the angle between the body assembly and the floor brush assembly.

[0127] In one possible implementation, Figure 6 As shown, when the cleaning device switches to the storage state during the cleaning process of the cleaning surface, it is usually necessary to convert the body component to a position with a predetermined storage angle (such as 90 degrees, with a deviation of plus or minus 5 degrees) with the floor brush component, and the driving component can be controlled to generate a rotation assist (such as Figure 6 F1 or F2 in the figure) to maintain the angle between the body assembly and the floor brush assembly.

[0128] In one possible implementation, Figure 6 As shown, when the cleaning device switches from the storage state to the process of cleaning the surface to be cleaned, it is usually necessary to switch the body assembly from a position having a predetermined storage angle with the floor brush assembly to a position having a predetermined storage angle with the floor brush assembly. Figure 5 The body assembly is shown in a tilted state. When the cleaning device is switched from the storage state to the cleaning surface (such as Figure 6 As shown by arrow D), the drive assembly can be controlled to generate rotation assistance (such as Figure 6 ) to assist the user in generating a force to tip over the fuselage assembly.

[0129] In this way, by driving the component and adjusting the rotation assistance based on the motion state of the cleaning device, it is possible to generate an auxiliary force that meets the needs of the user when operating the cleaning device, thereby reducing the user's fatigue and improving the user experience.

[0130] In a possible implementation, the rotation assisting force may also be fixed. During the process of the body assembly rotating around the floor brush assembly, the driving assembly provides a fixed rotation assisting force to reduce the burden of the user rotating the body assembly.

[0131] In some embodiments, the method includes: the floor brush assembly moves forward along the first direction or retreats along the second direction on the surface to be cleaned to clean the surface to be cleaned, and based on the angle between the lengthwise center line of the body assembly and the second direction, the rotation assist is adjusted to offset part of the gravity of the body assembly, wherein the lengthwise center line is perpendicular to the rotation axis.

[0132] In a possible implementation, the sensing system in the cleaning device can determine whether the floor brush assembly moves forward in the first direction or moves backward in the second direction. For example, the sensing system in the cleaning device can determine whether the floor brush assembly moves forward in the first direction or moves backward in the second direction based on a gyroscope or the like provided in the cleaning device. The sensing system can also determine whether the floor brush assembly moves forward in the first direction or moves backward in the second direction based on the driving current of the power-assisted wheel of the floor brush assembly.

[0133] In a possible implementation, the inclination angle of the fuselage component (such as the angle between the lengthwise centerline of the fuselage component and the second direction) may be determined by a sensing system in the cleaning device. For example, a gyroscope and / or an angle sensor may be provided in the fuselage component to detect the inclination angle of the fuselage component.

[0134] like Figure 7 The longitudinal centerline of the fuselage assembly (such as Figure 7 middle ) may include a portion of the fuselage assembly located at least partially within the fuselage assembly and relative to the axis of rotation (such as Figure 7 Lines with intersection points (shown as O in the figure).

[0135] like Figure 7 The angle α between the center line of the length direction of the fuselage component and the second direction is equivalent to the tilt angle of the fuselage component. When the tilt angle of the fuselage component changes, based on the lever principle, the gravity torque generated by the gravity of the fuselage component constantly changes. Therefore, the user needs to constantly adjust the first external force applied to the handle to balance the gravity torque. This will increase the user's fatigue and reduce the user experience.

[0136] The controller can adjust the rotation assistance through the drive assembly based on the change in the motion state of the cleaning device to offset at least part of the gravity torque.

[0137] In a possible implementation, the angle α between the longitudinal centerline of the fuselage assembly and the second direction is negatively correlated with the rotation assist. That is, the smaller the angle α, the greater the rotation assist. The smaller the angle α, the greater the gravitational torque generated by the gravity of the fuselage assembly. Therefore, the rotation assist needs to be increased to reduce the impact of the increase in gravitational torque on the user's force.

[0138] In this way, by driving the component, the rotational assistance is adjusted based on the angle between the length center line of the fuselage component and the second direction, thereby achieving adjustment of the rotational assistance along with the gravity torque of the fuselage component, which can reduce the impact of the gravity of the fuselage component on the user and improve the user experience.

[0139] In some embodiments, adjusting the rotation assist based on the angle between the longitudinal centerline of the fuselage component and the second direction to offset part of the gravity of the fuselage component includes at least one of the following:

[0140] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a first angle range, adjusting the rotation assist to a first value;

[0141] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a second angle range, the rotation assist is adjusted to a second value; wherein the minimum value of the second angle range is greater than or equal to the maximum value of the first angle range, and the maximum value of the second angle range is less than a second predetermined angle; wherein the first value is greater than the second value;

[0142] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a third angle range, the rotation assist is adjusted to a third value; wherein the minimum value of the third angle range is greater than or equal to the second predetermined angle; wherein the second value is greater than the third value;

[0143] When the angle between the lengthwise centerline of the fuselage assembly and the second direction is within a fourth angle range, the rotation assist is adjusted to 0; wherein the minimum value of the fourth angle range is greater than the maximum value of the third angle range.

[0144] Here, the first angle range, the second angle range, the third angle range and the fourth angle range can be the angle ranges in which the body assembly can rotate relative to the surface to be cleaned when the floor brush assembly is located in the working position on the surface to be cleaned. The first angle range, the second angle range, the third angle range and the fourth angle range are respectively as follows: Figure 8 , as shown in α1, α2, α3 and α4.

[0145] In one possible implementation, Fig. 9As shown, the first angle range can be the angle range between the center line of the fuselage assembly in the length direction and the surface to be cleaned when the fuselage assembly is in a completely flat state. Within the first angle range, the cleaning device can enter the low space together with the fuselage assembly for cleaning. At this time, the gravity torque of the fuselage assembly is the largest, so the controller can control the drive assembly to provide the maximum rotation assist, i.e., the first value, to reduce the burden on the user.

[0146] In a possible implementation, the minimum value of the first angle range is greater than the angle when the fuselage component is in a completely flat state. When the fuselage component is in a completely flat state, the fuselage component can be in contact with the surface to be cleaned, so that the surface to be cleaned provides a supporting force for supporting the fuselage component. When the fuselage component is out of contact with the surface to be cleaned, the user needs to support the fuselage component through the first external force, and the gravity torque of the fuselage component is the largest at this time. The controller can control the drive component to provide the maximum rotation assistance, that is, the first value, to reduce the burden on the user.

[0147] The body assembly rotates around the floor brush assembly from the first angle range to the second angle range in sequence (the state of the body assembly is as follows Fig.10 as shown) and the third angle range (body component status as shown Fig.11 During the process (as shown in the figure), the gravity moment of the fuselage assembly gradually decreases. Therefore, the first value of the rotation assist within the first angle range, the second value within the second angle range, and the third value within the third angle range can be successively reduced to adapt to the change of the gravity moment.

[0148] In one possible implementation direction, during the process of the angle between the centerline of the length direction of the fuselage assembly and the second direction changing from the second angle range to the third angle range, the rotation assist may be based on the angle change. The rotation assist is negatively correlated with the angle between the centerline of the length direction of the fuselage assembly and the second direction.

[0149] In a possible implementation direction, within the second angle range, the second value may be a fixed value.

[0150] In a possible implementation direction, within the third angle range, the third value may be a fixed value.

[0151] In some embodiments, the second value is negatively correlated with the angle between the lengthwise centerline of the fuselage component and the second direction; and / or

[0152] The third value is negatively correlated with an angle between a lengthwise centerline of the fuselage assembly and the second direction.

[0153] In a possible implementation direction, within the second angle range, the second value may vary according to the angle between the lengthwise centerline of the fuselage assembly and the second direction. For example, the second value is negatively correlated with the angle between the lengthwise centerline of the fuselage assembly and the second direction.

[0154] In a possible implementation direction, within the third angle range, the third value may vary with the angle between the lengthwise centerline of the fuselage assembly and the third direction. For example, the third value is negatively correlated with the angle between the lengthwise centerline of the fuselage assembly and the third direction.

[0155] Here, the second angle range and the third angle range may be divided based on the second predetermined angle.

[0156] The fourth angle range may be that the fuselage assembly may include a cleaning device structure that places the fuselage assembly in a static position, so no rotation assistance may be provided.

[0157] By setting different rotation assistance for different angles, on the one hand, the flexibility of rotation assistance setting is improved. On the other hand, the rotation assistance can be adapted to the assistance needs of different scenes, thus improving the user experience.

[0158] In some embodiments, the second predetermined angle is 45 degrees; and / or

[0159] The fourth angle range is an angle range between a center line in the length direction of the fuselage assembly and the second direction when the fuselage assembly is in a predetermined upright state.

[0160] The fourth angle range may be the angle between the lengthwise centerline of the body assembly and the third direction when the cleaning device is in a stationary state, a stored state, and / or a charging state. Within the fourth angle range, the body assembly may offset the gravity torque based on the limiting components of the cleaning device, thereby maintaining the relative position of the body assembly and the floor brush assembly, and therefore, the drive assembly may not provide rotation assistance.

[0161] In this way, by driving the component, the rotational assistance is adjusted based on the angle between the length center line of the fuselage component and the second direction, thereby achieving adjustment of the rotational assistance along with the gravity torque of the fuselage component, which can reduce the impact of the gravity of the fuselage component on the user and improve the user experience.

[0162] In some embodiments, adjusting the rotation assistance comprises:

[0163] When the angle change between the longitudinal center line of the fuselage assembly and the second direction is greater than or equal to a predetermined angle change threshold, the rotation assist is adjusted.

[0164] Here, within each angle range (first angle range, second angle range, third angle range and / or fourth angle range) and / or between each angle range (first angle range, second angle range, third angle range and / or fourth angle range), after the controller adjusts the rotation assistance for the nth time, the actual value of the (n+1)th adjustment of the rotation assistance can be determined based on the angle change between the longitudinal centerline and the second direction, where n is an integer greater than or equal to 1.

[0165] For example, after the controller adjusts the rotation assistance for the nth time, when the rotation of the fuselage assembly is greater than or equal to a predetermined angle change threshold (such as 5 degrees), the rotation assistance is adjusted for the n+1th time, otherwise the rotation assistance is maintained.

[0166] In this way, adjusting the rotation assistance at intervals of a preset angle change threshold can reduce the frequent adjustment of the rotation assistance and improve the user experience.

[0167] Example 2

[0168] Here, the structure of the cleaning device is as described in any of the above embodiments. During the cleaning process, the method of adjusting the rotation assistance of the cleaning device is similar or the same as that of Embodiment 1, and will not be described in detail here.

[0169] Accordingly, the present disclosure provides a cleaning device control method, which can be applied to the above cleaning device.

[0170] like Fig.12 Said method comprises:

[0171] Step 12: The floor brush assembly moves forward along the first direction or backward along the second direction on the surface to be cleaned to clean the surface to be cleaned, and the rotation assist is adjusted based on the angle between the lengthwise centerline of the body assembly and the second direction to offset part of the gravity of the body assembly, wherein the lengthwise centerline is perpendicular to the rotation axis.

[0172] In a possible implementation, the sensing system in the cleaning device can determine whether the floor brush assembly moves forward in the first direction or moves backward in the second direction. For example, the sensing system in the cleaning device can determine whether the floor brush assembly moves forward in the first direction or moves backward in the second direction based on a gyroscope or the like provided in the cleaning device. The sensing system can also determine whether the floor brush assembly moves forward in the first direction or moves backward in the second direction based on the driving current of the power-assisted wheel of the floor brush assembly.

[0173] In a possible implementation, the inclination angle of the fuselage component (such as the angle between the lengthwise centerline of the fuselage component and the second direction) may be determined by a sensing system in the cleaning device. For example, a gyroscope and / or an angle sensor may be provided in the fuselage component to detect the inclination angle of the fuselage component.

[0174] like Figure 7 The longitudinal centerline of the fuselage assembly (such as Figure 7 middle ) may include a portion of the fuselage assembly located at least partially within the fuselage assembly and relative to the axis of rotation (such as Figure 7 Lines with intersection points (shown as O in the figure).

[0175] like Figure 7 The angle α between the center line of the length direction of the fuselage component and the second direction is equivalent to the tilt angle of the fuselage component. When the tilt angle of the fuselage component changes, based on the lever principle, the gravity torque generated by the gravity of the fuselage component constantly changes. Therefore, the user needs to constantly adjust the first external force applied to the handle to balance the gravity torque. This will increase the user's fatigue and reduce the user experience.

[0176] The controller can adjust the rotation assistance through the drive assembly based on the change in the motion state of the cleaning device to offset at least part of the gravity torque.

[0177] In a possible implementation, the angle α between the longitudinal centerline of the fuselage assembly and the second direction is negatively correlated with the rotation assist. That is, the smaller the angle α, the greater the rotation assist. The smaller the angle α, the greater the gravitational torque generated by the gravity of the fuselage assembly. Therefore, the rotation assist needs to be increased to reduce the impact of the increase in gravitational torque on the user's force.

[0178] In this way, by driving the component, the rotational assistance is adjusted based on the angle between the length center line of the fuselage component and the second direction, thereby achieving adjustment of the rotational assistance along with the gravity torque of the fuselage component, which can reduce the impact of the gravity of the fuselage component on the user and improve the user experience.

[0179] In some embodiments, adjusting the rotation assist based on the angle between the longitudinal centerline of the fuselage component and the second direction to offset part of the gravity of the fuselage component includes at least one of the following:

[0180] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a first angle range, adjusting the rotation assist to a first value;

[0181] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a second angle range, the rotation assist is adjusted to a second value; wherein the minimum value of the second angle range is greater than or equal to the maximum value of the first angle range, and the maximum value of the second angle range is less than a second predetermined angle; wherein the first value is greater than the second value;

[0182] When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a third angle range, the rotation assist is adjusted to a third value; wherein the minimum value of the third angle range is greater than or equal to the second predetermined angle; wherein the second value is greater than the third value;

[0183] When the angle between the lengthwise centerline of the fuselage assembly and the second direction is within a fourth angle range, the rotation assist is adjusted to 0; wherein the minimum value of the fourth angle range is greater than the maximum value of the third angle range.

[0184] Here, the first angle range, the second angle range, the third angle range and the fourth angle range can be the angle ranges in which the body assembly can rotate relative to the surface to be cleaned when the floor brush assembly is located in the working position on the surface to be cleaned. The first angle range, the second angle range, the third angle range and the fourth angle range are respectively as follows: Figure 8 , as shown in α1, α2, α3 and α4.

[0185] In one possible implementation, Fig. 9 As shown, the first angle range can be the angle range between the center line of the fuselage assembly in the length direction and the surface to be cleaned when the fuselage assembly is in a completely flat state. Within the first angle range, the cleaning device can enter the low space together with the fuselage assembly for cleaning. At this time, the gravity torque of the fuselage assembly is the largest, so the controller can control the drive assembly to provide the maximum rotation assist, i.e., the first value, to reduce the burden on the user.

[0186] In a possible implementation, the minimum value of the first angle range is greater than the angle when the fuselage component is in a completely flat state. When the fuselage component is in a completely flat state, the fuselage component can be in contact with the surface to be cleaned, so that the surface to be cleaned provides a supporting force for supporting the fuselage component. When the fuselage component is out of contact with the surface to be cleaned, the user needs to support the fuselage component through the first external force, and the gravity torque of the fuselage component is the largest at this time. The controller can control the drive component to provide the maximum rotation assistance, that is, the first value, to reduce the burden on the user.

[0187] The body assembly rotates around the floor brush assembly from the first angle range to the second angle range in sequence (the state of the body assembly is as follows Fig.10 as shown) and the third angle range (body component status as shown Fig.11 During the process (as shown in the figure), the gravity moment of the fuselage assembly gradually decreases. Therefore, the first value of the rotation assist within the first angle range, the second value within the second angle range, and the third value within the third angle range can be successively reduced to adapt to the change of the gravity moment.

[0188] In one possible implementation direction, during the process of the angle between the centerline of the length direction of the fuselage assembly and the second direction changing from the second angle range to the third angle range, the rotation assist may be based on the angle change. The rotation assist is negatively correlated with the angle between the centerline of the length direction of the fuselage assembly and the second direction.

[0189] In a possible implementation direction, within the second angle range, the second value may be a fixed value.

[0190] In a possible implementation direction, within the third angle range, the third value may be a fixed value.

[0191] In some embodiments, the second value is negatively correlated with the angle between the lengthwise centerline of the fuselage component and the second direction; and / or

[0192] The third value is negatively correlated with an angle between a lengthwise centerline of the fuselage assembly and the second direction.

[0193] In a possible implementation direction, within the second angle range, the second value may vary according to the angle between the lengthwise centerline of the fuselage assembly and the second direction. For example, the second value is negatively correlated with the angle between the lengthwise centerline of the fuselage assembly and the second direction.

[0194] In a possible implementation direction, within the third angle range, the third value may vary with the angle between the lengthwise centerline of the fuselage assembly and the third direction. For example, the third value is negatively correlated with the angle between the lengthwise centerline of the fuselage assembly and the third direction.

[0195] Here, the second angle range and the third angle range may be divided based on the second predetermined angle.

[0196] The fourth angle range may be that the fuselage assembly may include a cleaning device structure that places the fuselage assembly in a static position, so no rotation assistance may be provided.

[0197] In some embodiments, the second predetermined angle is 45 degrees; and / or

[0198] The fourth angle range is an angle range between a center line in the length direction of the fuselage assembly and the second direction when the fuselage assembly is in a predetermined upright state.

[0199] The fourth angle range may be the angle between the lengthwise centerline of the body assembly and the third direction when the cleaning device is in a stationary state, a stored state, and / or a charging state. Within the fourth angle range, the body assembly may offset the gravity torque based on the limiting components of the cleaning device, thereby maintaining the relative position of the body assembly and the floor brush assembly, and therefore, the drive assembly may not provide rotation assistance.

[0200] In this way, by driving the component, the rotational assistance is adjusted based on the angle between the length center line of the fuselage component and the second direction, thereby achieving adjustment of the rotational assistance along with the gravity torque of the fuselage component, which can reduce the impact of the gravity of the fuselage component on the user and improve the user experience.

[0201] In some embodiments, adjusting the rotation assistance comprises:

[0202] When the angle change between the longitudinal center line of the fuselage assembly and the second direction is greater than or equal to a predetermined angle change threshold, the rotation assist is adjusted.

[0203] Here, within each angle range (first angle range, second angle range, third angle range and / or fourth angle range) and / or between each angle range (first angle range, second angle range, third angle range and / or fourth angle range), after the controller adjusts the rotation assistance for the nth time, the actual value of the (n+1)th adjustment of the rotation assistance can be determined based on the angle change between the longitudinal centerline and the second direction, where n is an integer greater than or equal to 1.

[0204] For example, after the controller adjusts the rotation assistance for the nth time, when the rotation of the fuselage assembly is greater than or equal to a predetermined angle change threshold (such as 5 degrees), the rotation assistance is adjusted for the n+1th time, otherwise the rotation assistance is maintained.

[0205] In this way, adjusting the rotation assistance at intervals of a preset angle change threshold can reduce frequent adjustments of the rotation assistance and improve user experience.

[0206] Example 3

[0207] Here, the structure of the cleaning device is as described in any of the above embodiments. During the cleaning process, the method of adjusting the rotation assistance of the cleaning device is similar or the same as that of Embodiment 1 and / or Embodiment 2, and will not be repeated here.

[0208] Accordingly, the present disclosure provides a cleaning device control method, which can be applied to the above cleaning device.

[0209] like Fig.13 Said method comprises:

[0210] Step 1301: the floor brush assembly stops cleaning, and the angle between the lengthwise centerline of the body assembly and the second direction is less than 90 degrees, and the rotation assist is adjusted to offset part of the gravity of the body assembly until the body assembly reaches a predetermined upright position.

[0211] like Fig.14 As shown, after the user completes cleaning, the body assembly needs to be restored to the predetermined upright position.

[0212] In one possible implementation, in the predetermined upright position, the angle between the lengthwise centerline of the fuselage assembly and the second direction is within the fourth angle range, or the angle between the lengthwise centerline of the fuselage assembly and the vertical direction is within a predetermined upright angle range (e.g., ±5 degrees).

[0213] When the user restores the fuselage assembly to a predetermined upright position, if the angle between the lengthwise centerline of the fuselage assembly and the second direction is less than 90 degrees, the controller can control the drive assembly to provide rotation assistance until the fuselage assembly reaches the predetermined upright position.

[0214] In this way, the burden on the user when straightening the body assembly to a predetermined upright position can be reduced, thereby improving the user experience.

[0215] Example 4

[0216] Here, the structure of the cleaning device is as described in any of the above embodiments.

[0217] During the cleaning process and / or when the body assembly of the cleaning device is straightened to a predetermined upright position, the method for adjusting the rotation assistance is similar or the same as that of Embodiment 1, Embodiment 2 and / or Embodiment 3, and will not be described in detail here.

[0218] Accordingly, the present disclosure provides a cleaning device control method, which can be applied to the above cleaning device.

[0219] like Fig.15 Said method comprises:

[0220] Step 1501: The cleaning device is suspended above the surface to be cleaned, and the rotation assist force is adjusted so that the angle between the bottom surface of the floor brush assembly and the surface to be cleaned is smaller than a first predetermined angle.

[0221] like Fig.16 As shown in the figure, when using the cleaning device, the user may lift the cleaning device off the ground. Usually, when the cleaning device is lifted off the ground, the body assembly is approximately perpendicular to the ground (the surface to be cleaned). The floor brush assembly is affected by gravity and forms a certain angle with the ground. The front end of the floor brush assembly in the first direction is in a drooping state (such as Fig.16 As shown). Due to the working principle and structural limitations of the floor brush assembly, when the floor brush assembly falls from a state parallel to the ground to a low hanging state, water attached to the floor brush assembly may flow out of the floor brush assembly, thereby causing secondary pollution to the ground and affecting the user experience.

[0222] Here, the driving assembly can provide rotation assistance to adjust the posture of the floor brush assembly. Since the rotation assistance is mutual between the floor brush assembly and the body assembly, and the body assembly is usually heavier than the floor brush assembly, the driving assembly can drive the floor brush assembly to rotate around the rotation axis (such as Fig.16 As shown by arrow H), the angle between the floor brush assembly and the surface to be cleaned is adjusted. Fig.16 As shown, the floor brush assembly is adjusted from a hanging state to a state parallel to the surface to be cleaned.

[0223] Here, the first predetermined angle may include: an angle between the bottom surface of the floor brush assembly and the surface to be cleaned; and an angle between a perpendicular line between the floor brush axis of the floor brush assembly and the driving wheel axis and the surface to be cleaned.

[0224] The first predetermined angle can be determined based on the angle between the floor brush assembly and the surface to be cleaned in the cleaning state. For example, the first predetermined angle is equal to the angle between the floor brush assembly and the surface to be cleaned in the cleaning state.

[0225] In this way, when the cleaning device is lifted, the floor brush assembly can maintain the angle between the floor brush assembly and the surface to be cleaned in the cleaning state, so as to reduce the dripping of the floor brush assembly and improve the user experience.

[0226] In a possible implementation, whether the floor brush assembly is suspended can be determined by using a distance sensor disposed on the floor brush assembly and / or the body assembly for measuring the distance between the cleaning device and the surface to be cleaned.

[0227] The present disclosure also provides a cleaning device, which includes a controller and the components included in any of the above embodiments. The controller is used to execute the method described in any of the above embodiments.

[0228] The specific implementation method of the controller executing the cleaning equipment control method is as described in any of the above embodiments and will not be repeated here.

[0229] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above cleaning equipment control method is implemented.

[0230] The computer-readable storage medium provided in this embodiment can execute the control method of the cleaning device in the above-mentioned embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0231] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0232] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0233] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0234] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0235] In the description of this specification, reference to "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0236] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning equipment control method, characterized in that: The cleaning device comprises: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other for rotation about a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device also comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other; The method comprises: The rotation assistance is adjusted according to the motion state of the cleaning device.

2. The method according to claim 1, characterized in that The adjusting the rotation assistance according to the motion state of the cleaning device includes at least one of the following: The floor brush assembly moves forward along the first direction or moves backward along the second direction on the surface to be cleaned to clean the surface to be cleaned, and the rotation assist is adjusted based on the angle between the lengthwise centerline of the body assembly and the second direction to offset part of the gravity of the body assembly, wherein the lengthwise centerline is perpendicular to the rotation axis; The floor brush assembly stops cleaning, and the angle between the lengthwise centerline of the body assembly and the second direction is less than 90 degrees, and the rotation assist is adjusted to offset part of the gravity of the body assembly until the body assembly reaches a predetermined upright position; The cleaning device is suspended above the surface to be cleaned, and the rotation assist force is adjusted so that the angle between the bottom surface of the floor brush assembly and the surface to be cleaned is smaller than a first predetermined angle.

3. The method according to claim 2, characterized in that The adjusting the rotation assist based on the angle between the center line of the length direction of the fuselage component and the second direction to offset part of the gravity of the fuselage component includes at least one of the following: When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a first angle range, adjusting the rotation assist to a first value; When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a second angle range, the rotation assist is adjusted to a second value; wherein the minimum value of the second angle range is greater than or equal to the maximum value of the first angle range, and the maximum value of the second angle range is less than a second predetermined angle; wherein the first value is greater than the second value; When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a third angle range, the rotation assist is adjusted to a third value; wherein the minimum value of the third angle range is greater than or equal to the second predetermined angle; wherein the second value is greater than the third value; When the angle between the lengthwise centerline of the fuselage assembly and the second direction is within a fourth angle range, the rotation assist is adjusted to 0; wherein the minimum value of the fourth angle range is greater than the maximum value of the third angle range.

4. The method according to claim 3, characterized in that The second predetermined angle is 45 degrees; and / or The fourth angle range is an angle range between a center line in the length direction of the fuselage assembly and the second direction when the fuselage assembly is in a predetermined upright state.

5. The method according to claim 3, characterized in that: The second value is negatively correlated with the angle between the lengthwise centerline of the fuselage assembly and the second direction; and / or The third value is negatively correlated with an angle between a lengthwise centerline of the fuselage assembly and the second direction.

6. The method according to any one of claims 1 to 5, characterized in that: The adjusting the rotation assistance comprises: When the angle change between the longitudinal center line of the fuselage assembly and the second direction is greater than or equal to a predetermined angle change threshold, the rotation assist is adjusted.

7. A cleaning equipment control method, characterized in that: The cleaning device comprises: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other for rotation about a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device also comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other; The method comprises: The floor brush assembly moves forward along the first direction or moves backward along the second direction on the surface to be cleaned to clean the surface, and adjusts the rotation assist based on the angle between the lengthwise centerline of the body assembly and the second direction to offset part of the gravity of the body assembly, wherein the lengthwise centerline is perpendicular to the rotation axis.

8. The method according to claim 7, characterized in that The adjusting the rotation assist based on the angle between the center line of the length direction of the fuselage component and the second direction to offset part of the gravity of the fuselage component includes at least one of the following: When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a first angle range, adjusting the rotation assist to a first value; When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a second angle range, the rotation assist is adjusted to a second value; wherein the minimum value of the second angle range is greater than or equal to the maximum value of the first angle range, and the maximum value of the second angle range is less than a second predetermined angle; wherein the first value is greater than the second value; When the angle between the longitudinal center line of the fuselage assembly and the second direction is within a third angle range, the rotation assist is adjusted to a third value; wherein the minimum value of the third angle range is greater than or equal to the second predetermined angle; wherein the second value is greater than the third value; When the angle between the lengthwise centerline of the fuselage assembly and the second direction is within a fourth angle range, the rotation assist is adjusted to 0; wherein the minimum value of the fourth angle range is greater than the maximum value of the third angle range.

9. The method according to claim 8, characterized in that The second predetermined angle is 45 degrees; and / or The fourth angle range is an angle range between a center line in the length direction of the fuselage assembly and the second direction when the fuselage assembly is in a predetermined upright state.

10. The method according to claim 8, characterized in that The second value is negatively correlated with the angle between the lengthwise centerline of the fuselage assembly and the second direction; and / or The third value is negatively correlated with an angle between a lengthwise centerline of the fuselage assembly and the second direction.

11. The method according to any one of claims 7 to 10, characterized in that: The adjusting the rotation assistance comprises: When the angle change between the longitudinal center line of the fuselage assembly and the second direction is greater than or equal to a predetermined angle change threshold, the rotation assist is adjusted.

12. A cleaning equipment control method, characterized in that: The cleaning device comprises: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other for rotation about a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device also comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other; The method comprises: The floor brush assembly stops cleaning, and the angle between the lengthwise centerline of the body assembly and the second direction is less than 90 degrees, and the rotation assist is adjusted to offset part of the gravity of the body assembly until the body assembly reaches a predetermined upright position.

13. The method according to claim 12, characterized in that The adjusting the rotation assistance comprises: When the angle change between the longitudinal center line of the fuselage assembly and the second direction is greater than or equal to a predetermined angle change threshold, the rotation assist is adjusted.

14. A cleaning equipment control method, characterized in that: The cleaning device comprises: a body assembly and a floor brush assembly; the body assembly and the floor brush assembly are connected to each other for rotation about a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the driving force of at least a first external force applied by a user to the handle; the cleaning device also comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other; The method comprises: The cleaning device is suspended above the surface to be cleaned, and the rotation assist force is adjusted so that the angle between the bottom surface of the floor brush assembly and the surface to be cleaned is smaller than a first predetermined angle.

15. A cleaning equipment control method, characterized in that: The cleaning device comprises: a body assembly, a floor brush assembly and a controller; the body assembly and the floor brush assembly are connected to each other rotatably around a rotation axis, a handle is provided on the top of the body assembly, and the floor brush assembly can move forward in a first direction or move backward in a second direction on a surface to be cleaned under the drive of at least a first external force applied by a user to the handle; the cleaning device also comprises a driving assembly for providing a rotation assist for the body assembly and the floor brush assembly to rotate relative to each other; The controller is used to execute the cleaning equipment control method according to any one of claims 1 to 14.

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