Power assisting device, cleaning equipment, control method of cleaning equipment and readable storage medium

Abstract

The invention provides a power assisting device, cleaning equipment, a control method of the cleaning equipment and a readable storage medium. The power assisting device comprises a body; the rotating part is rotationally connected with the body; the driving mechanism is arranged on the body and used for driving the body to move in the driving direction; the detection assembly comprises a magnetic part and a Hall element, the magnetic part is arranged on the rotating part and can rotate along with the rotating part, the Hall element is arranged on the body, the Hall element is located on one side of the magnetic part and can detect the magnetic field of the magnetic part, and the detection assembly detects motion parameters of the body according to the Hall element and the magnetic part; the control assembly is electrically connected with the detection assembly and the driving mechanism and used for determining the movement trend of the body according to the movement parameters and controlling the driving mechanism to work according to the movement trend.

Description

Technical Field

[0001] The present invention relates to the technical field of household appliances, and in particular, to an assisting device, a cleaning device, a control method thereof, and a readable storage medium. Background Art

[0002] Currently, some household appliances are relatively heavy and it is laborious to move them. In the related art, an assisting device is provided for household appliances. However, in the household appliances in the related art, when moving forward, the driving mechanism provides forward assistance for the assisting device, and the user is relatively labor-saving. But when pulling the household appliance backward, the force generated between the assisting device and the ground is opposite to the force pulled by the user, and the user will be more laborious. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, the first aspect of the present invention provides an assisting device.

[0005] The second aspect of the present invention provides a cleaning device.

[0006] The third aspect of the present invention further provides a control method for a cleaning device.

[0007] The fourth aspect of the present invention further provides a readable storage medium.

[0008] In view of this, a first aspect of the present invention provides an assisting device, comprising: a main body; a rotating member rotatably connected to the main body; a driving mechanism provided on the main body for driving the main body to move in the driving direction; a detection assembly including a magnetic member and a Hall element, the magnetic member being provided on the rotating member and capable of rotating with the rotating member, the Hall element being provided on the main body, the Hall element being located on one side of the magnetic member and capable of detecting the magnetic field of the magnetic member, the detection assembly detecting the motion parameters of the main body based on the Hall element and the magnetic member; a control assembly electrically connected to the detection assembly and the driving mechanism, the control assembly being configured to determine the motion trend of the main body according to the motion parameters and control the driving mechanism to operate according to the motion trend. The assisting device provided by the present invention includes a main body, a rotating member, a driving mechanism, a detection assembly and a control assembly, and the main body moves through the rotating member. The detection assembly includes a Hall element and a magnetic member. The Hall element is provided on the main body, and the magnetic member is provided on the rotating member. During the rotation of the rotating member, the magnetic member can rotate with the rotating member, so that the magnetic member rotates relative to the Hall element. The Hall element generates a change in the electrical signal according to the detected change in the magnetic field, and further detects the motion parameters of the main body. The control assembly determines the motion trend of the main body according to the motion parameters of the main body, and then controls the driving mechanism to operate according to the motion trend to provide assistance for the motion of the main body, making it easier for the user during the cleaning process. The assisting device proposed in this application realizes the detection of the motion parameters of the main body through the cooperation of the magnetic member and the Hall element, and further provides assistance for the motion of the main body. The setting of the magnetic member and the Hall element has a simple structure and reduces the manufacturing cost. At the same time, by detecting the change in the magnetic field of the magnetic member by the Hall element, it is not affected by dirt and can realize continuous detection, thereby improving the accuracy of detecting the motion parameters of the main body.

[0009] According to the assisting device provided by the present invention, the following additional technical features may also be provided:

[0010] In some possible designs, the magnetic member includes a plurality of first magnetic poles and a plurality of second magnetic poles, and the plurality of first magnetic poles and the plurality of second magnetic poles are alternately arranged along the circumferential direction of the rotating member, so that the first magnetic poles and the second magnetic poles can alternately pass through the Hall element, and the Hall element generates a change in the electrical signal according to the magnetic field of the first magnetic pole and the magnetic field of the second magnetic pole, and the detection assembly determines the motion parameters according to the electrical signal of the Hall element.

[0011] In this design, the magnetic component includes a plurality of first magnetic poles and a plurality of second magnetic poles. The plurality of first magnetic poles and the plurality of second magnetic poles are alternately arranged along the circumferential direction of the rotating member. During the rotation of the rotating member, the magnetic component rotates with the rotating member, so that the plurality of first magnetic poles and the plurality of second magnetic poles alternately pass by the Hall element. The magnetic fields generated by the first magnetic poles and the second magnetic poles are different. Therefore, the Hall element can generate different electrical signals according to the change of the magnetic field. Furthermore, the detection component can detect the motion parameters of the body according to the different electrical signals, so as to provide assistance to the body according to the motion parameters. Among them, the plurality of first magnetic poles and the plurality of second magnetic poles are alternately arranged along the circumferential direction of the rotating member, which can realize the continuous detection of the signals in the circumferential direction of the rotating member, and thus improve the accuracy of detecting the motion parameters of the body.

[0012] In some possible designs, the electrical signal includes a voltage value; during the process of the first magnetic pole approaching the Hall element, the voltage value of the Hall element gradually increases, and during the process of the second magnetic pole approaching the Hall element, the voltage value of the Hall element gradually decreases. The detection component determines the motion parameters according to the waveform period of the voltage value.

[0013] In this design, the electrical signal includes a voltage value. The first magnetic pole and the second magnetic pole alternately pass by the Hall element with the rotation of the rotating member. During the process of the first magnetic pole approaching the Hall element, the voltage value of the Hall element gradually increases, and during the process of the second magnetic pole approaching the Hall element, the voltage value of the Hall element gradually decreases. Therefore, during the rotation of the rotating member, the waveform period of the voltage value of the Hall element will change accordingly, and thus the motion parameters can be determined according to the change of the waveform period of the voltage value.

[0014] In some possible designs, the Hall element includes a first Hall element and a second Hall element. The first Hall element and the second Hall element are arranged at intervals along the circumferential direction of the rotating member. The difference between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element is greater than 0° and less than 180°. Among them, the motion parameter includes the traveling direction, and the detection component determines the traveling direction according to the first phase and the second phase.

[0015] In this design, the Hall element includes a first Hall element and a second Hall element. The first Hall element and the second Hall element are arranged at intervals along the circumferential direction of the rotating member, and the difference between the first phase and the second phase is greater than 0° and less than 180°. When the rotating member rotates forward and backward, the phases of the first Hall element and the second Hall element are different. Therefore, the rotation direction of the rotating member can be determined according to the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element.

[0016] In some possible designs, the difference between the first phase and the second phase is equal to 90°.

[0017] In this design, the difference between the first phase and the second phase is equal to 90°, improving the accuracy of judging the rotation direction of the rotating member.

[0018] In some possible designs, one of the first magnetic pole and the second magnetic pole is an N pole, and the other is an S pole; and / or the number of the first magnetic poles is the same as the number of the second magnetic poles.

[0019] In this design, one of the first magnetic pole and the second magnetic pole is an N pole, and the other is an S pole. During the process of the N pole and the S pole alternately passing by the Hall element, the voltage value of the Hall element changes, and thus the motion parameters can be detected. The number of the first magnetic poles is the same as the number of the second magnetic poles, improving the stability of the magnetic field of the magnetic member.

[0020] In some possible designs, the magnetic member is in a ring shape, and the axis of the magnetic member coincides with the axis of the rotating member.

[0021] In this design, the magnetic member is arranged in a ring shape. When the magnetic member rotates with the rotating member, the Hall element can continuously sense the magnetic field of the magnetic member. Thus, during the rotation of the rotating member, the detection data of each position can be obtained, improving the detection accuracy and further improving the reliability of detecting the motion parameters of the body.

[0022] In some possible designs, the detection component further includes: a fixed cover plate and a circuit board. An installation groove is provided on the body, the circuit board is arranged in the installation groove, the fixed cover plate covers the installation groove, the Hall element is arranged on the circuit board, and the circuit board is electrically connected to the control component.

[0023] In this design, the detection component further includes a circuit board and a fixed cover plate. The circuit board is fixed on the body through the fixed cover plate, and the Hall element is arranged on the circuit board to realize the electrical connection between the Hall element and the control component.

[0024] In some possible designs, the detection component further includes: a positioning member. The rotating member includes a shaft hole, the positioning member passes through the shaft hole and is connected to the body, and the fixed cover plate and the circuit board surround the periphery of the positioning member.

[0025] In this design, the detection component further includes a positioning member. The positioning member passes through the shaft hole of the rotating member and is connected to the body to realize the positioning of the rotating member and the body. At the same time, the fixed cover plate and the circuit board surround the periphery of the positioning member, also making the circuit board correspond to the magnetic member on the rotating member to realize the detection of the motion parameters.

[0026] In some possible designs, the detection component further includes at least one of a magnetic sensor, a position sensor, an angle sensor, and an acceleration sensor for detecting motion parameters.

[0027] In this design, the detection component may further include one or more of a magnetic sensor, a position sensor, an angle sensor, and an acceleration sensor.

[0028] According to a second aspect of the present invention, there is also provided a cleaning device including the boosting device as described in any one of the first aspects.

[0029] Since the cleaning device proposed in the second aspect of the present invention includes the boosting device as described in any one of the first aspects, it has all the beneficial effects of the boosting device.

[0030] In some possible designs, the cleaning device further includes: a floor brush assembly, the floor brush assembly includes a housing and a rotary brush, the rotary brush is rotatably connected to the housing, wherein the housing includes a body, a driving mechanism is disposed inside the housing, a rotating member is rotatably connected to the housing, the driving mechanism is connected to the rotary brush and is used to drive the rotary brush to rotate so as to drive the housing to move along the traveling direction.

[0031] In this design, the cleaning device further includes a floor brush assembly, the floor brush assembly includes a housing and a rotary brush, the housing includes a body, the rotary brush is rotatably connected to the housing, the rotating member is rotatably connected to the housing, the driving mechanism is disposed inside the housing, and the driving mechanism is connected to the rotary brush and is used to drive the rotary brush to rotate, thereby realizing the cleaning of the ground to be cleaned. At the same time, a magnetic member is disposed on the rotating member, and a Hall element is disposed on the body, that is, the Hall element is disposed on the housing. Thus, during the movement of the floor brush assembly, the relative position between the Hall element and the magnetic member changes. Through the cooperation of the magnetic member and the Hall element, the detection of the movement parameters of the floor brush assembly is realized. Furthermore, when the control component determines the movement trend of the floor brush assembly, the driving mechanism is controlled to work, so as to drive the rotary brush to rotate through the driving mechanism, and then, through the frictional force between the rotary brush and the ground, provide boosting force for the movement of the floor brush assembly.

[0032] It can be understood that the boosting device can be a separate component, thereby realizing the boosting of various devices, such as the boosting of a vacuum cleaner, a mopping machine, a vacuum mopping integrated machine, etc.

[0033] Optionally, the boosting device can also be a part of the cleaning device. When the boosting device is a part of the cleaning device, the body of the boosting device is the housing of the floor brush assembly.

[0034] According to a third aspect of the present invention, there is also provided a control method for a cleaning device, which is used for the cleaning device as described in any one of the second aspects. The control method includes: obtaining the movement parameters of the floor brush assembly; determining the movement trend of the floor brush assembly according to the movement parameters, and controlling the driving mechanism to work according to the movement trend to provide boosting force for the floor brush assembly.

[0035] The control method of the cleaning device provided by the third aspect of the present invention includes obtaining the motion parameters of the floor brush assembly. According to the motion parameters, the motion trend of the floor brush assembly can be determined. Furthermore, when the floor brush assembly has a forward motion trend, the control drive mechanism provides assistance in the corresponding direction for the roller brush, so that the roller brush provides forward assistance through friction with the ground; when the floor brush assembly has a backward motion trend, the control drive mechanism provides assistance in the corresponding direction for the roller brush, so that the roller brush provides backward assistance through friction with the ground, thereby making it easier for the user to clean the floor.

[0036] In some possible designs, the steps of determining the motion trend of the floor brush assembly according to the motion parameters and controlling the drive mechanism to work according to the motion trend include: determining the motion trend of the floor brush assembly according to the motion parameters; when the motion trend is the first direction, controlling the drive mechanism to drive the roller brush to rotate in the second direction to provide assistance to the floor brush assembly in the first direction; when the motion trend is the third direction, controlling the drive mechanism to drive the roller brush to rotate in the fourth direction to provide assistance to the floor brush assembly in the third direction; the first direction and the third direction are opposite, and one of the second direction and the fourth direction is forward rotation and the other is reverse rotation.

[0037] In this design, according to the motion parameters, the motion trend of the floor brush assembly can be determined. When the motion trend is the first direction, it means that the user is about to push the floor brush assembly in the first direction. Furthermore, the control drive mechanism is controlled to drive the roller brush to move in the second direction to provide assistance to the floor brush assembly in the first direction. When the motion trend is the third direction, it means that the user is about to push the floor brush assembly in the third direction. Therefore, the control drive mechanism is controlled to drive the roller brush to move in the fourth direction to provide assistance to the floor brush assembly in the third direction. Among them, when the roller brush rotates in the second direction, it provides assistance to the floor brush assembly in the first direction through friction with the ground. When the roller brush rotates in the fourth direction, it provides assistance to the floor brush assembly in the third direction through friction with the ground.

[0038] Optionally, the driving directions include the first direction and the third direction.

[0039] In some possible designs, the motion parameters include the driving direction, the displacement of the rotating part, the speed of the rotating part, and the acceleration of the rotating part. The driving direction is the first direction or the third direction. The steps of determining the motion trend of the floor brush assembly according to the motion parameters include: when the driving direction is the third direction, the speed is less than or equal to the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration decreases, determining that the motion trend of the floor brush assembly is the first direction; when the driving direction is the first direction, the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration decreases, determining that the motion trend of the floor brush assembly is the third direction.

[0040] In this design, when it is detected that the traveling direction of the floor brush assembly is the third direction, and the speed is less than the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration is decreasing, it indicates that the distance the user pushes the floor brush assembly in the third direction reaches the threshold, and both the speed and acceleration decrease, that is, there is no longer a tendency to move in the third direction. Therefore, it is determined that the floor brush assembly is about to move in the first direction, that is, the floor brush assembly has a tendency to move in the first direction. Therefore, the drive mechanism is controlled to drive the roller brush to rotate in the second direction to provide assistance for the floor brush assembly to move in the first direction; when it is detected that the traveling direction of the floor brush assembly is the first direction, and the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration is decreasing, it indicates that the distance the user pushes the floor brush assembly in the first direction reaches the threshold, and the speed and acceleration decrease, that is, there is no longer a tendency to move in the first direction. Therefore, it is determined that the floor brush assembly needs to move in the third direction, that is, the floor brush assembly has a tendency to move in the third direction. Therefore, the drive mechanism is controlled to drive the roller brush to rotate in the fourth direction to provide assistance for the floor brush assembly to move in the third direction.

[0041] In some possible designs, the steps of obtaining the motion parameters of the floor brush assembly include: obtaining the voltage value of the Hall element and the running duration of the rotating member, and determining the waveform period of the voltage value of the Hall element according to the voltage value and the running duration; determining the displacement, speed, and acceleration according to the waveform period and the radius of the rotating member.

[0042] In this design, the steps of obtaining the displacement, speed, and acceleration specifically include: obtaining the voltage value of the Hall element and the running duration of the rotating member, and being able to determine the waveform period of the voltage value of the Hall element according to the voltage value and the running duration, so that according to the waveform period and the radius of the rotating member, the motion speed, displacement, and acceleration of the floor brush assembly can be calculated.

[0043] In some possible designs, the Hall element includes a first Hall element and a second Hall element, and the steps of obtaining the motion parameters of the floor brush assembly further include: obtaining the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element; determining the traveling direction according to the first phase and the second phase.

[0044] In this design, the Hall element includes a first Hall element and a second Hall element. The first Hall element and the second Hall element are arranged at intervals along the circumferential direction of rotation of the rotating member, such that the phase of the voltage value of the first Hall element is different from the phase of the voltage value of the second Hall element. When the rotating member rotates clockwise, the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element is different from the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element when the rotating member rotates counterclockwise. Thus, at the same moment, according to the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element, the traveling direction of the rotating member can be determined, so as to determine the movement trend of the floor brush assembly.

[0045] In some possible designs, the step of determining the traveling direction according to the first phase and the second phase includes: when the first phase is greater than the second phase, determining that the floor brush assembly moves along a first direction; when the first phase is less than the second phase, determining that the floor brush assembly moves along a third direction.

[0046] In this design, when the first phase is greater than the second phase, the waveform of the voltage value of the first Hall element is advanced, and the rotating member rotates clockwise (for example, rotates along a fourth direction), determining that the floor brush assembly moves along a first direction; when the first phase is less than the second phase, the waveform of the voltage value of the first Hall element lags, and the rotating member rotates counterclockwise (for example, rotates along a second direction), determining that the floor brush assembly moves along a third direction.

[0047] In a specific application, the waveforms of the voltage values of the first Hall element and the second Hall element differ by 90° in phase.

[0048] In some possible designs, before the step of obtaining the movement parameters of the floor brush assembly, it further includes: receiving an operation input for the cleaning device; in response to the operation input, entering a boost mode.

[0049] In this design, it is also possible to select whether to enter the boost mode before providing the boost. When receiving the user's operation input, enter the boost mode, and then obtain the movement parameters and determine the driving direction of the driving mechanism according to the movement parameters.

[0050] According to the fourth aspect of the present invention, there is also provided a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, it executes the control method of the cleaning device according to any item of the third aspect.

[0051] The additional aspects and advantages of the present invention will become apparent in the following description section, or be understood through the practice of the present invention. Description of the Drawings

[0052] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0053] Figure 1 FIG. 4 shows one of the schematic structural diagrams of a cleaning device according to an embodiment of the present invention;

[0054] Figure 2 FIG. 8 shows another schematic structural diagram of a cleaning device according to an embodiment of the present invention;

[0055] Figure 3 FIG. 12 shows yet another schematic structural diagram of a cleaning device according to an embodiment of the present invention;

[0056] Figure 4 FIG. 16 shows one of the schematic structural diagrams of a detection component according to an embodiment of the present invention;

[0057] Figure 5 FIG. 20 shows another schematic structural diagram of a detection component according to an embodiment of the present invention;

[0058] Figure 6 FIG. 24 shows yet another schematic structural diagram of a detection component according to an embodiment of the present invention;

[0059] Figure 7 FIG. 28 shows still another schematic structural diagram of a detection component according to an embodiment of the present invention;

[0060] Figure 8 FIG. 32 shows yet another schematic structural diagram of a detection component according to an embodiment of the present invention;

[0061] Figure 9 FIG. 36 shows a waveform diagram obtained by a first Hall element and a second Hall element when a rotating member rotates clockwise according to an embodiment of the present invention;

[0062] Figure 10 FIG. 40 shows a waveform diagram obtained by a first Hall element and a second Hall element when a rotating member rotates counterclockwise according to an embodiment of the present invention;

[0063] Figure 11 FIG. 44 shows a schematic block diagram of a cleaning device according to an embodiment of the present invention;

[0064] Figure 12 FIG. 48 shows one of the schematic flow diagrams of a control method for a cleaning device according to an embodiment of the present invention;

[0065] Figure 13 FIG. 52 shows another schematic flow diagram of a control method for a cleaning device according to an embodiment of the present invention;

[0066] Figure 14 FIG. 56 shows a schematic block diagram of a control device for a cleaning device according to an embodiment of the present invention;

[0067] Figure 15 The schematic block diagram of an electronic device according to an embodiment of the present invention is shown.

[0068] Among them, Figures 1 to 8 、 Figure 11 The correspondence between the reference numerals and the component names in the drawings is as follows:

[0069] 1 floor brush assembly, 10 body, 100 mounting groove, 12 roller brush, 14 rotating member, 140 shaft hole, 2 drive mechanism, 3 detection assembly, 30 magnetic member, 300 first magnetic pole, 302 second magnetic pole, 31 Hall element, 310 first Hall element, 312 second Hall element, 32 circuit board, 33 fixed cover plate, 34 positioning member, 4 control assembly, 5 handle, 6 fuselage, 7 cleaning device. Detailed implementation manners

[0070] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0071] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0072] Next, refer to Figures 1 to 15 A cleaning device, its control method, device, electronic device and readable storage medium according to some embodiments of the present invention are described.

[0073] As Figure 1 and Figure 2 shown, according to an embodiment of the present invention, a boosting device is proposed, including: a body 10, a rotating member 14, a drive mechanism 2, a detection assembly 3 and a control assembly 4.

[0074] Specifically, the rotating member 14 is rotatably connected to the body 10; the drive mechanism 2 is disposed on the body 10 and is used to drive the body 10 to move along the traveling direction; the detection assembly 3 includes a magnetic member 30 and a Hall element 31. The magnetic member 30 is disposed on the rotating member 14 and can rotate with the rotating member 14. The Hall element 31 is disposed on the body 10. The Hall element 31 is located on one side of the magnetic member 30 and can detect the magnetic field of the magnetic member 30. The detection assembly 3 detects the motion parameters of the body 10 according to the Hall element 31 and the magnetic member 30; the control assembly 4 is electrically connected to the detection assembly 3 and the drive mechanism 2. The control assembly 4 is used to determine the motion trend of the body 10 according to the motion parameters and control the drive mechanism 2 to work according to the motion trend.

[0075] The assisting device provided by the present invention includes a main body 10, a rotating member 14, a driving mechanism 2, a detection component 3, and a control component 4. The main body 10 moves through the rotating member 14. The detection component 3 includes a Hall element 31 and a magnetic member 30. The Hall element 31 is disposed on the main body 10, and the magnetic member 30 is disposed on the rotating member 14. During the rotation of the rotating member 14, the magnetic member 30 can rotate with the rotating member 14, so that the magnetic member 30 rotates relative to the Hall element 31. The Hall element 31 generates a change in the electrical signal according to the detected change in the magnetic field, and then detects the motion parameters of the main body 10. The control component 4 determines the motion trend of the main body 10 according to the motion parameters of the main body 10, and then controls the driving mechanism 2 to work according to the motion trend to provide assistance for the motion of the main body 10, making it easier for the user during the cleaning process. In the assisting device proposed in this application, through the cooperation of the magnetic member 30 and the Hall element 31, the detection of the motion parameters of the main body 10 is realized, and then assistance is provided for the motion of the roller brush 12. The settings of the magnetic member 30 and the Hall element 31 are simple in structure, reducing the manufacturing cost. At the same time, by detecting the change in the magnetic field of the magnetic member 30 by the Hall element 31, it is not affected by dirt and can achieve continuous detection, thereby improving the accuracy of detecting the motion parameters of the main body 10.

[0076] In specific applications, when the main body 10 needs forward assistance, the driving mechanism 2 drives the main body 10 to rotate forward; when the main body 10 needs backward assistance, the driving mechanism 2 drives the main body 10 to rotate backward. Optionally, the driving direction includes the motion direction of the main body 10, such as the first direction or the third direction.

[0077] It can be understood that the Hall element 31 can generate corresponding electrical signals by detecting the magnetic field.

[0078] It should be noted that the motion trend of the main body 10 is forward motion (such as the first direction) or backward motion (such as the third direction).

[0079] Optionally, the driving mechanism 2 includes a motor.

[0080] As Figures 4 to 8 shown, according to some embodiments of the present application, optionally, the magnetic member 30 includes a plurality of first magnetic poles 300 and a plurality of second magnetic poles 302. The plurality of first magnetic poles 300 and the plurality of second magnetic poles 302 are alternately arranged along the circumferential direction of the rotating member 14, so that the first magnetic poles 300 and the second magnetic poles 302 can alternately pass through the Hall element 31. The Hall element 31 generates a change in the electrical signal according to the magnetic field of the first magnetic pole 300 and the magnetic field of the second magnetic pole 302, and the detection component 3 determines the motion parameters according to the electrical signal of the Hall element 31.

[0081] In this embodiment, the magnetic member 30 includes a plurality of first magnetic poles 300 and a plurality of second magnetic poles 302. The plurality of first magnetic poles 300 and the plurality of second magnetic poles 302 are alternately arranged along the circumferential direction of the rotating member 14. During the rotation of the rotating member 14, the magnetic member 30 rotates with the rotating member 14, so that the plurality of first magnetic poles 300 and the plurality of second magnetic poles 302 alternately pass by the Hall element 31. The magnetic fields generated by the first magnetic poles 300 and the second magnetic poles 302 are different. Therefore, the Hall element 31 can generate different electrical signals according to the change of the magnetic field. Furthermore, the detection assembly 3 can detect the motion parameters of the main body 10 according to the different electrical signals, so as to assist the motion of the main body 10 according to the motion parameters. Among them, the plurality of first magnetic poles 300 and the plurality of second magnetic poles 302 are alternately arranged along the circumferential direction of the rotating member 14, which can realize the continuous detection of the signals in the circumferential direction of the rotating member 14, and further improve the accuracy of detecting the motion parameters of the main body 10.

[0082] It can be understood that the electrical signal includes a voltage value. Optionally, the electrical signal further includes a current value.

[0083] It can be understood that the magnetic member 30 may include alternately arranged first magnets and second magnets. The magnetic poles of the first magnets and the second magnets facing the Hall element 31 are the first magnetic poles 300 and the second magnetic poles 302 respectively. The magnetic member 30 may also be a whole magnet, and the first magnetic poles 300 and the second magnetic poles 302 are alternated by magnetization.

[0084] According to some embodiments of the present application, optionally, the electrical signal includes a voltage value; during the process of the first magnetic pole 300 approaching the Hall element 31, the voltage value of the Hall element 31 gradually increases, and during the process of the second magnetic pole 302 approaching the Hall element 31, the voltage value of the Hall element 31 gradually decreases. The detection assembly 3 determines the motion parameters according to the waveform period of the voltage value.

[0085] In this embodiment, the electrical signal includes a voltage value. The first magnetic poles 300 and the second magnetic poles 302 alternately pass by the Hall element 31 as the rotating member 14 rotates. During the process of the first magnetic pole 300 approaching the Hall element 31, the voltage value of the Hall element 31 gradually increases, and during the process of the second magnetic pole 302 approaching the Hall element 31, the voltage value of the Hall element 31 gradually decreases. Therefore, during the rotation of the rotating member 14, the waveform period of the voltage value of the Hall element 31 will change accordingly, and thus the motion parameters can be determined according to the change of the waveform period of the voltage value.

[0086] In a specific application, during the process of the first magnetic pole 300 approaching the Hall element 31, the voltage value of the Hall element 31 gradually increases to 5V. During the process of the second magnetic pole 302 approaching the Hall element 31, the voltage value of the Hall element 31 gradually decreases to 0V. During the rotation of the rotating member 14, the voltage value changes between 0V and 5V, and the generated waveform also changes with the traveling direction, moving speed, acceleration, and displacement of the floor brush assembly 1. Therefore, according to the waveform period of the Hall element 31, the traveling direction, moving speed, acceleration, and displacement of the main body 10 can be detected, and then the movement trend of the main body 10 can be determined to control the drive mechanism 2 to provide assistance for the movement of the main body 10.

[0087] As Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 shown, according to some embodiments of the present application, optionally, the Hall element 31 includes a first Hall element 310 and a second Hall element 312. The first Hall element 310 and the second Hall element 312 are arranged at intervals along the circumferential direction of the rotating member 14. The difference between the first phase of the voltage value of the first Hall element 310 and the second phase of the voltage value of the second Hall element 312 is greater than 0° and less than 180°. Among them, the motion parameter includes the traveling direction, and the detection assembly 3 determines the traveling direction according to the first phase and the second phase.

[0088] In this embodiment, the Hall element 31 includes a first Hall element 310 and a second Hall element 312. The first Hall element 310 and the second Hall element 312 are arranged at intervals along the circumferential direction of the rotating member 14, and the difference between the first phase and the second phase is greater than 0° and less than 180°. When the rotating member 14 rotates forward and backward, the phases of the first Hall element 310 and the second Hall element 312 are different. Therefore, the rotation direction of the rotating member 14 can be determined according to the relationship between the first phase of the voltage value of the first Hall element 310 and the second phase of the voltage value of the second Hall element 312.

[0089] It can be understood that when the main body 10 moves forward (for example, moves along the first direction), the rotating member 14 rotates counterclockwise (for example, rotates along the second direction). When the main body 10 moves backward (for example, moves along the third direction), the rotating member 14 rotates clockwise (for example, rotates along the fourth direction).

[0090] Specifically, when the magnetic member 30 is magnetized with 12 pairs of poles, the positions of the first Hall element 310 and the second Hall element 312 are shown as Figure 4 and Figure 5 shown; taking the Hall sensor at the bottom as the first Hall element 310, the second Hall element 312 can be placed at any position corresponding to the center of the N / S pole.

[0091] As shown Figure 6 in FIG. Figure 6 , an embodiment of the arrangement positions of the first Hall element 310 and the second Hall element 312 when the magnetic member 30 has 8 pole pairs is shown.

[0092] As shown Figure 7 in FIG. Figure 7 , an embodiment of the arrangement positions of the first Hall element 310 and the second Hall element 312 when the magnetic member 30 has 1 pole pair is shown.

[0093] As shown Figure 8 in FIG. Figure 8 , an embodiment of the arrangement positions of the first Hall element 310 and the second Hall element 312 when the magnetic member 30 has 24 pole pairs is shown.

[0094] According to some embodiments of the present application, optionally, the difference between the first phase and the second phase is equal to 90°.

[0095] In this embodiment, the difference between the first phase and the second phase is equal to 90°, improving the accuracy of judging the rotation direction of the rotating member 14.

[0096] According to some embodiments of the present application, optionally, one of the first magnetic pole 300 and the second magnetic pole 302 is an N pole and the other is an S pole; and / or the number of the first magnetic poles 300 is the same as the number of the second magnetic poles 302.

[0097] In this embodiment, one of the first magnetic pole 300 and the second magnetic pole 302 is an N pole and the other is an S pole. During the process of the N pole and the S pole alternately passing through the Hall element 31, the voltage value of the Hall element 31 changes, and thus the motion parameters can be detected. The number of the first magnetic poles 300 is the same as the number of the second magnetic poles 302, improving the stability of the magnetic field of the magnetic member 30.

[0098] In a specific application, the first magnetic pole 300 is an S pole and the second magnetic pole 302 is an N pole. Optionally, as shown Figure 4 and Figure 5 in FIGS. Figure 5 , the number of the first magnetic poles 300 is 12, the number of the second magnetic poles 302 is 12, the magnetic member 30 has 12 pole pairs, and when the rotating member 14 rotates one week, the waveform of the Hall element 31 experiences 12 cycles.

[0099] As shown Figure 2 、 Figures 4 to 6 and Figure 8 in FIGS. Figure 8 , according to some embodiments of the present application, optionally, the magnetic member 30 is annular, and the axis of the magnetic member 30 coincides with the axis of the rotating member 14.

[0100] In this embodiment, the magnetic member 30 is arranged in a ring shape. When the magnetic member 30 rotates with the rotating member 14, the Hall element 31 can continuously sense the magnetic field of the magnetic member 30. Thus, during the rotation of the rotating member 14, detection data for each position can be obtained, improving the detection accuracy and further enhancing the reliability of detecting the motion parameters of the main body 10.

[0101] As Figure 1 shown, according to some embodiments of the present application, optionally, the detection component 3 further includes: a fixed cover plate 33 and a circuit board 32. An installation groove 100 is provided on the main body 10. The circuit board 32 is arranged in the installation groove 100, the fixed cover plate 33 covers the installation groove 100, the Hall element 31 is arranged on the circuit board 32, and the circuit board 32 is electrically connected to the control component 4.

[0102] In this embodiment, the detection component 3 further includes a circuit board 32 and a fixed cover plate 33. The circuit board 32 is fixed to the main body 10 through the fixed cover plate 33, and the Hall element 31 is arranged on the circuit board 32 to achieve the electrical connection between the Hall element 31 and the control component 4.

[0103] It can be understood that the installation groove 100 has an open end, and the fixed cover plate 33 covers the open end.

[0104] In a specific application, the circuit board 32 is in a ring shape. Optionally, the fixed cover plate 33 is in a ring shape.

[0105] As Figure 2 shown, according to some embodiments of the present application, optionally, the assisting device further includes: a positioning member 34. The rotating member 14 includes a shaft hole 140. The positioning member 34 passes through the shaft hole 140 and is connected to the main body 10, and the fixed cover plate 33 and the circuit board 32 surround the circumferential side of the positioning member 34.

[0106] In this design, the assisting device further includes a positioning member 34. The positioning member 34 passes through the shaft hole 140 of the rotating member 14 and is connected to the main body 10 to achieve the positioning of the rotating member 14 and the main body 10. At the same time, the fixed cover plate 33 and the circuit board 32 surround the circumferential side of the positioning member 34, also making the circuit board 32 correspond to the magnetic member 30 on the rotating member 14 to achieve the detection of motion parameters.

[0107] Optionally, the positioning member 34 includes a positioning pin.

[0108] Optionally, the axis of the positioning member 34 coincides with the axis of the rotating member 14 and the axis when the magnetic member 30 rotates with the rotating member 14.

[0109] According to some embodiments of the present application, optionally, the detection component 3 further includes at least one of a magnetic sensor, a position sensor, an angle sensor, and an acceleration sensor for detecting motion parameters.

[0110] In this embodiment, the detection component 3 may further include one or more of a magnetic sensor, a position sensor, an angle sensor, and an acceleration sensor.

[0111] In a specific application, the Hall element 31 is a linear Hall element.

[0112] Such as Figure 1 and Figure 3 As shown in, according to an embodiment of the present invention, a cleaning device 7 is further proposed, including the boosting device proposed in any of the above embodiments.

[0113] The cleaning device 7 proposed by the present invention includes the boosting device proposed in any one of them, so it has all the beneficial effects of the boosting device.

[0114] Such as Figure 3 and Figure 11 As shown in, according to some embodiments of the present application, optionally, the cleaning device 7 further includes: a floor brush assembly 1, the floor brush assembly 1 includes a housing and a rolling brush 12, the rolling brush 12 is rotatably connected to the housing, wherein the housing includes a body 10, a driving mechanism 2 is arranged in the housing, a rotating member 14 is rotatably connected to the housing, the driving mechanism 2 is connected to the rolling brush 12, and is used to drive the rolling brush 12 to rotate to drive the housing to move along the traveling direction.

[0115] In this embodiment, the cleaning device 7 further includes a floor brush assembly 1, the floor brush assembly 1 includes a housing and a rolling brush 12, the housing includes a body 10, the rolling brush 12 is rotatably connected to the housing, a rotating member 14 is rotatably connected to the housing, a driving mechanism 2 is arranged in the housing, and the driving mechanism 2 is connected to the rolling brush 12, and is used to drive the rolling brush 12 to rotate, so as to realize the cleaning of the ground to be cleaned. At the same time, a magnetic member 30 is arranged on the rotating member 14, and a Hall element 31 is arranged on the body 10, that is, the Hall element 31 is arranged on the housing. Therefore, during the movement of the floor brush assembly 1, the relative positions of the Hall element 31 and the magnetic member 30 change. Through the cooperation of the magnetic member 30 and the Hall element 31, the detection of the motion parameters of the floor brush assembly 1 is realized. Furthermore, when the control component 4 determines the motion trend of the floor brush assembly 1, the driving mechanism 2 is controlled to work, so as to drive the rolling brush 12 to rotate through the driving mechanism 2, and then through the friction between the rolling brush 12 and the ground, provide assistance for the movement of the floor brush assembly 1.

[0116] In a specific application, the control component 4 is used to determine the motion trend of the floor brush assembly 1 according to the motion parameters, and control the driving mechanism 2 to work according to the motion trend.

[0117] Optionally, the rotating member 14 includes the roller of the floor brush assembly 1. Specifically, the rotating member 14 is the rear wheel of the floor brush assembly 1.

[0118] It can be understood that when the user mops the floor, the floor brush assembly 1 is pushed and pulled back and forth through the handle 5 of the cleaning device, so that the floor brush assembly 1 moves back and forth. When the floor brush assembly 1 needs forward assistance, the drive mechanism 2 drives the roller brush 12 to rotate forward, and provides forward assistance through the friction with the ground; when the floor brush assembly 1 needs backward assistance, the drive mechanism 2 drives the roller brush 12 to rotate backward, and provides backward assistance through the friction with the ground.

[0119] It should be noted that the movement trend of the floor brush assembly 1 is forward movement (for example, the first direction) or backward movement (for example, the third direction).

[0120] It can be understood that the assisting device is a part of the cleaning device 7, and the main body 10 of the assisting device is the housing of the floor brush assembly 1.

[0121] According to an embodiment of the present invention, a control method for a cleaning device is also proposed, which is used for the cleaning device proposed in any of the above embodiments.

[0122] As Figure 12 shown, a schematic flow chart of the control method of the cleaning device according to an embodiment of the present application is shown. The control method includes:

[0123] Step 102: Obtain the motion parameters of the floor brush assembly;

[0124] Step 104: Determine the motion trend of the floor brush assembly according to the motion parameters, and control the drive mechanism to work according to the motion trend to provide assistance for the floor brush assembly.

[0125] The control method of the cleaning device provided by the present invention includes obtaining the motion parameters of the floor brush assembly. According to the motion parameters, the motion trend of the floor brush assembly can be determined. Furthermore, when the floor brush assembly has a forward motion trend, the drive mechanism is controlled to provide assistance in the corresponding direction for the roller brush, so that the roller brush provides forward assistance through the friction with the ground; when the floor brush assembly has a backward motion trend, the drive mechanism is controlled to provide assistance in the corresponding direction for the roller brush, so that the roller brush provides backward assistance through the friction with the ground, thereby making it easier for the user to clean the floor.

[0126] It can be understood that the drive mechanism is connected to the roller brush and is used to drive the roller brush to move, so as to provide assistance for the movement of the floor brush assembly.

[0127] It should be noted that there is friction between the roller brush and the ground when it rotates. When the user pushes the cleaning device forward, the roller brush rotates forward, and the friction between the roller brush and the ground will help the cleaning device move forward, thus realizing forward self-assistance and making it easier for the user to use; however, when the user wants to pull the cleaning device back, if the roller brush still rotates forward at this time, the friction between the roller brush and the ground will become an obstacle, making it more difficult for the user to use; therefore, it is necessary to switch the driving direction of the roller brush to reverse at an appropriate time.

[0128] Optionally, the movement trend of the floor brush assembly is determined according to the movement parameters, that is, the appropriate timing is determined according to the movement parameters, and then the traveling direction of the rotary brush is switched to the direction that can provide assistance.

[0129] According to some embodiments of the present application, optionally, the step of determining the movement trend of the floor brush assembly according to the movement parameters and controlling the driving mechanism to work according to the movement trend includes: determining the movement trend of the floor brush assembly according to the movement parameters; when the movement trend is the first direction, controlling the driving mechanism to drive the rotary brush to rotate in the second direction to provide assistance to the floor brush assembly in the first direction; when the movement trend is the third direction, controlling the driving mechanism to drive the rotary brush to rotate in the fourth direction to provide assistance to the floor brush assembly in the third direction; the first direction and the third direction are opposite, and one of the second direction and the fourth direction is forward rotation and the other is reverse rotation.

[0130] In this embodiment, the movement trend of the floor brush assembly can be determined according to the movement parameters. When the movement trend is the first direction, it indicates that the user is about to push the floor brush assembly in the first direction, and then the driving mechanism is controlled to drive the rotary brush to move in the second direction to provide assistance to the floor brush assembly in the first direction. When the movement trend is the third direction, it indicates that the user is about to push the floor brush assembly in the third direction. Therefore, the driving mechanism is controlled to drive the rotary brush to move in the fourth direction to provide assistance to the floor brush assembly in the third direction. Among them, when the rotary brush rotates in the second direction, assistance in the first direction is provided to the floor brush assembly through friction with the ground. When the rotary brush rotates in the fourth direction, assistance in the third direction is provided to the floor brush assembly through friction with the ground.

[0131] In a specific application, the first direction is forward movement, the third direction is backward movement, the second direction is forward rotation, and the fourth direction is reverse rotation.

[0132] According to some embodiments of the present application, optionally, the movement parameters include the traveling direction, the displacement of the rotating member, the speed of the rotating member, and the acceleration of the rotating member. The traveling direction is the first direction or the third direction. The step of determining the movement trend of the floor brush assembly according to the movement parameters includes: when the traveling direction is the third direction, the speed is less than or equal to the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration decreases, determining that the movement trend of the floor brush assembly is the first direction; when the traveling direction is the first direction, the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration decreases, determining that the movement trend of the floor brush assembly is the third direction.

[0133] In this embodiment, when it is detected that the moving direction of the floor brush assembly is the third direction, and the speed is less than the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration is decreasing, it indicates that the distance the user pushes the floor brush assembly in the third direction reaches the threshold, and both the speed and the acceleration decrease, that is, there is no tendency to move in the third direction anymore. Therefore, it is determined that the floor brush assembly is about to move in the first direction, that is, the floor brush assembly has a tendency to move in the first direction. Thus, the driving mechanism is controlled to drive the rolling brush to rotate in the second direction to provide assistance for the floor brush assembly to move in the first direction; when it is detected that the moving direction of the floor brush assembly is the first direction, and the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration is decreasing, it indicates that the distance the user pushes the floor brush assembly in the first direction reaches the threshold, and the speed and the acceleration decrease, that is, there is no tendency to move in the first direction anymore. Therefore, it is determined that the floor brush assembly needs to move in the third direction, that is, the floor brush assembly has a tendency to move in the third direction. Thus, the driving mechanism is controlled to drive the rolling brush to rotate in the fourth direction to provide assistance for the floor brush assembly to move in the third direction.

[0134] In specific applications, the first displacement range and the second displacement range can be set according to actual situations. Optionally, the first displacement range is greater than or equal to 20 cm and less than or equal to 200 cm. The second displacement range is greater than or equal to 20 cm and less than or equal to 200 cm.

[0135] The first speed range and the second speed range can be set according to actual situations. Optionally, the first speed range is greater than or equal to 0 cm / s and less than or equal to 10 cm / s. Optionally, the second speed range is greater than or equal to 0 cm / s and less than or equal to 10 cm / s.

[0136] In specific applications, the magnetic part rotates as the rotating part (such as the rear wheel) rolls. When the S pole of the magnetic part approaches the Hall element, the voltage value gradually increases to 5V. When the N pole of the magnetic part approaches the Hall element, the voltage value gradually decreases to 0V; when the rear wheel rotates one week, the waveform between the voltage value and the running time experiences 12 cycles. According to the waveform cycle, the angular velocity of the rear wheel movement can be obtained. Thus, according to the radius of the rear wheel, the speed, displacement, and acceleration of the floor brush assembly can be calculated. The radius of the rear wheel can be set according to actual situations.

[0137] According to some embodiments of the present application, optionally, the step of obtaining the motion parameters of the floor brush assembly includes: obtaining the voltage value of the Hall element and the running time of the rotating part, and determining the waveform cycle of the voltage value of the Hall element according to the voltage value and the running time; determining the displacement, speed, and acceleration according to the waveform cycle and the radius of the rotating part.

[0138] In this embodiment, the steps of obtaining displacement, speed, and acceleration specifically include: obtaining the voltage value of the Hall element and the running duration of the rotating member. According to the voltage value and the running duration, the waveform period of the voltage value of the Hall element can be determined. Thus, according to the waveform period and the radius of the rotating member, the movement speed, displacement, and acceleration of the floor brush assembly can be calculated.

[0139] Specifically, the speed calculation method is as follows: Set the diameter of the rear wheel as d (for example, 58 mm); the number of waveform periods for the rear wheel to roll one week is 12; that is, the current waveform period obtained according to the waveform is T; then the magnitude of the speed V is: V = (π×d) / (12×T); the method for determining the speed direction is the same as the method for judging the traveling direction of the floor brush assembly when judging the forward and reverse rotation of the roller brush.

[0140] The displacement calculation method is as follows: According to the waveform, the number of running periods is n; the magnitude of the displacement is (n×π×d) / 12; the displacement direction is the traveling direction of the floor brush assembly.

[0141] The calculation method of the acceleration a is: The magnitude of the acceleration can be calculated according to a = (V1 - V2) / t, where t is the duration, and V1 and V2 are the initial speed and the final speed within the duration t, respectively.

[0142] According to some embodiments of the present application, optionally, the Hall element includes a first Hall element and a second Hall element. The steps of obtaining the motion parameters of the floor brush assembly further include: obtaining the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element; determining the traveling direction according to the first phase and the second phase.

[0143] In this embodiment, the Hall element includes a first Hall element and a second Hall element. The first Hall element and the second Hall element are arranged at intervals along the circumferential direction of the rotation of the rotating member, so that the phase of the voltage value of the first Hall element is different from the phase of the voltage value of the second Hall element. When the rotating member rotates clockwise, the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element is different from the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element when the rotating member rotates counterclockwise. Furthermore, at the same moment, according to the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element, the traveling direction of the rotating member can be determined, so as to determine the motion trend of the floor brush assembly.

[0144] According to some embodiments of the present application, optionally, the step of determining the traveling direction according to the first phase and the second phase includes: when the first phase is greater than the second phase, determining that the floor brush assembly moves along the first direction; when the first phase is less than the second phase, determining that the floor brush assembly moves along the third direction.

[0145] In this embodiment, when the first phase is greater than the second phase, the waveform of the voltage value of the first Hall element leads, the rotating member rotates clockwise (for example, rotates along the fourth direction), and it is determined that the brush assembly moves along the first direction; when the first phase is less than the second phase, the waveform of the voltage value of the first Hall element lags, the rotating member rotates counterclockwise (for example, rotates along the second direction), and it is determined that the brush assembly moves along the third direction.

[0146] In a specific application, the waveforms of the voltage values of the first Hall element and the second Hall element differ in phase by 90°.

[0147] According to some embodiments of the present application, optionally, before the step of obtaining the motion parameters of the brush assembly, it further includes: receiving an operation input for the cleaning device; in response to the operation input, entering the boosting mode.

[0148] In this embodiment, it is also possible to select whether to enter the boosting mode before providing the boost. When receiving the user's operation input, enter the boosting mode, then obtain the motion parameters, and determine the driving direction of the driving mechanism according to the motion parameters.

[0149] As Figure 14 shown, according to an embodiment of the present invention, a control device 400 for a cleaning device is further proposed, which is used for the cleaning device proposed in any one of the above. The control device includes: an acquisition unit 402, which acquires the motion parameters of the brush assembly; a control unit 404, which determines the motion trend of the brush assembly according to the motion parameters, and controls the driving mechanism to work according to the motion trend to provide boost for the brush assembly.

[0150] The control device 400 for the cleaning device proposed in the present application includes an acquisition unit 402 and a control unit 404. The acquisition unit 402 is used to acquire the motion parameters of the brush assembly, and the control unit 404 is used to determine the motion trend of the brush assembly according to the motion parameters. Then, when the brush assembly has a tendency to move forward, the control driving mechanism provides boost in the corresponding direction for the roller brush, so that the roller brush provides forward boost through friction with the ground; when the brush assembly has a tendency to move backward, the control driving mechanism provides boost in the corresponding direction for the roller brush, so that the roller brush provides backward boost through friction with the ground, thereby making it easier for the user to clean the ground.

[0151] It can be understood that the driving mechanism is connected to the roller brush and is used to drive the roller brush to move to provide boost for the movement of the brush assembly.

[0152] It should be noted that there is friction between the rotating roller brush and the ground. When the user pushes the cleaning device forward, the roller brush rotates forward, and the friction between it and the ground will help the cleaning device move forward, thus realizing forward self-assistance and making it easier for the user to use. However, when the user wants to pull the cleaning device back, if the roller brush still rotates forward at this time, the friction between the roller brush and the ground becomes an obstacle, making it more laborious for the user to use. Therefore, it is necessary to switch the driving direction of the roller brush to reverse at an appropriate time.

[0153] Optionally, determine the movement trend of the floor brush assembly according to the motion parameters, that is, determine the appropriate time according to the motion parameters, and then switch the driving direction of the roller brush to the direction that can provide assistance.

[0154] According to some embodiments of the present application, optionally, the control unit 404 determines the movement trend of the floor brush assembly according to the motion parameters, and the steps of controlling the driving mechanism to work according to the movement trend include: determining the movement trend of the floor brush assembly according to the motion parameters; when the movement trend is the first direction, controlling the driving mechanism to drive the roller brush to rotate in the second direction to provide assistance to the floor brush assembly in the first direction; when the movement trend is the third direction, controlling the driving mechanism to drive the roller brush to rotate in the fourth direction to provide assistance to the floor brush assembly in the third direction; the first direction and the third direction are opposite, and one of the second direction and the fourth direction is forward rotation and the other is reverse rotation.

[0155] In this embodiment, the movement trend of the floor brush assembly can be determined according to the motion parameters. When the movement trend is the first direction, it means that the user is about to push the floor brush assembly in the first direction, and then control the driving mechanism to drive the roller brush to move in the second direction to provide assistance to the floor brush assembly in the first direction. When the movement trend is the third direction, it means that the user is about to push the floor brush assembly in the third direction. Therefore, control the driving mechanism to drive the roller brush to move in the fourth direction to provide assistance to the floor brush assembly in the third direction. Among them, when the roller brush rotates in the second direction, it provides assistance to the floor brush assembly in the first direction through friction with the ground. When the roller brush rotates in the fourth direction, it provides assistance to the floor brush assembly in the third direction through friction with the ground.

[0156] In specific applications, the first direction is forward movement, the third direction is backward movement, the second direction is forward rotation, and the fourth direction is reverse rotation.

[0157] According to some embodiments of the present application, optionally, the motion parameters include the traveling direction, the displacement of the rotating member, the speed of the rotating member, and the acceleration of the rotating member. The traveling direction is the first direction or the third direction. The step of the control unit 404 determining the motion trend of the floor brush assembly according to the motion parameters includes: when the traveling direction is the third direction, the speed is less than or equal to the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration decreases, determining that the motion trend of the floor brush assembly is the first direction; when the traveling direction is the first direction, the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration decreases, determining that the motion trend of the floor brush assembly is the third direction.

[0158] In this embodiment, when it is detected that the traveling direction of the floor brush assembly is the third direction, and the speed is less than the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration decreases, it indicates that the distance that the user pushes the floor brush assembly in the third direction reaches the threshold, and both the speed and the acceleration decrease, that is, there is no tendency to move in the third direction anymore. Therefore, it is determined that the floor brush assembly is about to move in the first direction, that is, the floor brush assembly has a motion trend in the first direction. Therefore, the control drive mechanism drives the roller brush to rotate in the second direction to provide assistance for the floor brush assembly to move in the first direction; when it is detected that the traveling direction of the floor brush assembly is the first direction, and the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration decreases, it indicates that the distance that the user pushes the floor brush assembly in the first direction reaches the threshold, and the speed and the acceleration decrease, that is, there is no tendency to move in the first direction anymore. Therefore, it is determined that the floor brush assembly needs to move in the third direction, that is, the floor brush assembly has a motion trend in the third direction. Therefore, the control drive mechanism drives the roller brush to rotate in the fourth direction to provide assistance for the floor brush assembly to move in the third direction.

[0159] According to some embodiments of the present application, optionally, the step of the acquisition unit 402 acquiring the motion parameters of the floor brush assembly includes: acquiring the voltage value of the Hall element and the running duration of the rotating member, and determining the waveform period of the voltage value of the Hall element according to the voltage value and the running duration; determining the displacement, speed, and acceleration according to the waveform period and the radius of the rotating member.

[0160] In this embodiment, the steps of acquiring the displacement, speed, and acceleration specifically include: acquiring the voltage value of the Hall element and the running duration of the rotating member. According to the voltage value and the running duration, the waveform period of the voltage value of the Hall element can be determined. Thus, according to the waveform period and the radius of the rotating member, the motion speed, displacement, and acceleration of the floor brush assembly can be calculated.

[0161] Specifically, the speed calculation method is as follows: Set the diameter of the rear wheel as d (for example, 58 mm); the number of waveform cycles for the rear wheel to roll one week is 12; that is, the current waveform cycle obtained according to the waveform is T; then the magnitude of the speed V is: V = (π × d) / (12 × T); the determination method of the speed direction is the same as the method for determining the traveling direction of the ground brush assembly when judging the forward and reverse rotation of the rolling brush.

[0162] The displacement calculation method is as follows: According to the waveform, the number of operating cycles is n; the magnitude of the displacement is (n × π × d) / 12; the displacement direction is the traveling direction of the ground brush assembly.

[0163] The calculation method of the acceleration a is as follows: The magnitude of the acceleration can be calculated according to a = (V1 - V2) / t, where t is the time duration, and V1 and V2 are the initial speed and the final speed within the time duration t, respectively.

[0164] According to some embodiments of the present application, optionally, the Hall element includes a first Hall element and a second Hall element. The step of the acquisition unit 402 acquiring the motion parameters of the ground brush assembly further includes: acquiring the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element; determining the traveling direction according to the first phase and the second phase.

[0165] In this embodiment, the Hall element includes a first Hall element and a second Hall element. The first Hall element and the second Hall element are arranged at intervals along the circumferential direction of the rotating member, so that the phase of the voltage value of the first Hall element is different from the phase of the voltage value of the second Hall element. The relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element when the rotating member rotates clockwise is different from the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element when the rotating member rotates counterclockwise. Furthermore, at the same moment, the traveling direction of the rotating member can be determined according to the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element, so as to facilitate determining the motion trend of the ground brush assembly.

[0166] According to some embodiments of the present application, optionally, the step of determining the traveling direction according to the first phase and the second phase includes: when the first phase is greater than the second phase, determining that the ground brush assembly moves along the first direction; when the first phase is less than the second phase, determining that the ground brush assembly moves along the third direction.

[0167] In this embodiment, when the first phase is greater than the second phase, the waveform of the voltage value of the first Hall element is ahead, the rotating member rotates clockwise (for example, rotates along the fourth direction), and it is determined that the ground brush assembly moves along the first direction; when the first phase is less than the second phase, the waveform of the voltage value of the first Hall element lags, the rotating member rotates counterclockwise (for example, rotates along the second direction), and it is determined that the ground brush assembly moves along the third direction.

[0168] In a specific application, the waveforms of the voltage values of the first Hall element and the second Hall element differ in phase by 90°.

[0169] According to some embodiments of the present application, optionally, the control device further includes a receiving unit and a response unit. Before the step of obtaining the motion parameters of the floor brush assembly, the receiving unit is configured to receive an operation input for the cleaning device; the response unit is configured to enter the boosting mode in response to the operation input.

[0170] In this embodiment, it is also possible to select whether to enter the boosting mode before providing boosting. When receiving the user's operation input, enter the boosting mode, then obtain the motion parameters, and determine the driving direction of the driving mechanism according to the motion parameters.

[0171] As Figure 15 shown, according to an embodiment of the present invention, an electronic device 500 is further provided, including: a processor 502 and a memory 504. The memory 504 stores a program or instruction that can run on the processor 502. When the program or instruction is executed by the processor 502, the steps of the control method of the cleaning device proposed in any one of the above are implemented. Therefore, it has all the beneficial effects of the control method of the cleaning device, which will not be elaborated here.

[0172] According to an embodiment of the present invention, a readable storage medium is further provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the control method of the cleaning device proposed in any one of the above is executed. Therefore, it has all the beneficial effects of the control method of the cleaning device, which will not be elaborated here.

[0173] In a specific application, as Figures 1 to 3 shown, the cleaning device 7 includes a floor washer. The floor washer includes a handle 5, a body 6, a floor brush base (such as a body 10), a roller brush 12, and rear wheels (such as a rotating member 14), and a drive motor (such as a driving mechanism 2).

[0174] When the user mops the floor, the machine is pushed and pulled back and forth through the handle 5, causing the floor brush base to move back and forth.

[0175] The detection component 3 includes a Hall detection Printed Circuit Board (PCB) board (such as a circuit board 32 and a Hall element 31), a fixed cover plate 33, an annular magnet (such as a magnetic member 30), and a positioning pin (such as a positioning member 34).

[0176] The annular magnet is fixed on the rear wheel and rotates simultaneously with the rear wheel. The Hall sensor (such as the Hall element 31) on the PCB board (such as the circuit board 32) acquires signals to obtain the motion state of the rear wheel.

[0177] The principle of the linear Hall sensor(s) detecting the movement state of the rear wheel is as follows Figures 4 to 8 as shown

[0178] Optionally, as shown in Figure 4 and Figure 5 There are 12 pairs of poles in total for the ring magnet. The Hall sensor includes Hall element a (such as the first Hall element 310) and Hall element b (such as the second Hall element 312); the ring magnet is fixed on the rear wheel, and the Hall detection PCB board is fixed on the floor brush base; the ring magnet rotates as the rear wheel rolls. When the S pole of the ring magnet approaches the Hall sensor, the voltage gradually increases to 5V. When the N pole of the ring magnet approaches the Hall sensor, the voltage gradually decreases to 0V; when the rear wheel rotates one week, the waveform experiences 12 cycles. According to the waveform period, the angular velocity of the rear wheel movement can be obtained, and thus, based on the rear wheel radius, the speed, displacement, and acceleration of the floor brush base can be calculated

[0179] The waveforms obtained by Hall element a and Hall element b have a 90° phase difference. According to the different phases, the driving direction of the floor brush base can be obtained: as shown in Figure 9 and Figure 10 are the waveforms obtained by Hall element a and Hall element b when the rear wheel rotates clockwise and counterclockwise respectively, where the abscissa is the running duration (unit: second), and the ordinate is the voltage value (unit: V)

[0180] Specifically, as shown in Figure 3 When forward assistance is required (such as in the first direction), the roller brush 12 rotates forward (such as in the second direction) to provide forward assistance through the friction with the ground; when backward assistance is required (such as in the third direction), the roller brush 12 rotates backward to provide backward assistance through the friction with the ground (such as in the fourth direction)

[0181] As shown in Figure 13 The software assistance algorithm includes

[0182] Step 202: Determine whether to enter the assistance mode. If so, enter step 204

[0183] Step 204: Rotate the roller brush forward

[0184] Step 206: Determine whether a user's backward pulling trend is detected. If so, enter step 208; if not, enter step 210

[0185] Step 208: Rotate the roller brush in reverse

[0186] Step 210: Keep the roller brush rotating forward

[0187] Step 212: Determine whether a user's forward pulling trend is detected. If so, enter step 214; if not, enter step 216

[0188] Step 214: The rotary brush rotates forward.

[0189] Step 216: The rotary brush keeps rotating in reverse.

[0190] Specifically, 1) By default when powered on, the rotary brush 12 rotates forward and moves forward; 2) When it is detected that the distance the rotary brush 12 moves forward is greater than the first threshold (for example, the first displacement range), and the speed is lower than the second threshold (for example, the first speed range), and the speed continues to decrease, it is determined that the user has pushed to the farthest forward distance, has started to exert force backward, and has a tendency to pull backward; at this time, control the floor brush to rotate in reverse to provide backward assistance; 3) When it is detected that the distance the rotary brush 12 moves backward is greater than the third threshold (for example, the second displacement range), and the speed is lower than the fourth threshold (for example, the second speed range), and the speed continues to decrease, it is determined that the user has pulled to the farthest backward distance, has started to exert force forward, and has a tendency to push forward; at this time, control the floor brush to rotate forward to provide forward assistance.

[0191] This application can obtain the complete motion state of the rotary brush 12 and provide the user with the effect of push-pull assistance; compared with the prior art, the present invention has a lower cost.

[0192] Optionally, other types of sensors can also be used to obtain the motion state of the rotary brush 12 or the push-pull state of the user, including but not limited to magnetic sensors, position sensors, angle sensors, acceleration sensors, etc.

[0193] Optionally, the number and position of the Hall sensors, the number of magnetizations of the ring magnets, etc. used in this application can be various, and different effects can be achieved according to actual needs.

[0194] The detection device (such as the detection component 3) proposed in this application can be one set or multiple sets, and can be installed on one or more rollers to improve the detection accuracy and reliability.

[0195] Optionally, the installation positions are various and are not limited to the rollers of the floor brush.

[0196] It should be noted that self-assist force: when the rotary brush 12 rotates, there is friction with the ground. When the user pushes the machine forward, the friction between the forward rotation of the rotary brush 12 and the ground will help the machine move forward, thus realizing the forward self-assist force and making it easier for the user to use; however, when the user wants to pull the machine back, if the rotary brush 12 still rotates forward at this time, the friction between the rotary brush 12 and the ground will become an obstacle, making it more laborious for the user to use; therefore, it is necessary to switch the driving direction of the rotary brush 12 to reverse at an appropriate time. It should be noted that the rotary brush 12 itself is a component controlled by a controller (such as the control component 4), and its rotation direction cannot reflect the driving direction of the machine. And the large wheel (such as the rotating part 14) installed with a magnet in the example of this application is an auxiliary component installed on the floor brush and can rotate freely without any driving force. When the whole machine is placed on the ground, the machine gravity ensures that the large wheel is in contact with the ground; when the machine moves forward, the large wheel rotates forward under the action of friction; when the machine moves backward, the large wheel rotates backward under the action of friction; therefore, the rotation direction of the large wheel can reflect the driving direction of the machine, and by detecting the rotation direction of the large wheel, the driving direction of the machine can be detected, so that the controller can control the rotary brush 12 to rotate in the corresponding direction according to the driving direction of the machine, that is, provide the self-assist force in the corresponding direction.

[0197] The large wheel in the application document is only an example, and the actual installation position and detection object of the detection component 3 can be various, such as designing a separate roller on the floor brush component 1. This method is applicable to various installation positions and detection objects.

[0198] In the present invention, the term "a plurality of" means two or more, unless otherwise clearly defined. Terms such as "installed", "connected", "connected to", "fixed" should all be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0199] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0200] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A boosting device, characterized in that, Comprising: A body; A rotating member rotatably connected to the body; A driving mechanism provided on the body for driving the body to move in the driving direction; A detection assembly including a magnetic member and a Hall element. The magnetic member is provided on the rotating member and can rotate with the rotating member. The Hall element is provided on the body. The Hall element is located on one side of the magnetic member and can detect the magnetic field of the magnetic member. The detection assembly detects the motion parameters of the body according to the Hall element and the magnetic member; A control assembly electrically connected to the detection assembly and the driving mechanism. The control assembly is configured to determine the motion trend of the body according to the motion parameters and control the driving mechanism to operate according to the motion trend.

2. The assisting device according to claim 1, wherein The magnetic member includes a plurality of first magnetic poles and a plurality of second magnetic poles. The plurality of first magnetic poles and the plurality of second magnetic poles are alternately arranged along the circumferential direction of the rotating member, so that the first magnetic poles and the second magnetic poles can alternately pass by the Hall element. The Hall element generates a change in the electrical signal according to the magnetic field of the first magnetic pole and the magnetic field of the second magnetic pole. The detection assembly determines the motion parameters according to the electrical signal of the Hall element.

3. The assisting device according to claim 2, wherein The electrical signal includes a voltage value; During the process of the first magnetic pole approaching the Hall element, the voltage value of the Hall element gradually increases. During the process of the second magnetic pole approaching the Hall element, the voltage value of the Hall element gradually decreases. The detection assembly determines the motion parameters according to the waveform period of the voltage value.

4. The power assist device according to claim 3, characterized in that The Hall element includes a first Hall element and a second Hall element. The first Hall element and the second Hall element are spaced apart along the circumferential direction of the rotating member. The difference between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element is greater than 0° and less than 180°. Wherein, the motion parameters include the driving direction, and the detection assembly determines the driving direction according to the first phase and the second phase.

5. The assisting device according to claim 4, wherein The difference between the first phase and the second phase is equal to 90°.

6. The assisting device according to claim 2, wherein One of the first magnetic pole and the second magnetic pole is an N pole and the other is an S pole; and / or The number of the first magnetic poles is the same as the number of the second magnetic poles.

7. The assisting device according to any one of claims 1 to 6, characterized in that, The magnetic member is annular, and the axis of the magnetic member coincides with the axis of the rotating member.

8. The boosting device according to any one of claims 1 to 6, characterized in that, The detection assembly further includes: A fixed cover plate and a circuit board. An installation groove is provided on the body. The circuit board is provided in the installation groove. The fixed cover plate covers the installation groove. The Hall element is provided on the circuit board. The circuit board is electrically connected to the control assembly.

9. The power assist device according to claim 8, wherein Further comprising: A positioning member. The rotating member includes a shaft hole. The positioning member passes through the shaft hole and is connected to the body. The fixed cover plate and the circuit board surround the circumferential side of the positioning member.

10. The boosting device according to any one of claims 1 to 6, characterized in that, The detection assembly further includes at least one of a magnetic sensor, a position sensor, an angle sensor, and an acceleration sensor for detecting the motion parameters.

11. A cleaning device, characterized in that, Comprising: The boosting device according to any one of claims 1 to 10.

12. The cleaning device according to claim 11, characterized in that, Further comprising: Floor brush assembly, the floor brush assembly includes a housing and a rotary brush, the rotary brush is rotatably connected to the housing, wherein, the housing includes the body, the drive mechanism is arranged inside the housing, the rotating member is rotatably connected to the housing, the drive mechanism is connected to the rotary brush and is used to drive the rotary brush to rotate so as to drive the housing to move along the traveling direction.

13. A control method for a cleaning device, for the cleaning device as described in claim 12, characterized in that, The control method includes: Obtaining the motion parameters of the floor brush assembly; Determining the motion trend of the floor brush assembly according to the motion parameters, and controlling the drive mechanism to work according to the motion trend to provide assistance for the floor brush assembly.

14. The control method of the cleaning device according to claim 13, characterized in that, The step of determining the motion trend of the floor brush assembly according to the motion parameters and controlling the drive mechanism to work according to the motion trend includes: Determining the motion trend of the floor brush assembly according to the motion parameters; When the motion trend is the first direction, controlling the drive mechanism to drive the rotary brush to rotate in the second direction to provide assistance for the floor brush assembly in the first direction; When the motion trend is the third direction, controlling the drive mechanism to drive the rotary brush to rotate in the fourth direction to provide assistance for the floor brush assembly in the third direction; The first direction and the third direction are opposite, and one of the second direction and the fourth direction is forward rotation and the other is reverse rotation.

15. The control method of the cleaning device according to claim 14, characterized in that, The motion parameters include the traveling direction, the displacement of the rotating member, the speed of the rotating member, and the acceleration of the rotating member. The traveling direction is the first direction or the third direction. The step of determining the motion trend of the floor brush assembly according to the motion parameters includes: When the traveling direction is the third direction, the speed is less than or equal to the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration decreases, determining that the motion trend of the floor brush assembly is the first direction; When the traveling direction is the first direction, the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration decreases, determining that the motion trend of the floor brush assembly is the third direction.

16. The control method of the cleaning device according to claim 15, wherein, The step of obtaining the motion parameters of the floor brush assembly includes: Obtaining the voltage value of the Hall element and the running duration of the rotating member, and determining the waveform period of the voltage value of the Hall element according to the voltage value and the running duration; Determining the displacement, the speed, and the acceleration according to the waveform period and the radius of the rotating member.

17. The control method of the cleaning device according to claim 16, characterized in that, The Hall element includes a first Hall element and a second Hall element. The step of obtaining the motion parameters of the floor brush assembly further includes: Obtaining the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element; Determining the traveling direction according to the first phase and the second phase.

18. The control method of the cleaning device according to claim 17, characterized in that, The step of determining the traveling direction according to the first phase and the second phase includes: When the first phase is greater than the second phase, determining that the floor brush assembly moves along the first direction; When the first phase is less than the second phase, determining that the floor brush assembly moves along the third direction.

19. The control method of the cleaning device according to any one of claims 13 to 18, characterized in that, Before the step of obtaining the motion parameters of the floor brush assembly, the method further includes: Receiving an operation input for the cleaning device; Entering an assist mode in response to the operation input.

20. A readable storage medium storing a program or instructions thereon, characterized in that, When the program or the instruction is executed by a processor, it executes the control method of the cleaning device according to any one of claims 13 to 19.

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