Floor brush equipment with sensing function and control method thereof

Abstract

The invention relates to the field of cleaning equipment, and discloses floor brush equipment with a sensing function and a control method thereof.The floor brush equipment comprises a floor brush body, and a sensor assembly used for detecting the distance between lateral and front obstacles is arranged on the floor brush body; a dust sensing assembly used for detecting the quantity and size of sucked dust is arranged in an air inlet pipe of the floor brush body, and a main control module used for adjusting cleaning parameters according to detection data of the sensor assembly and the dust sensing assembly is further arranged in the floor brush body. The distance between lateral and front obstacles is detected through the sensor assembly, the amount and size of sucked dust are detected through the dust sensing assembly, and the main control module can adjust cleaning parameters through detection data of the two, so that the problem of side blind areas of a traditional floor brush is solved, the cleaning parameters are automatically adjusted according to cleaning scenes, and the cleaning efficiency is improved. The method can adapt to a complex environment without manual intervention, and reduces the manual adjustment frequency of a user.

Description

Technical Field

[0001] The present invention relates to the field of cleaning equipment, and in particular to a floor brush device with a sensing function and a control method thereof. Background Art

[0002] With the rapid development of smart homes and cleaning appliances, users are placing higher demands on the cleaning efficiency, automation, and intelligence of vacuum cleaners. Vacuum cleaners are essential household cleaning tools, and the floor brush, the core component that directly performs cleaning operations, has a direct impact on cleaning results and user experience.

[0003] Traditional vacuum cleaner floor brushes have significant shortcomings when it comes to edge cleaning, with a prominent problem of blind spots along the sides, which leads to heavy dust residue in areas like walls and furniture gaps. Furthermore, users often need to manually adjust the suction head angle to suit different cleaning areas, especially around densely populated furniture or in corners, making operation difficult. Furthermore, due to the lack of accurate obstacle detection, floor brushes are prone to scratching furniture or getting stuck in narrow spaces during cleaning, potentially damaging the furniture and affecting cleaning efficiency.

[0004] Furthermore, existing sensor solutions are unable to dynamically adjust cleaning parameters based on different cleaning scenarios. For example, they are unable to automatically increase suction power or adjust brush speed in special areas like corners and narrow gaps, resulting in inconsistent cleaning results. Furthermore, they lack targeted detection strategies for walls made of different materials, such as glass, wood, and ceramic tiles, making false triggering more likely.

[0005] Current mainstream solutions on the market (such as single infrared or ultrasonic sensors) still suffer from limited detection range, weak anti-interference capabilities, and the inability to dynamically adjust cleaning parameters. Therefore, there is an urgent need for a floor brush device that integrates front and side multimodal sensing to achieve omnidirectional intelligent cleaning. Summary of the Invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a floor brush device with sensing function and its control method, which detects the distance of lateral and front obstacles through the sensor component, detects the amount and size of inhaled dust through the dust sensing component, and the main control module adjusts the cleaning parameters according to the detection data of the two, solves the side blind spot problem of traditional floor brushes and automatically adjusts the cleaning parameters, thereby improving cleaning efficiency and ensuring the cleanliness of the floor.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is: In the first aspect, a floor brush device with a sensing function is provided, including a floor brush main body, wherein the floor brush main body is provided with a sensor component for detecting the distance of lateral and front obstacles, and the air inlet pipe of the floor brush main body is provided with a dust sensing component for detecting the amount and size of inhaled dust, and the floor brush main body is also provided with a main control module for adjusting cleaning parameters according to the detection data of the sensor component and the dust sensing component.

[0008] Optionally, the sensor assembly is installed on the floor brush body at an inclination angle of 30°-90° toward the lower side, and the sensor assembly includes at least two of an infrared ranging sensor, a laser sensor and a capacitive proximity sensor.

[0009] Optionally, the dust sensing component includes an infrared emitting device and an infrared receiving device, which are respectively arranged in the installation grooves on both sides of the air inlet pipe, and the infrared receiving devices are distributed in a ring shape to cover the cross-section of the air inlet pipe.

[0010] Optionally, the floor brush device also includes a reciprocating push-pull sensing module for detecting the reciprocating push-pull action and static state of the floor brush. The reciprocating push-pull sensing module is connected to the main control module, and the main control module adjusts the cleaning parameters according to the detection data of the reciprocating push-pull sensing module.

[0011] Optionally, the reciprocating push-pull sensing module includes at least one of a gyroscope, a Hall sensor, a photoelectric encoder and a strain gauge sensor.

[0012] In the second aspect, a method for controlling a floor brush device is provided, which adopts the floor brush device with sensing function described in the first aspect, and includes the following steps: collecting obstacle distance data in real time through the sensor component, and collecting dust concentration data through the dust sensing component; the main control module controls the suction force of the cleaning device and the rotation speed of the roller brush according to the obstacle distance data and dust concentration data; and automatically adjusts the cleaning parameters when it is detected that the floor brush device is in a reciprocating push-pull action or a stationary state.

[0013] Optionally, collecting dust concentration data through a dust sensing component specifically includes: emitting light using an infrared emitting device, detecting light scattering signals through a ring-shaped infrared receiving device, and calculating the number and size of dust particles based on the intensity of the scattering signals.

[0014] Optionally, when the sensor component detects that the obstacle distance is less than 50mm and the dust concentration exceeds the threshold, the main control module controls the suction force to increase by 20%-50% and the roller brush speed to increase by 20%-50%.

[0015] Optionally, when the reciprocating push-pull sensing module detects that the floor brush is pushed and pulled back and forth more than 3 times within 10 seconds or remains stationary for more than 3 seconds, the main control module triggers the enhanced cleaning mode to increase the suction force and the roller brush speed.

[0016] Optionally, the sensor component adopts an intermittent working mode, waking up once every 100ms, and the main control module eliminates dust and light interference through a filtering algorithm.

[0017] Compared with the prior art, the present invention has the following beneficial effects: (1) In the present invention, the distance to the lateral and front obstacles is detected by the sensor component, and the amount and size of the inhaled dust are detected by the dust sensing component. The main control module can adjust the cleaning parameters based on the detection data of the two, so as to solve the problem of the side blind spot of the traditional floor brush and realize automatic adjustment of the cleaning parameters according to the cleaning scene, thereby improving the cleaning efficiency and ensuring the cleanliness of the floor. It can adapt to complex environments without human intervention and reduces the number of manual adjustments by the user. (2) In the present invention, the infrared emitting device and the infrared receiving device are respectively installed in the installation grooves on both sides of the air inlet pipe, so that the real-time monitoring of the dust intake can be achieved without drilling holes in the pipe wall, so as to adjust the dust suction power in time and ensure better local cleaning effect; (3) In the present invention, when it is detected that the floor brush is stationary or reciprocating, the main control module automatically increases the suction force and the speed of the roller brush, making the cleaning process more efficient and energy-saving; (4) In the present invention, the sensor assembly is tilted at an angle of 30°-90° toward the side and downward, which can expand the detection coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural diagram of a floor brush device with a sensing function according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the top view of a floor brush device with a sensing function according to an embodiment of the present invention; Figure 3 This is a side structural diagram of a floor brush device with a sensing function according to an embodiment of the present invention; Figure 4 is a schematic structural diagram of a dust sensing assembly in an embodiment of the present invention; Figure 5 Schematic diagram of the connection relationship between the main control module and the sensor assembly, the dust sensing assembly and the reciprocating push-pull sensing module in an embodiment of the present invention; Figure 6 1 is a flow chart of a method for controlling a floor brush device according to an embodiment of the present invention; Among them, 1. Floor brush body; 101. Base; 102. Air inlet pipe; 2. Sensor assembly; 301. Infrared emitting device; 302. Infrared receiving device; 4. Main control module; 5. Reciprocating push-pull sensing module. DETAILED DESCRIPTION

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention. Example 1

[0020] like Figure 1-Figure 5 As shown, a floor brush device with a sensing function includes a floor brush body 1, a sensor component 2, a dust sensing component, a reciprocating push-pull sensing module 5 and a main control module 4. A roller brush is installed on the floor brush body 1, and the roller brush is driven to rotate by a driving device. An air inlet pipe 102 is opened inside the floor brush body 1, and the air inlet pipe 102 is connected to an external vacuum unit; the sensor component 2 is integrated on the side (left or right or one side) of the floor brush body 1 to detect the distance to the side and front obstacles of the floor brush; the dust sensing component is arranged in the air inlet pipe 102 to detect the amount and size of inhaled dust.

[0021] The reciprocating push-pull sensing module 5 is connected to the main control module 4, both of which are installed inside the floor brush body 1. The main control module 4 can adjust the cleaning parameters of the cleaning device, such as suction force and roller brush speed, based on the detection data of the sensor component 2 and the dust sensing component. The reciprocating push-pull sensing module 5 is used to detect the reciprocating push-pull movement and static state of the floor brush, and the main control module 4 can also adjust the cleaning parameters of the cleaning device based on the detection data of the reciprocating push-pull sensing module 5.

[0022] Specifically, the sensor component 2 detects the distance to the lateral and front obstacles, and the dust sensing component detects the amount and size of the inhaled dust. Finally, the main control module 4 adjusts the cleaning parameters based on the detection data of the two to solve the side blind spot problem of traditional floor brushes and automatically adjust the cleaning parameters according to the cleaning scene, thereby improving the cleaning efficiency and ensuring the cleanliness of the floor. The device can adapt to complex environments without human intervention.

[0023] The sensor component 2, the dust sensing component and the reciprocating push-pull sensing module 5 are all electrically connected to the main control module 4. After the main control module 4 receives the detection data, it determines the state of the floor brush based on the detection data, and then adjusts the suction force of the cleaning equipment and the speed of the roller brush according to the corresponding state.

[0024] Sensor assembly 2 includes at least two of an infrared ranging sensor, a laser sensor, and a capacitive proximity sensor, which detects the distance to the wall / obstacle in real time (detection range 1-50mm, accuracy ±1mm), while avoiding the problem of error or failure caused by using a single sensor for detection; among them, the laser sensor uses a ToF laser sensor, which is a technology that calculates the distance by measuring the flight time of the light signal between the target object and the sensor.

[0025] As mentioned above, infrared ranging sensors, Time of Flight laser sensors, or capacitive proximity sensors are integrated on the sides (left, right, or one side) of the floor brush. The sensors are mounted at an angle α facing downward and to the side, with α ranging from 30° to 90°, to expand the detection coverage. When the front and side sensors detect corners or narrow gaps, the main control module 4 (using the STM32F407VGT6 control motherboard chip) automatically increases the motor speed, increasing suction by 20%-50%, and simultaneously increases the roller brush speed to achieve side-sensing adjustment.

[0026] Practical verification shows that traditional floor brushes often have a blind spot of approximately 10 cm on the sides. The cleaning coverage rate in corners and other edge areas is only around 60%, making it difficult to meet users' needs for deep cleaning throughout the house. The floor brush device with a sensing function proposed in this invention uses distance measurement to adjust cleaning parameters, achieving precise edge cleaning and resolving the 10 cm blind spot issue of traditional floor brushes.

[0027] The dust sensor assembly includes an infrared transmitter 301 and an infrared receiver 302, each mounted in a corresponding mounting slot on either side of the air inlet duct 102. The infrared receivers 302 are arranged in a circular pattern to cover the cross-section of the air inlet duct 102. By installing the infrared sensor system module within the floor brush air inlet duct 102, the amount and size of dust sucked in can be monitored during operation, providing the vacuum cleaner with accurate dust information for adjusting suction power and other operations.

[0028] Specifically, the floor brush body 1 includes a base 101. A dust suction port is provided on the rear portion of the transparent upper cover above the base 101. The dust suction port extends upward at an angle of 10°-85° toward the inner side of the upper cover. The air duct is then parallel to the bottom surface and cooperates with the base 101 to form an air inlet duct 102, forming an efficient airflow channel. The air inlet duct 102 is connected to the external vacuum unit (vacuum motor). The air inlet duct 102 is made of a transparent material. The base 101 is provided with mounting slots on both sides of the air inlet duct 102. The mounting slots are respectively provided with an infrared emitting device 301 and multiple infrared receiving devices 302 distributed in a ring. The dust sensor component is separated from the base 101, making it suitable for more scenarios and taking up less space.

[0029] The reciprocating push-pull sensing module 5 includes at least one of a gyroscope, a Hall effect sensor, a photoelectric encoder, and a strain gauge sensor. When the push-pull is repeated three or more times, or when the device remains stationary for more than three seconds, the control board automatically increases the motor speed, increasing suction by 20%-50%. This also increases the roller brush speed, thus achieving intelligent suction adjustment.

[0030] Among them, the gyroscope is used to detect the reciprocating motion direction of the floor brush, the Hall sensor is used to detect the displacement change of the magnet inside the floor brush (used in conjunction with a permanent magnet), the photoelectric encoder can calculate the displacement through the grating signal when the roller rotates (in conjunction with the transmission mechanism of the floor brush), and the strain gauge sensor is used to detect the force deformation of the floor brush rod, that is, the tiny deformation caused by pushing and pulling.

[0031] To reduce power consumption and improve interference resistance, the sensor operates in an intermittent mode, waking up every 100ms and eliminating dust and light interference using existing filtering algorithms. Furthermore, the main control module 4 automatically adjusts the detection threshold for different wall surfaces (glass, wood, and tile) to avoid false triggering and improve material compatibility. For example, the detection threshold for glass walls is set to 3mm (to avoid false detection due to reflections), and the threshold for wooden walls is set to 5mm (to compensate for material roughness).

[0032] Working principle: Side sensing adjustment: When the front and side sensors detect corners or narrow gaps, the main control module 4 automatically increases the motor speed, increasing the suction force and the roller brush speed simultaneously to achieve precise edge cleaning, solving the 10cm blind spot problem on the side of traditional floor brushes; Dust sensing adjustment: When the dust sensing component detects that the dust concentration exceeds the threshold, the main control module 4 automatically adjusts the suction force and the roller brush speed. Compared with the existing technology, the sensing sensitivity of this component is greatly improved, and it can detect particles with a diameter of about 50 microns, and is suitable for most models; Intelligent suction adjustment: When the floor brush is pushed and pulled back and forth more than 3 times or remains stationary for more than 3 seconds, the control board automatically increases the motor speed, the suction force is increased, and the roller brush speed is increased synchronously, adapting to complex environments without manual intervention. Example 2

[0033] like Figures 1-6 As shown, based on the first embodiment, the present invention also proposes a floor brush device control method, which uses the floor brush device with sensing function proposed in the first embodiment, including the following steps: collecting obstacle distance data in real time through the sensor component 2, and collecting dust concentration data through the dust sensing component; the main control module 4 controls the suction force of the cleaning equipment and the rotation speed of the roller brush according to the obstacle distance data and the dust concentration data; and automatically adjusts the cleaning parameters when it is detected that the floor brush device is in a reciprocating push-pull action or a stationary state.

[0034] The dust concentration data collection process using the dust sensor assembly specifically involves emitting light from an infrared transmitter 301, detecting the scattered light signal via a ring-shaped array of infrared receivers 302, and calculating the number and size of dust particles based on the intensity of the scattered signal. The transparent cover's dust inlet is angled upward at a 45° angle, housing an infrared transmitter (ITR8307) and six PT9087 receiving sensors arranged in a ring.

[0035] When sensor assembly 2 detects an obstacle less than 50mm away and dust concentration exceeds a threshold, main control module 4 increases suction by 20%-50% and the roller brush speed by 20%-50%. Sensor assembly 2 works in conjunction with the dust sensing assembly to optimize cleaning strategies through multi-sensor data fusion, reducing power consumption by over 20%. Sensor assembly 2 operates in an intermittent mode, waking up every 100ms, and main control module 4 uses existing filtering algorithms to eliminate dust and light interference.

[0036] Specifically, when a wall corner is detected (side distance less than 5mm, front distance less than 10mm) and the dust concentration is greater than 200 particles / cubic centimeter, the suction force is increased from 12kPa to 18kPa, and the roller brush speed is increased from 1200rpm to 1800rpm, which lasts for 20 seconds before recovering.

[0037] Traditional floor brushes use a static cleaning strategy, and sensor data isn't linked to suction and brushing movements. For example, when a user focuses on cleaning a specific area (such as by pushing and pulling the floor brush back and forth), the device fails to automatically recognize this action and increase cleaning power, continuing to operate in its normal mode, resulting in low cleaning efficiency.

[0038] The proposed floor brush device uses a reciprocating push-pull sensor module 5 to detect when the floor brush has been pushed and pulled three or more times within 10 seconds, or has remained stationary for more than three seconds. The main control module 4 triggers enhanced cleaning mode, increasing suction and brush speed. The reciprocating push-pull sensor module 5 incorporates an InvenSense ICM-20948 gyroscope, which, in conjunction with a Hall effect sensor (SS495A) to detect magnet displacement (with a resolution of 0.1mm), precisely monitors the floor brush's motion and optimizes the vacuum cleaner's cleaning strategy.

[0039] In summary, the present invention proposes a floor brush device with sensing function and its control method, which comprehensively improves the cleaning performance, eliminates the side blind area from 10 cm to 0.5 cm, and increases the corner cleaning coverage rate from 60% to 98%; multimodal sensor fusion increases the adaptation rate in complex environments from 60% to 95%, without the need for human intervention, greatly reduces the number of manual adjustments, and reduces the risk of collision with furniture; automatically matches different gears of suction mode according to the obstacle distance and dust concentration, so that the energy consumption of the equipment is lower than that of traditional solutions.

[0040] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0042] The above description is based on the ideal embodiment of the present invention. Based on the above description, relevant personnel can make various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the content of the specification and must be determined according to the scope of the claims.

Claims

1. A floor brush device with an induction function, characterized in that: It includes a floor brush main body, on which a sensor component for detecting the distance to the side and front obstacles is provided, and an air inlet pipe of the floor brush main body is provided with a dust sensing component for detecting the amount and size of inhaled dust, and the floor brush main body is also provided with a main control module for adjusting cleaning parameters according to the detection data of the sensor component and the dust sensing component.

2. The floor brush device with induction function according to claim 1, characterized in that: The sensor assembly is installed on the floor brush body at an inclination angle of 30°-90° toward the lower side, and the sensor assembly includes at least two of an infrared ranging sensor, a laser sensor and a capacitive proximity sensor.

3. The floor brush device with induction function according to claim 1, characterized in that: The dust sensing assembly includes an infrared emitting device and an infrared receiving device, which are respectively arranged in the installation grooves on both sides of the air inlet pipe, and the infrared receiving devices are distributed in a ring shape to cover the cross section of the air inlet pipe.

4. The floor brush device with induction function according to claim 1, characterized in that: The floor brush device also includes a reciprocating push-pull sensing module for detecting the reciprocating push-pull action and static state of the floor brush. The reciprocating push-pull sensing module is connected to the main control module, and the main control module adjusts the cleaning parameters according to the detection data of the reciprocating push-pull sensing module.

5. The floor brush device with induction function according to claim 4, characterized in that: The reciprocating push-pull sensing module includes at least one of a gyroscope, a Hall sensor, a photoelectric encoder and a strain gauge sensor.

6. A method for controlling a floor brush device, using the floor brush device with a sensing function according to any one of claims 1 to 5, characterized in that: The system includes the following steps: collecting obstacle distance data in real time through the sensor component, and collecting dust concentration data through the dust sensing component; the main control module controls the suction force of the cleaning device and the rotation speed of the roller brush according to the obstacle distance data and dust concentration data; and automatically adjusts the cleaning parameters when it detects that the floor brush device is in a reciprocating push-pull action or a stationary state.

7. The method for controlling a floor brush device according to claim 6, wherein: The dust concentration data is collected by the dust sensing component, specifically including: emitting light by an infrared emitting device, detecting light scattering signals by an annularly distributed infrared receiving device, and calculating the number and size of dust particles based on the intensity of the scattering signals.

8. The method for controlling a floor brush device according to claim 7, wherein: When the sensor component detects that the obstacle distance is less than 50mm and the dust concentration exceeds the threshold, the main control module controls the suction force to increase by 20%-50% and the roller brush speed to increase by 20%-50%.

9. The method for controlling a floor brush device according to claim 6, wherein: When the reciprocating push-pull sensing module detects that the floor brush is pushed and pulled back and forth more than three times within 10 seconds or remains stationary for more than three seconds, the main control module triggers the enhanced cleaning mode to increase the suction force and roller brush speed.

10. The method for controlling a floor brush device according to claim 9, wherein: The sensor component adopts an intermittent working mode, waking up once every 100ms, and the main control module eliminates dust and light interference through a filtering algorithm.

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