Cleaning equipment control method, equipment, medium and product

Abstract

The invention discloses a control method of cleaning equipment, equipment, a medium and a product, and relates to the technical field of cleaning equipment. The method is applied to a control unit of the cleaning equipment, the cleaning equipment is used for being controlled by a user to clean a to-be-cleaned surface, a floor brush assembly of the cleaning equipment comprises a shell, a power-assisted wheel and a cleaning part, and the power-assisted wheel and the cleaning part are arranged on the two opposite sides of the shell in the width direction correspondingly; the control unit is connected with the power-assisted wheel and the cleaning piece. The method comprises the steps that in response to a cleaning piece descending instruction, a cleaning piece is controlled to descend to make contact with a to-be-cleaned face, and the cleaning piece is controlled to rotate in the clockwise direction so as to clean the to-be-cleaned face; in the process that the cleaning equipment moves close to the user, the power-assisted wheel is controlled to rotate in the direction generating the backward movement trend so as to at least partially counteract deflection, caused by the cleaning piece, of the floor brush assembly. According to the control method of the cleaning equipment, the problems that a machine body is unstable and operation is strenuous due to the fact that a side brush is arranged on one side of a scrubber in the prior art can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a control method, device, medium and product of a cleaning equipment. BACKGROUND

[0002] With the improvement of people's living standards, household cleaning appliances are developing towards intelligence and multifunction. As a cleaning equipment integrating dust collection and floor cleaning, the intelligent floor cleaning machine is favored by more and more families due to its high cleaning efficiency, and has become one of the important tools for modern family cleaning.

[0003] In order to further improve the edge cleaning effect of the floor cleaning machine, an edge brush can be arranged at one side of the bottom of the floor brush, and the edge cleaning effect of the floor cleaning machine can be improved by driving the edge brush to rotate and clean. However, when the edge brush rotates and contacts the surface to be cleaned for cleaning, according to the principle of action and reaction, the edge brush will generate a large reaction torque on the floor brush and the machine body, causing the machine body and the floor brush to deflect to one side. This will cause the machine body to be unstable and the operation to be laborious during cleaning. SUMMARY

[0004] The embodiments of the present application provide a control method, device, medium and product of a cleaning equipment, which can solve the problem of unstable machine body and laborious operation caused by arranging an edge brush on one side of the floor cleaning machine in the related art.

[0005] In order to achieve the above-mentioned purpose, the embodiments of the present application provide the following technical solutions:

[0006] The first aspect of the embodiments of the present application provides a control method of a cleaning equipment, applied to a control unit of the cleaning equipment, the cleaning equipment being used for being controlled by a user to clean a surface to be cleaned, the cleaning equipment being provided with a floor brush assembly, the floor brush assembly including a shell, a power-assisted wheel and a cleaning piece, the power-assisted wheel and the cleaning piece being arranged on opposite sides in the width direction of the shell; the control unit being connected with the power-assisted wheel and the cleaning piece respectively;

[0007] When the cleaning equipment moves close to the user;

[0008] The method comprises:

[0009] In response to a cleaning piece lowering instruction, the cleaning piece is controlled to be lowered to contact the surface to be cleaned, and the cleaning piece is controlled to rotate in a clockwise direction to clean the surface to be cleaned;

[0010] And during the movement of the cleaning equipment moving close to the user, the power-assisted wheel is controlled to rotate in a direction generating a backward movement trend, so that when the cleaning piece cleans the surface to be cleaned, the power-assisted wheel can provide power to at least partially overcome the swing of the floor brush assembly caused by the cleaning piece.

[0011] In the prior art, in order to enhance the cleaning ability of the scrubber, a cleaning element is added to the scrubber brush. The cleaning element can be a cleaning element. When the cleaning element is used for auxiliary cleaning, the above-mentioned mode is different from the sweeper in the prior art. The sweeper is generally a disc-shaped automatic machine body, and the components are concentrated.

[0012] Therefore, the force of the entire component is relatively concentrated, and the external influence during movement is small, and the out-of-control situation is not easy to occur. In addition, the sweeper generally has two cleaning elements, which rotate relative to each other to realize the counteracting force.

[0013] However, the scrubber is different. The machine body of the scrubber is flexible and rotatable and is arranged above the brush and is used for holding by the user. Therefore, the overall components are not concentrated, and the external influence force is large, and it is easy to lose control due to the external force.

[0014] In addition, the current scrubber itself has a single cleaning element structure. Therefore, in actual cleaning, the force of the cleaning element easily affects the operation of the entire scrubber.

[0015] The application solves the above-mentioned out-of-control problem through the structure position design of the power-assisted wheel and the cleaning element and the method of cooperative control. The details are as follows:

[0016] The control method of the cleaning equipment provided by the embodiment of the application cooperatively controls the rotation of the cleaning element and the backward rotation of the power-assisted wheel during the movement of the cleaning equipment close to the user (during the process that the user pulls the cleaning equipment backward), and actively uses the power of the power-assisted wheel to offset the reaction torque generated by the cleaning element. The method solves the problems of instability of the machine body and laborious operation caused by the biased cleaning element from the control logic level, converts the potential interference force into a regulating means for maintaining system balance, and enables the user to obtain stable and light operation experience.

[0017] It should be noted that when the cleaning element rotates clockwise and contacts the surface to be cleaned for cleaning, according to the principle of action and reaction, the cleaning element will generate a large counterclockwise reaction torque on the brush assembly and the machine body. If this torque is not controlled, it will force the entire brush assembly and the machine body to deflect in a "tail swing" manner to the other side of the cleaning element, which will seriously deteriorate the operation feeling. Therefore, by controlling the backward rotation of the power-assisted wheel, a clockwise balancing torque is actively applied by using the friction between the power-assisted wheel and the ground. The two torques acting on the two sides of the shell can form a pair of force couples with opposite directions. By accurately controlling the output power of the power-assisted wheel, the counterclockwise deflection torque generated by the cleaning element can be dynamically offset in real time, thereby ensuring the straight-line travel stability of the cleaning equipment during cleaning from the mechanical root and eliminating the burden of the user's lateral correction.

[0018] Further, the friction generated by the rotation of the booster wheel rearward can be decomposed into two components in the horizontal direction: one component is used to generate a balancing moment (lateral component), which can be used to solve the deflection problem of the brush assembly; the other component directly acts on the brush assembly to generate a rearward pulling force (longitudinal component), which means that the mechanical means for solving the "deflection" problem is also ingeniously converted into an effective power for assisting the user to pull the machine body rearward, so that the user feels light and labor-saving when pulling the cleaning device rearward.

[0019] In a possible implementation, the cleaning device further comprises a machine body, the machine body is rotationally connected with the brush assembly;

[0020] The method further comprises:

[0021] In response to the cleaning stop instruction, if the cleaning element is in contact with the surface to be cleaned, the cleaning element is controlled to stop rotating, and the cleaning element is controlled to rise to disengage from the surface to be cleaned;

[0022] The booster wheel is controlled to rotate in a direction generating a rearward movement trend to assist the machine body in converting to an upright state.

[0023] At the end of cleaning, the booster wheel is controlled to continue rotating rearward after the cleaning element is lifted, so that the booster wheel continues to provide a rearward auxiliary power, which can drive the brush assembly to move rearward, and thus the machine body gradually changes to an upright parking posture, realizing the automation and labor-saving of the finishing action and reducing the physical exertion of the user.

[0024] In a possible implementation, the brush assembly further comprises a roller brush, the roller brush is arranged at the bottom of the shell, and the roller brush is arranged close to the front side of the shell relative to the booster wheel;

[0025] Correspondingly, after the cleaning element is controlled to rise to disengage from the surface to be cleaned, the method further comprises:

[0026] The roller brush is controlled to rotate in a direction generating a rearward movement trend.

[0027] This further adds the rearward rotation of the roller brush to the upright assisting stage, forming a cooperative drive with the booster wheel. The two rearward rotating components together generate a stronger rearward pulling force, so that the process of making the machine body upright is more rapid, powerful and stable, and especially in the working condition where the ground friction is large, the reliable completion of the upright action can be ensured.

[0028] In a possible implementation, the brush assembly comprises a first detection device, the first detection device is used to detect the contact pressure of the cleaning element and the surface to be cleaned, and the first detection device is connected with the control unit;

[0029] The booster wheel is controlled to rotate in a direction generating a rearward movement trend, comprising:

[0030] acquire real-time contact pressure between the cleaning member and the surface to be cleaned through the first detection device;

[0031] determine real-time output power of the power-assisted wheel according to the real-time contact pressure;

[0032] control the power-assisted wheel to rotate in a direction that generates a backward movement tendency according to the real-time output power.

[0033] In this way, power adaptive adjustment of the power-assisted wheel based on real-time contact pressure can be achieved. The contact pressure between the cleaning member and the ground is monitored in real time through the first detection device, and the output power of the power-assisted wheel is automatically adjusted accordingly. This enables the power-assisted wheel to adapt to different cleaning conditions (for example, the pressure increases when switching from hard floor to soft carpet), and achieves precise power matching. This not only ensures that the cleaning member torque can be effectively counteracted in various situations to achieve the best power-assisted effect, but also avoids power waste, which is conducive to energy saving.

[0034] In one possible implementation, the real-time output power of the power-assisted wheel is proportional to the real-time contact pressure.

[0035] A linear control strategy is explicitly set in which the power-assisted wheel power is proportional to the cleaning member contact pressure. This strategy is intuitive and effective, ensuring that when the cleaning load increases (high pressure), more powerful balancing and power assistance are provided to maintain stability; when the load decreases (low pressure), the power is automatically reduced to save energy, making the control logic simple and efficient.

[0036] In one possible implementation, the output power of the power-assisted wheel when the cleaning member contacts the surface to be cleaned is greater than or equal to the output power when the cleaning member does not contact the surface to be cleaned.

[0037] By setting the output power of the power-assisted wheel when the cleaning member contacts the ground to be no less than the output power when the cleaning member does not contact the ground, it is ensured that the power-assisted wheel can provide sufficient power to counteract the main torque of the cleaning member, ensuring the basic lightness of the operating feel during cleaning.

[0038] In one possible implementation, the brush assembly includes a second detection device for detecting whether the cleaning member is in an edge-following position, and the second detection device is connected to the control unit.

[0039] controlling the power-assisted wheel to rotate in a direction that generates a backward movement tendency includes:

[0040] acquiring position information of the cleaning member through the second detection device;

[0041] determining whether the cleaning member is in an edge-following cleaning state according to the position information of the cleaning member;

[0042] when the cleaning member is in an edge-following cleaning state, controlling the power-assisted wheel to reduce the output power.

[0043] The second detection device is used to identify the edge cleaning state of the cleaning element, and the power of the power-assisted wheel is automatically reduced in the edge cleaning state. Since the posture of the machine body changes during edge cleaning, the resistance and the generated torque of the cleaning element are generally reduced, and reducing the output power of the power-assisted wheel can meet the auxiliary power requirement and prevent the brush assembly from being separated from the wall due to excessive power assistance, thereby ensuring the stability and effect of edge cleaning and saving energy.

[0044] In a possible implementation, the power-assisted wheel is controlled to rotate in a direction in which a backward movement tendency is generated before the cleaning element contacts the surface to be cleaned.

[0045] When the user pushes the cleaning device forward to start cleaning, a forward impact force (i.e., a "forward rush" feeling) is generated when the high-speed rotating roller brush contacts the surface to be cleaned. The backward pulling force generated by the friction of the backward rotation of the power-assisted wheel can offset part of the forward impact force. Therefore, controlling the power-assisted wheel to rotate in a direction in which a backward movement tendency is generated before the cleaning element contacts the surface to be cleaned can form a flexible buffer with the forward impact force generated by the roller brush, effectively reducing the uncomfortable "sudden forward rush" phenomenon, making the transition from static to motion of the cleaning device smoother, and greatly improving the operation safety and user experience in the starting stage.

[0046] In a possible implementation, a third detection device is arranged on the machine body or the brush assembly, and the third detection device is configured to identify the deflection direction of the cleaning device. The method further includes: when the cleaning element contacts the surface to be cleaned and the cleaning device is deflected, the power of the power-assisted wheel is controlled to change so that the power-assisted wheel can provide assistance to at least partially overcome the deflection of the brush assembly caused by the cleaning element when the cleaning element cleans the surface to be cleaned.

[0047] Here, the power can change the power of the power-assisted wheel according to the deflection direction, for example, when the deflection direction is clockwise deflection, the power of the backward assistance of the power-assisted wheel can be increased to overcome the deflection.

[0048] By arranging the third detection device to identify the deflection direction of the cleaning device in real time, and dynamically adjusting the output power of the power-assisted wheel based on the detection result, closed-loop control of the force state of the brush assembly can be achieved. Specifically, when the cleaning element contacts the surface to be cleaned and a clockwise deflection tendency of the cleaning device is detected, the output power of the power-assisted wheel is increased, so that the reaction torque generated by the rotation of the cleaning element can be more accurately offset.

[0049] In a possible implementation, the third detection device is a gyroscope.

[0050] By adopting the gyroscope as the third detection device, the control method of the present application provides a high-precision and high-response-speed attitude sensing basis. The gyroscope can detect the angular velocity variation of the cleaning device around its vertical axis (Z-axis) in real time and continuously, thereby extremely sensitively capturing the slight deflection trend of the machine body caused by the cleaning element rotation reaction force. The accuracy and sensitivity of the method for controlling the cleaning device are further improved.

[0051] In a possible implementation, the method further comprises:

[0052] when the cleaning device moves away from the user;

[0053] in response to the cleaning element lowering instruction, controlling the cleaning element to lower to contact the surface to be cleaned, and controlling the cleaning element to rotate in the clockwise direction to clean the surface to be cleaned;

[0054] and, during the movement of the cleaning device away from the user, controlling the booster wheel to rotate in a direction generating a forward movement trend to at least partially offset the force generated by the brush assembly during rotation of the cleaning element.

[0055] In this way, the reaction torque caused by the rotation of the cleaning element can be offset by the booster wheel during the forward pushing and backward pulling, the deflection problem of the brush assembly is adjusted, and the machine body is actively maintained stable, so that the user does not need to additionally exert effort to resist the abnormal deflection of the cleaning device, the operation fatigue is greatly reduced, and the "labor-saving" in a true sense is realized.

[0056] In a possible implementation, the brush assembly further comprises a rolling brush and a first driving assembly; the rolling brush is sleeved outside the first driving assembly, and the first driving assembly is configured to drive the rolling brush to rotate; the cleaning element is configured as a disc brush, the rolling brush is located at the front side of the cleaning element and the booster wheel, and the first driving assembly, the cleaning element and the booster wheel are distributed in a triangular shape in the housing.

[0057] By arranging the first driving assembly, the booster wheel and the cleaning element in a triangular shape in the housing, a stable mechanical triangular structure can be constructed. When the brush assembly is working, the three driving assemblies of the rolling brush, the booster wheel and the cleaning element are the main vibration sources and force points, and the triangular layout constructs a virtual and stable mechanical triangular support structure in the housing. The structure can effectively resist and disperse the multi-dimensional torque and impact force generated by the high-speed rotation of the rolling brush and the cleaning element and the friction between the booster wheel and the ground. In particular, when the cleaning element is located on one side and exerts a large torsion, the booster wheel and its driving assembly located in the diagonal area can form an effective couple balance, significantly inhibiting the abnormal lifting, tail swinging or lateral deflection of the brush assembly that may occur during the working and moving process, thereby ensuring that the rolling brush and the cleaning element always contact the surface to be cleaned in a stable attitude, and the uniformity of the cleaning effect is ensured.

[0058] The second aspect of the embodiment of the present application provides a control device of a cleaning device, comprising a memory and a processor;

[0059] The memory stores computer execution instructions.

[0060] The processor executes the computer execution instructions stored in the memory, so that the processor executes the method according to any one of the first aspect.

[0061] The third aspect of the embodiment of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method according to any one of the first aspect.

[0062] The fourth aspect of the embodiment of the present application provides a computer program product, comprising a computer program, wherein the computer program is executed by the processor to implement the method according to any one of the first aspect.

[0063] In summary, the present application optimizes the layout of the booster wheel and combines intelligent control, effectively solves the multiple contradictions between cost, structural height, operation convenience and appearance in the prior art, and provides a floor brush assembly and a cleaning device which are compact in structure, low in cost, good in passability and labor-saving in operation. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0065] Figure 1 A structural schematic diagram of a cleaning device is provided for the embodiment of the present application.

[0066] Figure 2 A structural schematic diagram of a floor brush assembly is provided for the embodiment of the present application.

[0067] Figure 3 A partial frame structural schematic diagram of a cleaning device is provided for the embodiment of the present application.

[0068] Figure 4 A cross-sectional structural schematic diagram of a floor brush assembly is provided for the embodiment of the present application.

[0069] Figure 5 Another partial frame structural schematic diagram of a cleaning device is provided for the embodiment of the present application.

[0070] Figure 6 Another partial frame structural schematic diagram of a cleaning device is provided for the embodiment of the present application.

[0071] Figure 7 Another schematic view of a partial frame structure of a cleaning device provided in an embodiment of the present application;

[0072] Figure 8 A flowchart of a control method of a cleaning device provided in an embodiment of the present application;

[0073] Figure 9 A flowchart of a control method of another cleaning device provided in an embodiment of the present application;

[0074] Figure 10 A flowchart of a control method of another cleaning device provided in an embodiment of the present application;

[0075] Figure 11 A flowchart of a control method of another cleaning device provided in an embodiment of the present application;

[0076] Figure 12 A flowchart of a control method of another cleaning device provided in an embodiment of the present application;

[0077] Figure 13 A schematic view of a control device of a cleaning device provided in an embodiment of the present application.

[0078] Legend of reference signs:

[0079] 1000 - cleaning device; 100 - ground brush assembly; 10 - housing;

[0080] 11 - first side; 12 - second side; 13 - opening;

[0081] 20 - rolling brush; 30 - booster wheel; 31 - auxiliary wheel;

[0082] 40 - cleaning element; 51 - first driving assembly; 52 - second driving assembly;

[0083] 53 - third driving assembly; 60 - control unit; 14 - front squeegee;

[0084] 71 - first detection device; 72 - second detection device; 73 - detection device;

[0085] 74 - third detection device; 80 - connecting mechanism; 200 - machine body;

[0086] 901 - processor; 902 - memory; 903 - input device;

[0087] 904 - output device. DETAILED DESCRIPTION

[0088] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0089] To solve the technical problems in the background art, the present application provides a control method, device, medium and product of a cleaning equipment.

[0090] The control method, device, medium and product of the cleaning equipment provided by the embodiments of the present application will be described in detail below with reference to the drawings.

[0091] Figure 1 A structural schematic diagram of a cleaning equipment provided by the embodiments of the present application. Figure 2 A structural schematic diagram of a brush assembly provided by the embodiments of the present application. Figure 3 A partial frame structural schematic diagram of a cleaning equipment provided by the embodiments of the present application.

[0092] It should be noted that, for the convenience of description, in the embodiments of the present application, the front-rear direction of the brush assembly is regarded as the x direction, the width direction of the brush assembly is regarded as the y direction, and the height direction of the cleaning equipment is regarded as the z direction. The front-rear direction is determined based on the user's perspective when using the cleaning equipment normally, that is, the front of the user is the front of the brush assembly, and the back of the user is the back of the brush assembly. When the cleaning equipment moves close to the user, the cleaning equipment is in a rear-pulling cleaning state. When the cleaning equipment moves away from the user, the cleaning equipment is in a front-pushing cleaning state.

[0093] The embodiments of the present application provide a cleaning equipment, which can be a scrubber. The cleaning member other than the roller brush can be a disc brush.

[0094] The following will be described taking the cleaning equipment as a scrubber as an example.

[0095] As shown in FIG. 1, the cleaning equipment 1 includes a brush assembly 10 and a frame 20. Figure 1 And Figure 2As shown, the cleaning device 1000 may include a body 200 and a floor brush assembly 100. The floor brush assembly 100 is rotatably connected to the body 200. For example, the floor brush assembly 100 is provided with a connecting mechanism 80, and the body 200 is rotatably connected to the floor brush assembly 100 through the connecting mechanism 80. The body 200 can rotate relative to the floor brush assembly 100 through the connecting mechanism 80, so that the position of the body 200 relative to the floor brush assembly 100 can be changed, thereby changing the posture of the body 200 of the cleaning device 1000. For example, the body 200 may be at a certain angle to the surface to be cleaned, or upright on the surface to be cleaned, or lying flat on the surface to be cleaned. When the body 200 lies flat on the surface to be cleaned, the cleaning device 1000 can enter some lower positions, thereby cleaning the lower positions.

[0096] like Figure 2 As shown, the floor brush assembly 100 may include a housing 10, a roller brush 20, a booster wheel 30, an auxiliary wheel 31, and a connecting mechanism 80. The roller brush 20 is rotatably disposed on the bottom of the housing 10. The housing 10 may include a first side 11 and a second side 12 opposite each other along the width direction (y direction). The booster wheel 30 is rotatably disposed on the first side 11 of the housing 10. The booster wheel 30 is located at the bottom of the housing 10 and behind the roller brush 20.

[0097] The connecting mechanism 80 is rotatably connected to the housing 10 about an axis parallel to the width direction (y-direction). The connecting mechanism 80 is used to connect the body 200, and is configured to drive the body 200 to a flat position when rotated rearward relative to the housing 10. Two auxiliary wheels 31 are rotatably disposed on the rear side of the bottom of the housing 10. In the width direction (y-direction), the two auxiliary wheels 31 are located on both sides of the connecting mechanism 80, and the two auxiliary wheels 31 and the assist wheel 30 are arranged in a triangle (see reference). Figure 2 (The dashed triangle in the middle).

[0098] It should be noted that the setting on the first side 11 and the second side 12 here refers to being close to the first side 11 and the second side 12, and is limited to the position located at the outer edge.

[0099] The brush assembly 100 in the embodiment of the present application, by eccentrically arranging a single booster wheel 30 on the first side 11 of the shell 10 in the width direction (y direction), compared with the prior art scheme of arranging a single booster wheel in the middle of the brush structure, the connecting mechanism of the present scheme can avoid the booster wheel 30 from interfering with the structure of the body 200 when the body is converted to a lying state, thereby fundamentally avoiding the motion interference between the booster wheel 30 and the body 200. This makes the lying height of the whole machine significantly reduced when the brush assembly 100 needs to be flattened to clean the low space such as the bottom of the bed or sofa, thereby improving the ability to enter the low space. In addition, by arranging a single booster wheel 30, the complex structure and assembly process brought by the double booster wheels 30 are simplified, the manufacturing cost is effectively reduced, and the appearance of the whole machine is more simple and integrated, thereby improving the user satisfaction.

[0100] By arranging two auxiliary wheels 31 on both sides of the connecting mechanism 80 in the width direction (y direction), and together with the eccentric booster wheel 30 forming a stable triangular support surface, the running stability of the brush assembly 100 can be ensured. In addition, when the connecting mechanism 80 drives the body 200 to convert the state, the two auxiliary wheels 31 and the booster wheel 30 distributed in a triangular shape can provide a stable fulcrum for the connecting mechanism 80. During the lying process, the rear support surface formed by the two auxiliary wheels 31 and the booster wheel 30 can ensure that the body 200 is smoothly and smoothly turned down, avoiding the jam caused by structural interference, and making the low space cleaning process more reliable.

[0101] As shown in Figure 2 The brush assembly 100 can further include a cleaning piece 40, which can be arranged opposite to the booster wheel 30 in the width direction. That is, the booster wheel 30 is rotatably arranged on the first side 11 of the shell 10, and the cleaning piece 40 is arranged on the second side 12 of the shell 10. The cleaning piece 40 is used to perform cleaning work on the surface to be cleaned when rotating.

[0102] It should be noted that the cleaning piece 40 is configured to rotate to clean the surface to be cleaned. In addition, the cleaning piece 40 can realize dead angle-free cleaning of the wall edge and corner. In some examples, the cleaning piece 40 can be a disc brush or an edge brush.

[0103] By arranging the cleaning piece 40 on the second side 12 of the shell 10, the cleaning piece 40 and the booster wheel 30 form a balanced layout symmetrically left and right in the width direction (y direction). In this way, the space on both sides of the shell 10 in the width direction (y direction) can be fully utilized, so that the structure is more compact, and the cleaning piece 40 can effectively clean the areas that are difficult to reach, such as corners and wall roots. The roller brush 20 cooperates to realize omnidirectional and dead angle-free cleaning of the plane and the corner, and significantly improves the overall cleaning efficiency.

[0104] Continuing to refer toFigure 1 and Figure 2 As shown in

[0105] For example, the connecting mechanism 80 can be connected with the internal structure of the shell 10 through a rotating shaft (not shown in the figure). In this embodiment, the connecting part of the connecting mechanism 80 enters the inside of the shell 10 from the side wall of the opening and is rotatably connected with the shell 10. In this embodiment, the connecting mode between the connecting mechanism 80 and the shell 10 is not limited.

[0106] By opening the opening 13 on the rear side of the shell 10, the connecting mechanism 80 can be partially embedded in the opening 13 when the main body 200 is lying down, so that the opening 13 can provide the necessary space for the rotation of the connecting mechanism 80, so that the mechanism does not need to increase the height of the shell 10 to accommodate the movement track during the lying process, thereby directly reducing the minimum lying height of the whole machine.

[0107] Continuing to refer to Figure 1 and Figure 2 As shown in

[0108] By setting the front scraper 14 to automatically lift up when being pushed forward and automatically press down when being pulled backward, the switching of the working state of the front scraper 14 can be realized. In this way, when the cleaning device is pushed forward, the front scraper 14 is lifted up, which can reduce the resistance of the cleaning device and reduce the wear of the front scraper 14. When the cleaning device is pulled backward, the front scraper 14 moves downward, which can be in close contact with the surface to be cleaned, thereby scraping the sewage remaining on the surface to be cleaned and forming an effective seal to prevent liquid from overflowing from the front scraper 14, thereby improving the cleaning effect.

[0109] In some embodiments, the booster wheel 30 can be used to control the lifting or lowering movement of the front scraper 14. For example, a transmission mechanism is provided between the booster wheel 30 and the front scraper 14, and the booster wheel 30 is used to drive the transmission mechanism to move, and the transmission mechanism is used to drive the front scraper 14 to lift or lower.

[0110] For example, the transmission mechanism can include gears, cams, connecting rods, etc. In this embodiment, the specific structure of the transmission mechanism is not limited.

[0111] In some embodiments, the transmission mechanism can be configured to generate a forward movement trend when the cleaning device 1000 is pushed forward, to drive the transmission mechanism to convert the rotation of the booster wheel 30 into a force to lift the front squeegee 14, so that the front squeegee 14 is lifted to avoid obstacles and reduce resistance. When the cleaning device 1000 is pulled backward (the booster wheel 30 rotates backward), the transmission mechanism drives the front squeegee 14 to descend, so that the front squeegee 14 closely contacts the surface to be cleaned to scrape off the sewage.

[0112] By providing the transmission mechanism between the booster wheel 30 and the front squeegee 14, the design eliminates the need for a separate driving motor and control circuit, and achieves double functions by using the existing power source. Not only does it simplify the overall structure and reduce manufacturing costs, but it also ensures the instantness and reliability of the state switching of the front squeegee 14 through mechanical linkage.

[0113] In some other embodiments, the movement of the front squeegee 14 can also be achieved by other ways.

[0114] As shown in Figure 2 The brush assembly 100 can further include a control device (not shown in the figure) and a detection device 73. The control device can be arranged on the housing 10, for example, on the bottom of the housing 10. The detection device 73 is in communication or electrical connection with the control device, and the detection device 73 is used to detect the motion state of the brush assembly 100. The detection device 73 can be an optical flow sensor or a detection wheel. The control device is configured to control the front squeegee 14 to perform the action of lifting or descending according to the motion state of the brush assembly 100 detected by the detection device.

[0115] It should be noted that the optical flow sensor or the detection wheel can be a common component used in related technologies to detect the motion state of the brush assembly 100, and thus will not be described in detail in the embodiments of the present application.

[0116] For example, when the detection device 73 detects that the brush assembly 100 is pushed forward, the control device controls the front squeegee 14 to be lifted upward relative to the housing 10. When the detection device 73 detects that the brush assembly 100 is pulled backward, the control device controls the front squeegee 14 to move downward relative to the housing 10.

[0117] In some embodiments, the brush assembly 100 further includes a driving member (not shown in the figure) connected with the front squeegee 14. The control device can be connected with the driving member, so as to drive the front squeegee 14 to lift or descend through the driving member.

[0118] In the embodiments of the present application, the driving mode of the front squeegee 14 is not limited.

[0119] In this way, the motion state of the ground brush assembly 100 can be obtained by the detection device, and then the front squeegee 14 can be controlled by the control device, so that precise and adaptive active control can be achieved. Compared with the pure mechanical scheme, the electric control scheme is more accurate in response, can dynamically adjust the posture of the front squeegee 14 according to the speed, and can also eliminate the problem of control failure caused by the idling of the booster wheel 30 (such as on a smooth ground), so that the cleaning device is more intelligent.

[0120] Referring to Figure 3 As shown, the cleaning device 1000 can also include a control unit 60, which is connected with the roller brush 20, the booster wheel 30 and the cleaning member 40 respectively.

[0121] In some embodiments, the ground brush assembly 100 can also include a first driving assembly 51 for driving the roller brush 20 to rotate, a second driving assembly 52 for driving the booster wheel 30 to rotate, and a third driving assembly 53 for driving the cleaning member 40 to rotate and for driving the cleaning member 40 to ascend or descend.

[0122] For example, the control unit 60 can be electrically or signal connected with the first driving assembly 51, the second driving assembly 52 and the third driving assembly 53. In this way, the control unit 60 can control the roller brush 20 to rotate through the first driving assembly 51, control the booster wheel 30 to rotate through the second driving assembly 52, and control the cleaning member 40 to rotate and to ascend or descend through the third driving assembly 53.

[0123] For example, the first driving assembly 51 can include a transmission member and a motor, etc. The motor is drivingly connected with the roller brush 20 through the transmission member, etc., and drives the roller brush 20 to rotate. The second driving assembly 52 can also include a transmission member and a motor, etc. The motor is drivingly connected with the booster wheel 30 through the transmission member, etc., and drives the booster wheel 30 to rotate. The third driving assembly 53 can include two driving members, one of which controls the cleaning member 40 to rotate, and the other of which controls the cleaning member 40 to ascend or descend. In the embodiments of the present application, the specific structure of the first driving assembly 51, the second driving assembly 52 and the third driving assembly 53 is not limited further.

[0124] In one possible implementation, the control unit 60 is configured to, when receiving a cleaning member descending instruction, control the cleaning member 40 to descend and contact the surface to be cleaned through the third driving assembly 53, and keep rotating clockwise, and in the process of the ground brush assembly 100 approaching the user, that is, in the process of being pulled backward, control the booster wheel 30 to rotate in a direction that tends to produce a backward motion through the second driving assembly 52, so as to at least partially offset the force generated by the rotation of the cleaning member 40 on the ground brush assembly 100.

[0125] It should be noted that when the cleaning element 40 (arranged on the second side 12 of the housing 10) rotates clockwise and contacts the surface to be cleaned for cleaning, according to the principle of action and reaction, the cleaning element 40 will generate a larger counterclockwise reaction torque on the brush assembly 100 and the body 200. If this torque is not controlled, it will force the entire brush assembly 100 and the body 200 to deflect in a "tail swing" manner towards the first side 11 (i.e. the opposite side of the cleaning element 40), which will seriously deteriorate the operation feeling. Therefore, during the rear pulling process, the booster wheel 30 located on the first side 11 is controlled to rotate rearward, and a clockwise balancing torque is actively applied by using the friction force between the booster wheel 30 and the ground. The two torques acting on the two sides of the housing 10 can form a pair of force couples with opposite directions. By accurately controlling the output power of the booster wheel 30, the counterclockwise deflection torque generated by the cleaning element 40 can be dynamically and real-timely offset, ensuring the straight-line travel stability of the cleaning device 1000 during the rear pulling cleaning process and eliminating the user's burden of lateral correction.

[0126] Further, the friction force generated by the rearward rotation of the booster wheel 30 can be decomposed into two components in the horizontal direction: one component is used to generate a balancing torque (transverse component), which can be used to solve the deflection problem of the brush assembly 100; the other component directly acts on the brush assembly 100 to generate a rear pulling force (longitudinal component), which means that the mechanical means for solving the "deflection" problem is also ingeniously converted into an effective power for assisting the user to pull the body 200 rearward, so that the user will feel light and labor-saving when pulling the cleaning device 1000 rearward.

[0127] In some embodiments, the booster wheel 30 is controlled to rotate in a direction that tends to generate a rearward movement before the cleaning element 40 contacts the surface to be cleaned.

[0128] It should be noted that "controlling the booster wheel to rotate in a direction that tends to generate a rearward movement" means that the booster wheel rotates in a direction that tends to generate a rearward movement, which can be understood as the booster wheel rotating rearward, i.e. rotating in a direction away from the forward pushing direction of the cleaning device, which is referred to as rearward rotation.

[0129] At the moment when the user starts the cleaning of the cleaning device 1000, the high-speed rotating roller brush 20 will produce a forward impact force (i.e. a "forward rush" feeling) when it contacts the surface to be cleaned. The backward pulling force generated by the friction of the power-assisted wheel 30 rotating backward can offset part of the forward impact force. Therefore, before the cleaning element 40 descends to contact the surface to be cleaned, the control of the power-assisted wheel 30 rotating in the direction of producing a backward movement trend can form a flexible buffer with the forward impact force caused by the roller brush 20, effectively reducing the uncomfortable "sudden forward rush" phenomenon, making the transition from static to motion of the cleaning device 1000 more smooth, greatly improving the operation safety and user experience in the starting stage.

[0130] In some embodiments, the control unit 60 is configured to, upon receiving a cleaning stop instruction, control the cleaning element 40 to stop rotating and rise by the third driving assembly 53, and control the power-assisted wheel 30 to continue rotating in the direction of producing a backward movement trend by the second driving assembly 52.

[0131] At the end of cleaning, the cleaning element 40 is automatically controlled to rise and stop by the control unit 60, while the power-assisted wheel 30 continues to provide backward auxiliary power, which can drive the brush assembly 100 to move backward, thereby making the body 200 of the brush assembly 100 gradually become an upright parking posture, realizing the automation of the finishing action and reducing the physical consumption of the user.

[0132] In some embodiments, the control unit 60 can also be configured to control the roller brush 20 to rotate in the direction of producing a backward movement trend after controlling the cleaning element 40 to rise and separate from the surface to be cleaned.

[0133] This further adds the backward rotation of the roller brush 20 in the upright assisting stage, forming a cooperative driving with the power-assisted wheel 30. The two backward rotating components jointly produce a stronger backward pulling force, making the process of the body 200 becoming upright more rapid, powerful and stable, and especially ensuring the reliable completion of the upright action in the working condition where the ground friction is large.

[0134] Of course, in other embodiments, the roller brush 20 can also be controlled to stop rotating. In the embodiments of the present application, whether the roller brush 20 is controlled to rotate after the cleaning element 40 is controlled to rise and separate from the surface to be cleaned is not further limited.

[0135] In one possible implementation, the control unit 60 is configured to control the output power of the power-assisted wheel 30 by the second driving assembly 52 when the cleaning element 40 contacts the surface to be cleaned, which is greater than or equal to the output power when the cleaning element 40 does not contact the surface to be cleaned.

[0136] By setting the output power of the booster wheel 30 when the cleaning member 40 contacts the ground not lower than the output power when the cleaning member 40 does not contact the ground, it is ensured that the booster wheel 30 can provide sufficient power to offset the main torsion of the cleaning member 40, and the basic lightness of the operation during the cleaning process is ensured.

[0137] In some embodiments, referring to Figure 4 As shown, the first driving assembly 51 can be arranged in the roller brush 20. The second driving assembly 52 is arranged in the housing 10 and is drivingly connected with the booster wheel 30. The third driving assembly 53 is arranged in the housing 10 and is drivingly connected with the cleaning member 40. The first driving assembly 51, the booster wheel 30 and the cleaning member 40 are arranged in a triangular distribution in the housing 10.

[0138] For example, the second driving assembly 52 is arranged close to the booster wheel, and the third driving assembly 53 is arranged close to the cleaning member. Therefore, the first driving assembly 51, the second driving assembly 52 and the third driving assembly 53 are also arranged in a triangular distribution in the housing 10.

[0139] For example, the second driving assembly 52 and the third driving assembly 53 are arranged inside the housing 10.

[0140] By arranging the roller brush 20, the booster wheel 30 and the cleaning member 40 and the three driving assemblies driving the roller brush 20, the booster wheel 30 and the cleaning member 40 in a triangular distribution in the housing 10, a stable mechanical triangular structure can be constructed. When the floor brush assembly 100 is working, the three driving assemblies are the main vibration source and the force point, and the triangular arrangement constructs a virtual and stable mechanical triangular support structure in the housing 10. The triangular support can effectively resist and disperse the multi-dimensional torque and impact force generated by the high-speed rotation of the roller brush 20 and the cleaning member 40 and the friction between the booster wheel 30 and the ground. Especially when the cleaning member 40 is located on one side and exerts a large torsion, the booster wheel 30 and its driving assembly located in the opposite corner area can form an effective couple balance, significantly inhibit the abnormal lifting, tail swinging or lateral deflection of the floor brush assembly 100 during the working and moving process, so as to ensure that the roller brush 20 and the cleaning member 40 always contact the surface to be cleaned with a stable posture, and the uniformity of the cleaning effect is ensured.

[0141] In addition, the three driving assemblies and their associated structures are the main mass units in the floor brush assembly 100. The triangular arrangement helps to reasonably distribute the weight of each component and optimize the center of gravity of the entire floor brush assembly 100, thereby improving the stability of the floor brush assembly 100 during operation.

[0142] In a possible implementation, the normal projection of the booster wheel 30 on the surface to be cleaned is located within the range covered by the normal projection of the housing 10 on the surface to be cleaned.

[0143] It should be noted that the surface to be cleaned refers to the surface to be cleaned, that is, the surface of the floor, the carpet and the like.

[0144] By limiting the orthographic projection of the booster wheel 30 on the surface to be cleaned to be within the coverage range of the orthographic projection of the shell 10, it is ensured that the booster wheel 30 is always wrapped inside the contour of the shell 10. This can effectively prevent the booster wheel 30 from colliding or scratching with obstacles such as furniture and corners during cleaning, improve the protection of the brush assembly 100 itself and furniture, and make the operation more safe and reliable. In addition, it can also make the structure of the brush assembly 100 more beautiful.

[0145] In some embodiments, the position of the cleaning piece 40 relative to the shell 10 can be variable, for example, the cleaning piece 40 can be set as a swing cleaning piece 40, and in some cleaning scenarios, the cleaning piece 40 can be swung out to expand the cleaning range. Of course, the cleaning piece 40 can also be set as a cleaning piece 40 with a fixed position relative to the shell 10, and in the embodiments of the present application, whether the orthographic projection of the side brush on the surface to be cleaned is within the coverage range of the orthographic projection of the shell 10 is not further limited.

[0146] In some embodiments, the rotation axis of the booster wheel 30 is parallel to the rotation axis of the roller brush 20.

[0147] It should be noted that "parallel" refers to parallel within a certain error range, for example, an included angle of 85°-95° can be considered as parallel.

[0148] By setting the rotation axis of the booster wheel 30 parallel to the rotation axis of the roller brush 20, the rolling direction of the booster wheel 30 is consistent with the main moving direction of the brush assembly 100. It ensures that the auxiliary power provided by the booster wheel 30 is accurate and efficient, and can be most directly converted into effective force to push or pull the body 200, reducing unnecessary energy loss and improving power transmission efficiency.

[0149] In some embodiments, the rotation axis of the booster wheel 30 is parallel to the rotation axis of the body 200 relative to the brush assembly 100.

[0150] In this way, the driving force of the booster wheel 30 can be directly and effectively converted into a torque that makes the body 200 perform a pitching action around its rotation axis (i.e. a torque that lifts or flattens the body 200), and there is almost no force decomposition and loss. Whether the booster wheel 30 assists the body 200 to stand upright or stabilizes the body 200 posture when working, the output power of the booster wheel 30 can be efficiently utilized, and the optimization of power transmission is realized.

[0151] If the rotation axis of the booster wheel 30 is not parallel to the rotation axis of the body 200 relative to the brush assembly 100, the driving force generated by the booster wheel 30 will form a cross-axis torque component. This "cross-axis interference torque" will generate an additional torsional stress on the connecting structure between the body 200 and the brush assembly 100, causing the user to feel "stuck" or "resistance" when lifting or lowering the body 200, which seriously deteriorates the operation feeling. Therefore, such a setting can eliminate this harmful cross-axis interference torque. This makes the body 200 move smoothly and naturally during relative rotation with the brush assembly 100.

[0152] In some embodiments, referring to Figure 5 The brush assembly 100 can include a first detection device 71, as shown. The first detection device 71 is configured to detect the contact pressure of the cleaning member 40 on the surface to be cleaned. The first detection device 71 is electrically connected to the control unit 60, and the control unit 60 is configured to adjust the output power of the booster wheel 30 according to the contact pressure of the cleaning member 40 on the surface to be cleaned.

[0153] For example, the first detection device 71 can be a pressure sensor for detecting the contact pressure of the cleaning member 40 on the surface to be cleaned. In the embodiments of the present application, the specific type of the first detection device 71 is not limited further.

[0154] The contact pressure of the cleaning member 40 on the surface to be cleaned is monitored in real time by the first detection device 71, and the output power of the booster wheel 30 is automatically adjusted accordingly. This enables the booster wheel 30 to adapt to different cleaning conditions (for example, the pressure increases when switching from hard floors to soft carpets), achieving precise power matching. It not only ensures that the torque of the cleaning member 40 can be effectively counteracted in various situations to achieve the best boosting effect, but also avoids power waste, which is beneficial to energy saving.

[0155] For example, the real-time output power of the booster wheel 30 can be proportional to the real-time contact pressure. That is, when the contact pressure of the cleaning member 40 on the surface to be cleaned is large, the real-time output power of the booster wheel 30 is also large, and when the contact pressure of the cleaning member 40 on the surface to be cleaned is small, the real-time output power of the booster wheel 30 is also small.

[0156] In this way, a linear control strategy is explicitly set that the power of the booster wheel 30 is proportional to the contact pressure of the cleaning member 40. This strategy is intuitive and effective, ensuring that more powerful balance and assistance are provided when the cleaning load increases (the pressure is large) to maintain stability; when the load decreases (the pressure is small), the power is automatically reduced to save energy, making the control logic simple and efficient.

[0157] In some other embodiments, referring to Figure 6As shown, the brush assembly 100 can further include a second detection device 72. The second detection device 72 is configured to detect whether the cleaning member 40 is in an edge cleaning state. The second detection device 72 is electrically connected to the control unit 60, and the control unit 60 is configured to control the power output of the booster wheel 30 through the second driving assembly 52 when the cleaning member 40 is in the edge cleaning state.

[0158] For example, the second detection device 72 can obtain position information of the cleaning member 40, and the control unit 60 can determine whether the cleaning member 40 is in the edge cleaning state according to the position information of the cleaning member 40. When the cleaning member 40 is in the edge cleaning state, the power output of the booster wheel 30 can be controlled through the second driving assembly 52.

[0159] In some embodiments, the second detection device 72 can be an edge sensor, a distance sensor, or the like. In the embodiments of the present application, the specific type of the second detection device 72 is not limited further.

[0160] In some embodiments, the second detection device 72 can detect the distance from the second side 12 of the housing 10 to the wall, and since the cleaning member 40 is arranged on the second side 12 of the housing 10, the distance from the second side 12 of the housing 10 to the wall can be used to determine whether the cleaning member 40 is in the edge cleaning state. Of course, in other embodiments, the detection can also be performed in other ways, which are not limited further in the embodiments of the present application.

[0161] The edge cleaning state of the cleaning member 40 is recognized by the second detection device 72, and the power of the booster wheel 30 is automatically reduced in the edge cleaning state. Since the posture of the machine body 200 changes during edge cleaning, the resistance and the generated torque of the cleaning member 40 usually decrease, and reducing the output power of the booster wheel 30 can not only meet the auxiliary power requirement, but also prevent the brush assembly 100 from being separated from the wall due to excessive assistance, thereby ensuring the stability and effect of edge cleaning, and saving energy.

[0162] In some embodiments, as shown, Figure 7 The cleaning device 1000 can further include a third detection device 74, which can be arranged on the machine body 200 or the brush assembly 100. In the embodiments of the present application, the third detection device 74 is arranged on the brush assembly 100, and the third detection device 74 can be used to recognize the deflection direction of the cleaning device 1000. The deflection direction here is the deflection direction relative to the vertical axis of the cleaning device. The vertical axis can be represented as the z direction in the figure, that is, the vertical direction and the height direction of the cleaning device.

[0163] It should be noted that the deflection direction of the cleaning device 1000 is the same as the deflection direction of the brush assembly 100.

[0164] In one possible implementation, the third detection device 74 is a gyroscope. By employing a gyroscope as the third detection device 74, a high-precision, high-response attitude perception basis is provided for the control method of the present invention. The gyroscope can detect the angular velocity change of the cleaning equipment about its vertical axis (Z-axis) in real time and continuously, thereby extremely sensitively capturing the minute deflection trend of the machine body caused by the rotational reaction force of the cleaning parts. This further improves the accuracy and sensitivity of the method in controlling the cleaning equipment.

[0165] The control unit 60 can be configured to control the booster wheel 30 to increase the output power to counteract the force generated by the cleaning component 40 when the cleaning component 40 contacts the surface to be cleaned and the cleaning device 1000 deflects clockwise.

[0166] This application also provides a control method for a cleaning device 1000, which is based on the cleaning device 1000 in any of the above embodiments. This method can be executed by part or all of the cleaning device 1000, where "part" refers to the control unit 60 within the cleaning device 1000. The control method for the cleaning device 1000 will be described below with the cleaning device 1000 as the executing entity.

[0167] It should be noted that this cleaning device 1000 is designed to be controlled by the user to clean the surface to be cleaned. In other words, the user cleans the surface by pushing or pulling the cleaning device.

[0168] The control method of the cleaning equipment 1000 will be described below with reference to the accompanying drawings.

[0169] like Figure 8 As shown, when the cleaning equipment moves close to the user, that is, when the cleaning equipment is in the pull-back cleaning state, the following steps can be performed.

[0170] S101. In response to the cleaning part descent command, control the cleaning part to descend until it contacts the surface to be cleaned, and control the cleaning part to rotate clockwise to clean the surface to be cleaned.

[0171] Alternatively, the cleaning component descent command can be manually input via a button or other means.

[0172] The control unit controls the third drive assembly to drive the cleaning component to descend. When the bottom of the cleaning component contacts the surface to be cleaned, the descent stops, and the cleaning component is controlled to rotate at a preset speed so that the cleaning component rotates clockwise.

[0173] For example, a pressure sensor may be installed at the bottom of the cleaning component. When the pressure sensor at the bottom of the cleaning component detects a preset pressure threshold, the control unit controls the third drive component to stop driving the cleaning component to descend.

[0174] Optionally, the cleaning member is controlled to rotate in a clockwise direction along the surface to be cleaned while the cleaning member is controlled to descend.

[0175] S102、In the process of the cleaning device moving close to the user, the control wheel is controlled to rotate in a direction that generates a tendency of backward movement, so that the cleaning member can provide assistance to at least partially overcome the yaw of the brush assembly caused by the cleaning member when cleaning the surface to be cleaned.

[0176] It should be noted that "yaw" refers to the left and right deflection of the brush assembly around the center axis of the machine body.

[0177] Optionally, the control unit controls the second driving assembly to drive the control wheel to rotate backward to generate a driving force in the backward direction.

[0178] It should be noted that "controlling the control wheel to rotate in a direction that generates a tendency of backward movement" means that the control wheel is rotated in a direction that generates a tendency of backward movement of the brush assembly, which can be understood as the control wheel rotating backward, i.e., rotating in a direction away from the forward pushing direction of the cleaning device, which is referred to as rotating backward.

[0179] In the prior art, in order to enhance the cleaning ability of the scrubber, a cleaning member is added to the brush of the scrubber. The cleaning member can be a cleaning member. When the cleaning member is used for auxiliary cleaning, the above-mentioned method is different from the sweeper in the prior art. The sweeper is generally a disc-shaped automatic machine body, and the components are concentrated.

[0180] Therefore, the force of the entire component is relatively concentrated, and the external influence received during movement is small, and it is not easy to lose control. At the same time, the sweeper generally has two cleaning members that rotate relative to each other to realize the action force of mutual offset.

[0181] The scrubber is different. The machine body of the scrubber is flexible and rotatable and is arranged above the brush and is used for the user to hold. Therefore, the overall components are not concentrated, and the external influence force received is also large, and it is easy to lose control due to external force.

[0182] In addition, the current scrubber itself has a single cleaning member structure. Therefore, in actual cleaning, the action force of the cleaning member easily affects the control of the entire scrubber.

[0183] The present application solves the above-mentioned problem of easy loss of control through the cooperative control of the structure position design of the control wheel and the cleaning member and the method, as follows:

[0184] The control method of the cleaning device provided in the embodiments of the present application controls the rotation of the cleaning element and the backward rotation of the booster wheel in coordination during the cleaning process when the cleaning device moves close to the user (during the process in which the user pulls the cleaning device backward), and actively uses the power of the booster wheel to offset the reaction torque generated by the cleaning element. This method solves the problem of instability of the body and laborious operation caused by the bias of the cleaning element from the control logic level, converts the potential interference force into a regulating means for maintaining the balance of the system, and enables the user to obtain a stable and light control experience.

[0185] It should be noted that when the cleaning element rotates clockwise and contacts the surface to be cleaned for cleaning, according to the principle of action and reaction, the cleaning element will generate a relatively large counterclockwise reaction torque on the brush assembly and the body. If this torque is not controlled, it will force the entire brush assembly and the body to deflect in a "swing tail" manner to the other side of the cleaning element, which will seriously deteriorate the operation feeling. Therefore, by controlling the backward rotation of the booster wheel, a clockwise balancing torque is actively applied by using the friction between the booster wheel and the ground. The two torques acting on the two sides of the shell can form a pair of force couples with opposite directions. By accurately controlling the output power of the booster wheel, the counterclockwise deflection torque generated by the cleaning element can be dynamically offset in real time, thereby ensuring the straight-line travel stability of the cleaning device during the cleaning process and eliminating the burden of lateral correction of the user from the root of mechanics.

[0186] Further, the friction generated by the backward rotation of the booster wheel can be decomposed into two components in the horizontal direction: one component is used to generate a balancing torque (lateral component), which can be used to solve the deflection problem of the brush assembly; the other component directly acts on the brush assembly to generate a backward pulling force (longitudinal component), which means that the mechanical means for solving the "deflection" problem is also ingeniously converted into an effective power for assisting the user to pull the body backward, so that the user will feel light and labor-saving when pulling the cleaning device backward.

[0187] In the embodiments of the present application, before the cleaning element is lowered to contact the surface to be cleaned, the following steps can be included.

[0188] 0.1, control the booster wheel to rotate in a direction that generates a backward movement tendency.

[0189] That is, the booster wheel rotates before the cleaning element.

[0190] Because the moment when the high-speed rotating roller brush contacts the surface to be cleaned will generate a forward impact force (i.e. a "forward rush" feeling) in front of the user, the backward pulling force generated by the friction of the power-assisted wheel rotating backward can offset part of the forward impact force, and then form a flexible buffer with the forward impact force generated by the roller brush, effectively reducing the uncomfortable "sudden forward rush" phenomenon, making the transition from static to motion of the cleaning device smoother, greatly improving the operation safety and user experience in the starting stage.

[0191] In some embodiments, the floor brush assembly can include a first detection device (such as a pressure sensor) for detecting the contact pressure between the cleaning member and the surface to be cleaned, and the first detection device is connected to the control unit.

[0192] The step of "controlling the power-assisted wheel to rotate in the direction of generating a backward motion trend" can specifically include the following steps.

[0193] 1.1, obtaining the real-time contact pressure between the cleaning member and the surface to be cleaned through the first detection device.

[0194] Optionally, the pressure sensor installed on the cleaning member support collects pressure data in real time at a sampling frequency of 100 Hz.

[0195] 1.2, determining the real-time output power of the power-assisted wheel according to the real-time contact pressure.

[0196] Optionally, the real-time output power of the power-assisted wheel can be proportional to the real-time contact pressure. The greater the real-time contact pressure between the cleaning member and the surface to be cleaned, the greater the real-time output power of the power-assisted wheel. The smaller the real-time contact pressure between the cleaning member and the surface to be cleaned, the smaller the real-time output power of the power-assisted wheel.

[0197] By explicitly setting the linear control strategy that the power-assisted wheel power is proportional to the cleaning member contact pressure. This strategy is intuitive and effective, ensuring that more powerful balance and assistance are provided when the cleaning load increases (pressure is large) to maintain stability; when the load decreases (pressure is small), the power is automatically reduced to save energy, making the control logic simple and efficient.

[0198] Optionally, the output power of the power-assisted wheel when the cleaning member contacts the surface to be cleaned can be greater than or equal to the output power when the cleaning member does not contact the surface to be cleaned.

[0199] By setting the output power of the power-assisted wheel when the cleaning member contacts the ground to be no less than the output power when the cleaning member does not contact the ground, it is ensured that the power-assisted wheel can provide sufficient power to offset the main torque of the cleaning member, ensuring the basic lightness of the operation feel during cleaning.

[0200] 1.3. controlling the driving wheel to rotate in a direction in which a backward movement tendency is generated, according to the real-time output power.

[0201] For example, the driving motor driving the driving wheel is reversed to control the driving wheel to rotate in a direction in which a backward movement tendency is generated.

[0202] In this way, the power of the driving wheel can be adaptively adjusted based on the real-time contact pressure. The contact pressure between the cleaning member and the ground is monitored in real time by the first detection device, and the output power of the driving wheel is automatically adjusted accordingly. This enables the driving wheel to adapt to different cleaning conditions (e.g., the pressure increases when switching from a hard floor to a soft carpet), and to achieve precise power matching. This not only ensures that the cleaning member torque can be effectively counteracted in various situations to achieve the best driving effect, but also avoids power waste and is conducive to energy saving.

[0203] Of course, in other embodiments, the step of "controlling the driving wheel to rotate in a direction in which a backward movement tendency is generated" can also have other specific implementations.

[0204] In some embodiments, the brush assembly can include a second detection device (such as a distance sensor or an infrared sensor) for detecting whether the cleaning member is in an edge-following position, and the second detection device is connected to the control unit.

[0205] The step of "controlling the driving wheel to rotate in a direction in which a backward movement tendency is generated" can specifically include the following steps.

[0206] 2.1. obtaining position information of the cleaning member by the second detection device.

[0207] Optionally, an infrared distance sensor is installed on the side of the cleaning member to detect the minimum distance between the cleaning member and the wall in real time.

[0208] Optionally, an infrared distance sensor is installed on the second side of the housing to detect the distance between the second side of the housing and the wall in real time.

[0209] 2.2. determining whether the cleaning member is in an edge-following cleaning state according to the position information of the cleaning member.

[0210] For example, when the minimum distance between the cleaning member and the wall is detected to be less than 5 cm, it can be determined that the cleaning member is in an edge-following cleaning state.

[0211] When the minimum distance between the second side of the housing and the wall is detected to be less than 5 cm, it can be determined that the cleaning member is in an edge-following cleaning state.

[0212] 2.3. controlling the driving wheel to reduce the output power when the cleaning member is in an edge-following cleaning state.

[0213] For example, when the cleaning member is in the edge cleaning state, the output power of the booster wheel is controlled to be reduced by the second driving assembly. For example, the output power can be reduced by 30% to 50% relative to the output power in normal cleaning.

[0214] The edge cleaning state of the cleaning member is identified by the second detection device, and the power of the booster wheel is automatically reduced in the edge cleaning state. Since the posture of the machine body changes when edge cleaning, the resistance and the generated torque of the cleaning member generally decrease, reducing the output power of the booster wheel can meet the auxiliary power requirement, prevent the brush assembly from being separated from the wall due to excessive assistance, ensure the stability and effect of edge cleaning, and save energy.

[0215] Of course, in other embodiments, the step of "controlling the booster wheel to rotate in a direction that generates a backward movement trend" can also have other specific implementations.

[0216] In some embodiments, the brush assembly is provided with both the first detection device and the second detection device. Based on the cleaning equipment provided with both the first detection device and the second detection device, the step of "controlling the booster wheel to rotate in a direction that generates a backward movement trend" can specifically include the following steps.

[0217] 3.1, obtaining the real-time contact pressure between the cleaning member and the surface to be cleaned by the first detection device.

[0218] 3.2, obtaining the position information of the cleaning member by the second detection device.

[0219] 3.3, determining the real-time output power of the booster wheel according to the real-time contact pressure.

[0220] 3.4, controlling the booster wheel to rotate in a direction that generates a backward movement trend according to the real-time output power.

[0221] 3.5, determining whether the cleaning member is in the edge cleaning state according to the position information of the cleaning member.

[0222] 3.6, controlling the booster wheel to reduce the output power when the cleaning member is in the edge cleaning state.

[0223] It should be noted that the implementation of step 3.1 is the same as that of step 1.1, the implementation of steps 3.3-3.4 is the same as that of steps 1.2-1.3, the implementation of step 3.2 is the same as that of step 2.1, and the implementation of steps 3.5-3.6 is the same as that of steps 2.2-2.3. Therefore, the specific implementation of steps 3.1-3.6 will not be described again.

[0224] In some embodiments, the machine body or the brush assembly of the cleaning equipment is provided with a third detection device, which can be used to identify the deflection direction of the cleaning equipment.

[0225] Figure 9 Another flowchart of a control method of a cleaning device is provided in the embodiments of the present application. As shown in Figure 9 the cleaning device moves close to the user, that is, when the cleaning device is in the rear-pulling cleaning state, the following steps can be performed.

[0226] S201, in response to a cleaning piece lowering instruction, controlling the cleaning piece to lower to contact the surface to be cleaned, and controlling the cleaning piece to rotate in a clockwise direction to clean the surface to be cleaned.

[0227] Among them, step S201 can be the same as the implementation manner of step S101, and will not be repeated here.

[0228] S202, during the movement of the cleaning device moving close to the user, controlling the booster wheel to rotate in a direction that generates a backward movement tendency, so that the cleaning piece can at least partially overcome the deflection of the brush assembly caused by the cleaning piece by providing assistance when cleaning the surface to be cleaned.

[0229] Among them, step S202 can be the same as the specific implementation manner of step S102 described in any of the above embodiments, and will not be repeated here.

[0230] S203, when the cleaning piece is in contact with the surface to be cleaned and the cleaning device is deflected clockwise, controlling the booster wheel to output power change so that the cleaning piece can at least partially overcome the deflection of the brush assembly caused by the cleaning piece by providing assistance when cleaning the surface to be cleaned.

[0231] Optionally, the third detection device can be a gyroscope, which can monitor the angular velocity of the cleaning device in real time. When the clockwise angular velocity is detected to be greater than 2° / s, the output power of the booster wheel is increased by a preset ratio.

[0232] It should be noted that the gyroscope can detect the angular velocity change of the cleaning device around its vertical axis (Z axis) in real time and continuously, so as to extremely sensitively capture the slight deflection tendency of the machine body caused by the reaction force of the rotating cleaning piece.

[0233] By setting the third detection device to identify the deflection direction of the cleaning device in real time, and dynamically adjusting the output power of the booster wheel based on the detection result, the closed-loop control of the stress state of the brush assembly can be realized. Specifically, when the cleaning piece contacts the surface to be cleaned and the clockwise deflection tendency of the cleaning device is detected, the reaction torque generated by the rotation of the cleaning piece can be more accurately offset by increasing the output power of the booster wheel.

[0234] In some embodiments, the cleaning device can further include a machine body rotationally connected with the brush assembly. The method can add some steps based on the embodiment shown in Figure 8 .

[0235] Figure 10 Another flowchart of a control method of a cleaning device is provided for the embodiments of the present application. As shown in the figure, the control method of the cleaning device comprises the following steps. Figure 10

[0236] When the cleaning device moves close to the user, that is, when the cleaning device is in the rear pulling cleaning state, the following steps can be performed.

[0237] S301, in response to a cleaning piece lowering instruction, controlling the cleaning piece to lower to contact the surface to be cleaned, and controlling the cleaning piece to rotate in a clockwise direction to clean the surface to be cleaned.

[0238] The implementation of step S301 is the same as that of step S101, and will not be repeated here.

[0239] S302, during the movement of the cleaning device moving close to the user, controlling the booster wheel to rotate in a direction that generates a backward movement tendency, so that when the cleaning piece is cleaning the surface to be cleaned, the booster wheel can provide assistance to at least partially overcome the yaw of the brush assembly caused by the cleaning piece.

[0240] The implementation of step S302 can be the same as that of any of the steps S102 in the above embodiments, and will not be repeated here.

[0241] When it is necessary to stop the cleaning operation, the following steps can be performed.

[0242] S303, in response to a cleaning stop instruction, if the cleaning piece is in contact with the surface to be cleaned, controlling the cleaning piece to stop rotating, and controlling the cleaning piece to rise to disengage from the surface to be cleaned.

[0243] Optionally, the control unit can control the cleaning piece to stop rotating and control the cleaning piece to rise to disengage from the surface to be cleaned through the third driving assembly after receiving the cleaning stop instruction issued by the user. For example, the power supply of the motor controlling the rotation of the cleaning piece can be cut off, so that the cleaning piece stops rotating. The cleaning piece is raised by reversing the motor controlling the lifting of the cleaning piece.

[0244] Optionally, the control unit can control the cleaning piece to rise while controlling the cleaning piece to stop rotating through the third driving assembly, so that the cleaning piece can disengage from the surface to be cleaned.

[0245] Optionally, the control unit controls the cleaning piece to rise through the third driving assembly after controlling the cleaning piece to stop rotating through the third driving assembly, so that the cleaning piece can disengage from the surface to be cleaned.

[0246] S304, controlling the booster wheel to rotate in a direction that generates a backward movement tendency to assist the body to convert to an upright state. ​

[0247] Optionally, the control unit controls the power wheel to continue rotating in the direction generating the backward movement trend through the second driving assembly. For example, the power wheel can continue rotating for 3-5 seconds.

[0248] It should be noted that before the control unit receives the cleaning stop instruction, the cleaning device should be in the cleaning state, and when the cleaning device is in the cleaning state, the power wheel can rotate in the direction generating the backward movement trend at all times. Of course, the power wheel can also rotate in the direction generating the forward movement trend during the forward pushing process and rotate in the direction generating the backward movement trend during the backward pulling process. In the embodiment of the present application, the direction of movement of the power wheel during the forward pushing process is not further limited.

[0249] In the embodiment of the present application, when the control unit controls the cleaning element to stop rotating in response to the cleaning stop instruction, the power wheel does not stop rotating backward.

[0250] In some embodiments, during the process of controlling the cleaning element to rise to separate from the surface to be cleaned, the output power of the power wheel rotating in the direction generating the backward movement trend can be controlled to be reduced.

[0251] Optionally, the output power of the power wheel is related to the rotation speed of the power wheel. For example, the greater the rotation speed of the power wheel, the greater the output power, and the smaller the rotation speed, the smaller the output power.

[0252] At the end of cleaning, the power wheel is controlled to continue rotating backward after the cleaning element is lifted, so that the power wheel continues to provide backward auxiliary power, which can drive the brush assembly to move backward, so that the body of the brush assembly gradually becomes an upright parking posture, realizing the automation and labor saving of the finishing action and reducing the physical consumption of the user.

[0253] Optionally, the brush assembly can further include a rolling brush arranged at the bottom of the shell and close to the front side of the shell relative to the power wheel.

[0254] In a possible implementation, after the cleaning element is controlled to rise to separate from the surface to be cleaned in step S303, the following steps can be further performed.

[0255] 4.1, control the rolling brush to rotate in the direction generating the backward movement trend.

[0256] For example, the driving motor of the rolling brush is controlled to reverse at a preset rotation speed, and the duration can be 2-4 seconds.

[0257] It should be noted that the rolling brush rotating in the direction generating the backward movement trend refers to the rolling brush rotating in the direction that can drive the brush assembly to move backward, which is referred to as rotating backward.

[0258] In this way, the backward rotation of the rolling brush is further added in the upright assisting stage, and cooperates with the driving of the booster wheel. The two backward rotating components jointly generate a stronger backward pulling force, so that the process of uprighting the machine body is more rapid, powerful and stable, and especially in the working condition where the ground friction is larger, the reliable completion of the uprighting action can be ensured.

[0259] In the embodiments of the present application, the specific value of the output power of the backward rotation of the booster wheel and the rolling brush after receiving the cleaning stop instruction is not further limited, and can be set according to specific needs.

[0260] Figures 8-10 The embodiments in the foregoing embodiments all introduce the control logic when the cleaning device moves close to the user (that is, when it is backward pulling). Of course, other steps can also be included when the cleaning device moves away from the user (that is, when it is forward pushing).

[0261] Figure 11 Another flowchart of a control method of a cleaning device provided by the embodiments of the present application.

[0262] As shown in Figure 11 When the cleaning device moves close to the user, that is, when the cleaning device is in the backward pulling cleaning state, the following steps can be performed.

[0263] S401, in response to a cleaning piece lowering instruction, controlling the cleaning piece to lower to contact the to-be-cleaned surface, and controlling the cleaning piece to rotate in a clockwise direction to clean the to-be-cleaned surface.

[0264] The step S401 can have the same implementation manner as the step S101, and will not be described here.

[0265] S402, in the process of the cleaning device moving close to the user, controlling the booster wheel to rotate in a direction in which a backward movement trend is generated, so that when the cleaning piece is cleaning the to-be-cleaned surface, the booster wheel can provide assistance to at least partially overcome the yaw of the brush assembly caused by the cleaning piece.

[0266] The step S402 can have the same implementation manner as the step S102, and will not be described here.

[0267] When the cleaning device moves away from the user, that is, when the cleaning device is in the forward pushing cleaning state, the following steps can be performed.

[0268] S403, in response to a cleaning piece lowering instruction, controlling the cleaning piece to lower to contact the to-be-cleaned surface, and controlling the cleaning piece to rotate in a clockwise direction to clean the to-be-cleaned surface.

[0269] The step S403 has the same implementation manner as the step S101 in any of the foregoing embodiments, and will not be described here.

[0270] S404, during the movement of the cleaning device away from the user, the control wheel is rotated in a direction that generates a forward movement trend to at least partially offset the force generated by the rotating cleaning element on the brush assembly.

[0271] For example, the control wheel is driven to rotate forward by controlling the driving motor to rotate forward.

[0272] This scheme builds a complete control logic covering the full working mode of the cleaning device (close to the user and away from the user). It reveals that when the cleaning element rotates clockwise, the direction of the reaction torque generated by the cleaning element will change with the change of the moving direction of the device (push or pull). By intelligently judging the moving direction and correspondingly controlling the control wheel to generate a forward (when moving away from the user) or backward (when moving close to the user) compensation torque, it ensures that the cleaning device can effectively offset the unbalanced torque that causes the body to deviate in both forward pushing and backward pulling core operation modes. The user does not need to spend extra effort to resist the abnormal deviation of the cleaning device, which greatly reduces the operation fatigue, and the power of the control wheel rotating forward can also improve the power of the brush assembly moving forward, thereby achieving the purpose of saving effort.

[0273] Optionally, before the cleaning element is lowered to contact the surface to be cleaned, the control wheel can be controlled to rotate in a direction that generates a backward movement trend. That is, the control wheel is rotated backward before the cleaning element contacts the surface to be cleaned, and after the cleaning element is lowered to contact the surface to be cleaned, the control wheel is controlled to rotate in a direction that generates a forward movement trend.

[0274] This can effectively reduce the phenomenon of "sudden forward rush" that makes people uncomfortable when the user starts cleaning by pushing the cleaning device forward, and can also adjust the deflection of the brush assembly by the control wheel to offset the reaction torque caused by the rotation of the cleaning element during the subsequent forward cleaning operation, actively maintain the stability of the body, and the user does not need to spend extra effort to resist the abnormal deviation of the cleaning device, which greatly reduces the operation fatigue, and the power of the control wheel rotating forward can also improve the power of the brush assembly moving forward, thereby achieving the purpose of saving effort.

[0275] For example, the implementation of step S404 is similar to the specific implementation of step S102 in any of the above embodiments, except that the movement trend of the driving wheel rotating backward is changed to a forward movement trend.

[0276] Optionally, the brush assembly can include a first detection device for detecting the contact pressure of the cleaning element on the surface to be cleaned, and the first detection device is connected to the control unit.

[0277] Step S404 can specifically include the following steps.

[0278] 5.1, Obtain the real-time contact pressure between the cleaning member and the surface to be cleaned by the first detecting device.

[0279] 5.2, Determine the real-time output power of the power-assisted wheel according to the real-time contact pressure.

[0280] 5.3, Control the power-assisted wheel to rotate in a direction that generates a forward motion trend according to the real-time output power.

[0281] For example, control the driving motor of the power-assisted wheel to rotate in a forward direction to make the driving wheel rotate in a direction that generates a forward motion trend.

[0282] It should be noted that steps 5.1-5.2 are implemented in the same way as steps 1.1-1.2, so the specific implementation of steps 5.1-5.2 will not be described again.

[0283] Similarly, this can achieve power adaptive adjustment of the power-assisted wheel based on real-time contact pressure. The contact pressure between the cleaning member and the ground is monitored in real time by the first detecting device, and the output power of the power-assisted wheel is automatically adjusted accordingly. This enables the power-assisted wheel to adapt to different cleaning conditions (e.g., the pressure increases when switching from hard floors to soft carpets), achieving precise power matching. It not only ensures that the cleaning member torque can be effectively counteracted in various situations to achieve the best power-assisted effect, but also avoids power waste, which is conducive to energy saving.

[0284] Optionally, the real-time output power of the power-assisted wheel can be proportional to the real-time contact pressure. The greater the real-time contact pressure between the cleaning member and the surface to be cleaned, the greater the real-time output power of the power-assisted wheel. The smaller the real-time contact pressure between the cleaning member and the surface to be cleaned, the smaller the real-time output power of the power-assisted wheel.

[0285] By explicitly setting a linear control strategy that the power of the power-assisted wheel is proportional to the contact pressure of the cleaning member. This strategy is intuitive and effective, ensuring that when the cleaning load increases (pressure is large), more powerful balance and assistance are provided to maintain stability; when the load decreases (pressure is small), the power is automatically reduced to save energy, making the control logic simple and efficient.

[0286] Optionally, the output power of the power-assisted wheel when the cleaning member contacts the surface to be cleaned can be greater than or equal to the output power when the cleaning member does not contact the surface to be cleaned.

[0287] By setting the output power of the power-assisted wheel when the cleaning member contacts the ground to be no less than the output power when the cleaning member does not contact the ground, it is ensured that the power-assisted wheel can provide sufficient power to counteract the main torque of the cleaning member, ensuring the basic lightness of the operating feel during cleaning.

[0288] In some embodiments, the floor brush assembly can comprise a second detection device for detecting whether the cleaning member is in the edge cleaning position, and the second detection device is connected to the control unit.

[0289] Step S404 can specifically include:

[0290] 6.1, obtaining the position information of the cleaning member by the second detection device.

[0291] 6.2, determining whether the cleaning member is in the edge cleaning state according to the position information of the cleaning member.

[0292] 6.3, controlling the booster wheel to reduce the output power when the cleaning member is in the edge cleaning state.

[0293] It should be noted that steps 6.1-6.3 have the same implementation manner as steps 2.1-2.3, except that the rotation direction of the booster wheel in steps 2.1-2.3 is backward rotation, and the rotation direction of the booster wheel in steps 6.1-6.3 is forward rotation. Therefore, the specific implementation manner of steps 6.1-6.3 will not be described again.

[0294] In some embodiments, the floor brush assembly is provided with both the first detection device and the second detection device. Based on the cleaning equipment provided with both the first detection device and the second detection device, step S404 can also be implemented in the following manner. The control method of the cleaning equipment comprises the following steps.

[0295] 7.1, obtaining the real-time contact pressure between the cleaning member and the surface to be cleaned by the first detection device.

[0296] 7.2, obtaining the position information of the cleaning member by the second detection device.

[0297] 7.3, determining the real-time output power of the booster wheel according to the real-time contact pressure.

[0298] 7.4, controlling the booster wheel to rotate in the direction that generates a forward movement trend according to the real-time output power.

[0299] 7.5, determining whether the cleaning member is in the edge cleaning state according to the position information of the cleaning member.

[0300] 7.6, controlling the booster wheel to reduce the output power when the cleaning member is in the edge cleaning state.

[0301] It should be noted that step 7.1 is implemented in the same way as step 5.1, steps 7.3-7.4 are implemented in the same way as steps 5.2-5.3, step 7.2 is implemented in the same way as step 6.1, and 7.5-7.6 are implemented in the same way as steps 6.2-6.3, so the specific implementation of steps 7.1-7.6 will not be described again.

[0302] In some embodiments, a third detection device is provided on the body of the cleaning device or the brush assembly, which can be used to identify the deflection direction of the cleaning device. Based on the cleaning device provided with the first detection device, the second detection device and the third detection device at the same time, the control method of the cleaning device comprises the following steps.

[0303] Figure 12 Another flowchart of the control method of the cleaning device provided by the embodiments of the present application is shown in FIG. 7. Figure 12 As shown in FIG. 7, when the cleaning device moves away from the user, that is, when the cleaning device is in the forward cleaning state, the following steps can be performed.

[0304] S501, in response to the cleaning piece lowering instruction, the cleaning piece is controlled to be lowered to contact the surface to be cleaned, and the cleaning piece is controlled to rotate in the clockwise direction to clean the surface to be cleaned.

[0305] Among them, step S501 is implemented in the same way as step S101 in any of the above embodiments, and will not be described again here.

[0306] S502, during the movement of the cleaning device away from the user, the power-assisted wheel is controlled to rotate in the direction that generates a forward movement trend, so that when the cleaning piece is cleaning the surface to be cleaned, the power-assisted wheel can at least partially overcome the deflection of the brush assembly caused by the cleaning piece by providing power assistance.

[0307] Among them, step S502 is implemented in the same way as step S404, and will not be described again here.

[0308] S503, during the movement of the cleaning device away from the user, when the cleaning piece is in contact with the surface to be cleaned and the cleaning device is deflected clockwise, the power-assisted wheel is controlled to increase the output power in the direction that generates a forward movement trend to offset the force generated by the cleaning piece.

[0309] It should be noted that whether the cleaning operation is stopped during the forward pushing process or the cleaning operation is stopped during the rear pulling process. Steps S303 and S304 can be performed. If necessary, step 4.1 can also be performed after the cleaning piece is controlled to rise to disengage the surface to be cleaned in step S303. For the specific implementation of steps S303, S304 and step 4.1, please refer to the description in the above embodiments, which will not be described again here.

[0310] In summary, in all embodiments of the control method of the cleaning device, during the rear pulling process of the cleaning device, the output power of the booster wheel refers to the output power rotating in the direction generating the rear movement trend. During the front pushing process of the cleaning device, the power of the booster wheel refers to the output power rotating in the direction generating the front movement trend.

[0311] The present application effectively solves the multiple contradictions between cost, structural height, operation convenience and appearance in the prior art by optimizing the layout of the booster wheel and combining intelligent control, and provides a brush assembly and a cleaning device which are compact in structure, low in cost, good in passability and labor-saving in operation.

[0312] Those skilled in the art should understand that the control method steps described in each of the above embodiments are not mutually exclusive, but can be combined for use according to actual application requirements. For example, the adaptive control based on contact pressure (steps 1.1-1.3) can be combined with the closed-loop control based on deflection detection (step S203) to form a more accurate booster wheel power adjustment strategy. For another example, the anti-impact control in the starting phase (step 0.1) can be matched with the bidirectional movement control (steps S401-S404) to ensure that the starting process of the device in both front and rear movement directions is smooth. The combined use of these technical features can produce a synergistic effect, further improving the overall performance of the cleaning device.

[0313] In addition, for the detection of the movement state of the cleaning device, whether it is "moving close to the user" (rear pulling) or "moving away from the user" (front pushing), a variety of technical means known in the art can be used to achieve it. For example, the movement direction and speed of the device can be detected by a motion sensor (such as an accelerometer, a gyroscope) arranged on the body or the brush assembly. Or the movement direction of the device can be determined by detecting the rotation direction of the roller brush, booster wheel and other components. Or the movement intention of the device can be inferred by recognizing the posture change of the user's operating handle. These movement state detection techniques are all conventional technical means in the art, which will not be described here.

[0314] Figure 13 A structural schematic diagram of a control device of a cleaning device according to an embodiment of the present application is provided. The components shown herein, their connections and relationships, and their functions are merely examples and do not limit the implementation of the present application described and / or claimed herein.

[0315] As Figure 13 shown, the control device of the cleaning device includes a processor 901 and a memory 902, and each component is connected to each other by different buses and can be installed on a common mainboard or in other ways as needed.

[0316] The processor 901 can process instructions executed within the control device of the cleaning device, including instructions stored in or on the memory to display graphical information on external input / output devices, such as a display device coupled to the interface.

[0317] In other embodiments, multiple processors and / or buses can be used with multiple memories and multiple storage devices, if desired. Figure 13 The processor 901 is taken as an example in the specific implementation.

[0318] The memory 902, as a kind of non-transient computer readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules (for example, acquisition module, determination module or encapsulation module) corresponding to the control method of the cleaning device in the embodiments of the present application. The processor 901 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 902, that is, implements the control method of the cleaning device in the above method embodiments.

[0319] The control device of the cleaning device can also include an input device 903 and an output device 904. The processor 901, the memory 902, the input device 903 and the output device 904 can be connected by bus or other means, Figure 13 The connection by bus is taken as an example in the specific implementation.

[0320] The input device 903 can receive input digital or character information, and generate key signal input related to user settings and function control of the control device of the cleaning device, such as touch screen, keypad, mouse, or multiple mouse buttons, trackball, joystick, etc. The output device 904 can be a display device of the cleaning device, etc. The display device can include but is not limited to liquid crystal display (LCD), light emitting diode (LED) display and plasma display. In some embodiments, the display device can be a touch screen.

[0321] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0322] The memory can include random access memory (RAM), and can also include non-volatile memory (NVM), such as at least one disk memory.

[0323] The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0324] The control device of the cleaning equipment in the embodiments of the present application can be used to execute the technical solutions in the above-mentioned method embodiments of the present application, and the implementation principles and technical effects are similar, which will not be repeated here.

[0325] The embodiments of the present application also provide a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the control method of the cleaning equipment in any of the above-mentioned embodiments.

[0326] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. The division of the units is merely logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0327] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0328] In addition, each functional unit in the various embodiments of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0329] The present application also provides a computer program product, comprising a computer program which is executed by a processor to implement the above method.

[0330] The present application also provides a computer readable storage medium, which stores computer execution instructions, and when the processor executes the computer execution instructions, the above method is implemented.

[0331] The above readable storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0332] An example readable storage medium is coupled to the processor such that the processor can read information from the readable storage medium and can write information to the readable storage medium. Of course, the readable storage medium can also be a part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0333] The division of units is only a logical functional division, and in actual implementation, there can be another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0334] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0335] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0336] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the part of the present application that essentially contributes to the prior art or the part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various program code storage media.

[0337] Those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program executes the steps of the above-mentioned method embodiments when executed; and the foregoing storage medium includes: ROM, RAM, magnetic disk or optical disk and various storage medium that can store program codes.

[0338] The embodiments or implementations in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0339] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0340] In the description of the present application, it should be understood that the terms "include" and "have" and any variations thereof used herein are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units need not be limited to those clearly listed steps or units, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0341] Unless otherwise expressly specified and limited, the terms "mount", "connect", "connect", "fix", and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or become an integral part; can be directly connected, or indirectly connected through an intermediate medium, can make the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated.

[0342] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method of a cleaning apparatus, characterized by, A control unit applied to a cleaning device for being controlled by a user to clean a surface to be cleaned, the cleaning device being provided with a floor brush assembly including a housing, a booster wheel and a cleaning piece, the booster wheel and the cleaning piece being respectively arranged on opposite sides of the housing in a width direction of the housing; The control unit is connected with the booster wheel and the cleaning piece respectively; When the cleaning device moves close to the user; The method comprises: In response to the cleaning piece lowering instruction, the cleaning piece is controlled to lower to contact the surface to be cleaned, and the cleaning piece is controlled to rotate in a clockwise direction to clean the surface to be cleaned; And, during the movement of the cleaning device close to the user, the booster wheel is controlled to rotate in a direction generating a backward movement trend, so that when the cleaning piece cleans the surface to be cleaned, the booster wheel can at least partially overcome the roll of the floor brush assembly caused by the cleaning piece by providing assistance.

2. The method of claim 1, wherein, The cleaning device further comprises a machine body, and the machine body is rotationally connected with the floor brush assembly; The method further comprises: In response to a cleaning stop instruction, if the cleaning piece is in a state of contacting the surface to be cleaned, the cleaning piece is controlled to stop rotating, and the cleaning piece is controlled to rise to separate from the surface to be cleaned; The booster wheel is controlled to rotate in a direction generating a backward movement trend to assist the machine body in converting to an upright state.

3. The method of claim 2, wherein, The floor brush assembly further comprises a roller brush, the roller brush being arranged at the bottom of the housing, and the roller brush is arranged close to the front side of the housing relative to the booster wheel; Correspondingly, after the cleaning piece is controlled to rise to separate from the surface to be cleaned, the method further comprises: The roller brush is controlled to rotate in a direction generating a backward movement trend.

4. The method according to any one of claims 1 to 3, characterized in that, The floor brush assembly comprises a first detection device for detecting the contact pressure between the cleaning piece and the surface to be cleaned, and the first detection device is connected with the control unit; The control of the booster wheel rotating in a direction generating a backward movement trend comprises: The real-time contact pressure between the cleaning piece and the surface to be cleaned is obtained through the first detection device; According to the real-time contact pressure, the real-time output power of the booster wheel is determined; According to the real-time output power, the booster wheel is controlled to rotate in a direction generating a backward movement trend.

5. The method of claim 4, wherein, The real-time output power of the booster wheel is proportional to the real-time contact pressure.

6. The method of claim 4, wherein, The output power of the booster wheel when the cleaning piece contacts the surface to be cleaned is greater than or equal to the output power when the cleaning piece does not contact the surface to be cleaned.

7. The method according to any one of claims 1 to 3, characterized in that, The floor brush assembly comprises a second detection device for detecting whether the cleaning piece is in an edge cleaning position, and the second detection device is connected with the control unit; The control of the booster wheel rotating in a direction generating a backward movement trend comprises: The position information of the cleaning piece is obtained through the second detection device; According to the position information of the cleaning piece, it is determined whether the cleaning piece is in an edge cleaning state; When the cleaning piece is in the edge cleaning state, the output power of the booster wheel is controlled to be reduced.

8. The method according to any one of claims 1 to 3, characterized in that, Before the cleaning member is lowered to contact the surface to be cleaned, the power-assisted wheel is controlled to rotate in a direction that generates a tendency to move rearward.

9. The method of any one of claims 1-3, wherein, The third detection device is a gyroscope. The method further comprises: When the cleaning member is in contact with the surface to be cleaned and the cleaning device is deflected, the power-assisted wheel is controlled to output a power change so that the cleaning member can overcome the deflection of the brush assembly caused by the cleaning member by providing power assistance when cleaning the surface to be cleaned.

10. The method of claim 9, wherein, The third detection device is a gyroscope.

11. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: When the cleaning device moves away from the user; In response to the cleaning member lowering instruction, the cleaning member is controlled to be lowered to contact the surface to be cleaned, and the cleaning member is controlled to rotate in a clockwise direction to clean the surface to be cleaned; And during the movement of the cleaning device away from the user, the power-assisted wheel is controlled to rotate in a direction that generates a tendency to move forward to at least partially offset the force generated on the brush assembly when the cleaning member rotates.

12. The method of claim 1, wherein, The brush assembly further comprises a rolling brush and a first driving assembly; wherein, The rolling brush is sleeved outside the first driving assembly, and the first driving assembly is used to drive the rolling brush to rotate; The cleaning member is configured as a disc brush; The rolling brush is located in front of the cleaning member and the power-assisted wheel, and the first driving assembly, the cleaning member and the power-assisted wheel are distributed in a triangular shape in the shell.

13. A control device of a cleaning device, characterized in that Comprise: Memory, processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory, so that the processor executes the method of any one of claims 1-12.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method of any one of claims 1-12.

15. A computer program product, characterised in that, The computer program is executed by the processor to implement the method of any one of claims 1-12. The computer program is executed by the processor to implement the method of any one of claims 1-12.

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