Control method of cleaning equipment and cleaning equipment

Abstract

The invention provides a control method of cleaning equipment and the cleaning equipment. The control method of the cleaning equipment comprises the steps that a force signal of operation force acting on the cleaning equipment is obtained; according to the signal change rate of the force signal, whether the operating force is instantaneous disturbance force is determined, and according to the duration and the fluctuation amplitude of the force signal, whether the operating force reaches a target stable state is determined; under the condition that the operating force is not the instantaneous disturbance force and reaches the target stable state, the magnitude of the operating force is determined according to the force signal; determining a target rotating speed of the motor according to the magnitude of the operating force based on a nonlinear mapping relation; the actual rotating speed of the motor is adjusted to the target rotating speed, and rotating speed control over the rolling brush is achieved.

Description

Technical Field

[0001] This disclosure relates to a control method for a cleaning device and the cleaning device itself. Background Technology

[0002] Surface cleaning equipment, such as vacuum cleaners and floor scrubbers, is used to remove stains and particulate matter from surfaces like floors and carpets. Currently, most surface cleaning devices use a fixed brush speed or a manual multi-level adjustment mode to control cleaning intensity (e.g., brush speed, suction power). They cannot adaptively adjust cleaning parameters like brush speed in real time based on the user's applied pressure. For example, when encountering stubborn stains, the user may apply greater force, but the device cannot detect this intention and increase cleaning intensity accordingly. Conversely, in lightly soiled areas, even with gentle operation, the device maintains high-intensity operation, resulting in energy waste and increased operating resistance. Summary of the Invention

[0003] This disclosure provides a control method for cleaning equipment and a cleaning equipment.

[0004] According to one aspect of this disclosure, a control method for a cleaning device is provided, the cleaning device including a controller, a motor, and a roller brush driven by the motor, the controller being electrically connected to the motor; the control method is applied to the controller and includes: Acquire the force signal of the operating force acting on the cleaning equipment; Based on the rate of change of the force signal, determine whether the operating force is an instantaneous disturbance force, and based on the duration and fluctuation amplitude of the force signal, determine whether the operating force has reached the target stable state. If the operating force is not an instantaneous disturbance and reaches the target stable state, the magnitude of the operating force is determined based on the force signal. Based on a nonlinear mapping relationship, the target speed of the motor is determined according to the magnitude of the operating force; The actual speed of the motor is adjusted to the target speed to achieve speed control of the roller brush.

[0005] According to one technical solution, by acquiring the force signal of the operating force acting on the cleaning equipment, and combining the change rate of the force signal with a dual anti-mistouch mechanism for stability verification, the user's true operating intention is accurately identified. Then, by using a nonlinear mapping relationship, the user's effective operating force is converted into an appropriate roller brush speed, thereby achieving dynamic matching between cleaning intensity and user operating force, which not only ensures cleaning effect but also improves cleaning efficiency.

[0006] A control method for a cleaning device according to at least one embodiment of the present disclosure, which determines whether the operating force is a transient disturbance force based on the signal change rate of the force signal, includes: The rate of change of the force signal is compared with a rate of change threshold. When the rate of change of the force signal is greater than the rate of change threshold, the operating force is determined to be an instantaneous disturbance force, and the actual speed of the motor is maintained until the first target duration. When the rate of change of the force signal is less than or equal to the rate of change threshold, it is determined that the operating force is not an instantaneous disturbance force.

[0007] According to the technical solution of this embodiment, after determining that the operating force is an instantaneous disturbance force, by maintaining the motor speed to the first target duration, the cleaning operation can be kept stable during the instantaneous disturbance, avoiding a sudden increase or decrease in the speed of the roller brush due to an accidental collision, maintaining the continuity of the cleaning effect, and improving the user experience.

[0008] A control method for a cleaning device according to at least one embodiment of the present disclosure, determining whether the operating force has reached a target stable state based on the duration and fluctuation amplitude of the force signal, includes: The duration and fluctuation amplitude of the force signal are compared with the second target duration and fluctuation amplitude thresholds, respectively. If the duration of the force signal reaches the second target duration and the fluctuation amplitude is less than or equal to the fluctuation amplitude threshold, it is determined that the operating force has reached the target stable state. If the duration of the force signal does not reach the second target duration or the fluctuation amplitude is greater than the fluctuation amplitude threshold, it is determined that the operating force has not reached the target stable state, and the motor is controlled to enter a low power consumption mode.

[0009] According to the technical solution of this embodiment, by combining the dual verification of duration and fluctuation amplitude, the controller can reliably distinguish between the user's intentional, continuous and stable cleaning operation and unintentional brief touch, hesitant force application or habitual hand tremors.

[0010] According to a control method for a cleaning device according to at least one embodiment of the present disclosure, adjusting the actual speed of the motor to the target speed includes: Based on the difference between the target speed and the actual speed of the motor, the duty cycle of the pulse width modulation signal input to the motor is adjusted to bring the actual speed of the motor to the target speed.

[0011] According to the technical solution of this embodiment, the motor speed is precisely adjusted by adjusting the duty cycle of the pulse width modulation signal, ensuring that the roller brush speed can accurately respond to changes in the user's operating force and achieve adaptive adjustment of cleaning intensity.

[0012] According to the control method of the cleaning equipment according to at least one embodiment of the present disclosure, in the process of adjusting the actual speed of the motor to the target speed, the speed change rate of the motor is controlled to be less than or equal to a speed change rate threshold.

[0013] According to the technical solution of this embodiment, by rigidly constraining the speed change rate threshold, it is ensured that the speed, torque, and force transmitted to the roller brush and transmission mechanism of the motor change continuously and smoothly during acceleration and deceleration.

[0014] A control method for a cleaning device according to at least one embodiment of the present disclosure, the control method further comprising: Obtain the temperature or operating current of the motor; When the temperature of the motor exceeds a temperature threshold or the rate of change of the operating current exceeds a rate of change threshold, the actual speed of the motor is reduced or the motor is stopped.

[0015] According to the technical solution of this embodiment, by monitoring the temperature and operating current change rate of the motor in real time, risks can be proactively identified in the early stages of motor overheating or mechanical stall, which greatly extends the service life of the core components of the cleaning equipment and reduces maintenance costs.

[0016] A control method for a cleaning device according to at least one embodiment of the present disclosure, the control method further comprising: When the target rotational speed is greater than or equal to the rotational speed threshold, the cleaning fluid flow rate of the cleaning equipment is increased; and / or When the target rotational speed is greater than the actual rotational speed of the motor, the suction force of the cleaning device on the dirt is reduced.

[0017] According to the technical solution of this embodiment, by determining the target rotation speed based on the magnitude of the user's operating force, the overall intensity of the entire cleaning system (such as the flow rate of the cleaning liquid and the suction strength) can be adjusted synchronously. While ensuring the cleaning effect, it can also reduce the learning threshold for users and realize intelligent control of the cleaning equipment.

[0018] According to the control method of the cleaning equipment according to at least one embodiment of the present disclosure, the nonlinear mapping relationship includes a first interval mapping relationship, a second interval mapping relationship and a third interval mapping relationship, wherein the magnitude of the operating force corresponding to the first interval mapping relationship, the second interval mapping relationship and the third interval mapping relationship increases sequentially, and the rotational speed change rate in the second interval mapping relationship is greater than the rotational speed change rate in the first interval mapping relationship and the third interval mapping relationship.

[0019] According to the technical solution of this embodiment, the entire three-segment mapping relationship together constructs a complete S-shaped response curve. This response characteristic conforms to the human body's perception of force control, providing users with a highly intuitive and easy-to-control feel, greatly optimizing the user experience.

[0020] According to a control method for a cleaning device according to at least one embodiment of the present disclosure, the cleaning device further includes a handle, a force detection sensor is provided on the support point of the handle or the roller brush, and the controller generates a force signal of an operating force acting on the cleaning device based on the detection value of the force detection sensor.

[0021] According to the technical solution of this embodiment, the operating force applied by the user to the cleaning equipment can be accurately identified, ensuring the accuracy of the generated force signal.

[0022] According to another aspect of this disclosure, a cleaning device is provided, including a controller, a motor, and a roller brush driven by the motor, the controller being used to perform a control method of the cleaning device according to any embodiment of this disclosure.

[0023] According to another aspect of this disclosure, a readable storage medium is provided that stores executable instructions, which, when executed by a processor, are used to implement a control method for a cleaning device according to any embodiment of this disclosure.

[0024] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements a control method for a cleaning device according to any embodiment of this disclosure. Attached Figure Description

[0025] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0026] Figure 1 This is a schematic structural block diagram of a cleaning device according to one embodiment of the present disclosure.

[0027] Figure 2This is a schematic flowchart of a control method for a cleaning device according to one embodiment of the present disclosure.

[0028] Figure 3 This is a flowchart illustrating the instantaneous disturbance force determination in a control method for a cleaning device according to one embodiment of the present disclosure.

[0029] Figure 4 This is a schematic flowchart of the stability testing process in the control method of a cleaning device according to one embodiment of the present disclosure.

[0030] Figure 5 This is a schematic diagram of the safety monitoring process in a control method for a cleaning device according to one embodiment of the present disclosure.

[0031] Figure 6 This is a schematic flowchart of a control method for a cleaning device according to another embodiment of this disclosure. Detailed Implementation

[0032] The present disclosure will now be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0033] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] Existing cleaning equipment cannot adaptively adjust cleaning parameters such as the roller brush speed in real time according to the user's operating force, resulting in a mismatch between the cleaning effect and the user's operating intention, and low cleaning efficiency.

[0035] To this end, the present disclosure proposes the following technical solution: by acquiring the force signal of the operating force acting on the cleaning equipment, and combining the force signal change rate and stability verification dual anti-mistouch mechanism, the user's true operating intention is accurately identified. Then, by using a nonlinear mapping relationship, the user's effective operating force is converted into an appropriate roller brush speed, thereby realizing the dynamic matching between cleaning intensity and user operating force, which not only ensures the cleaning effect but also improves the cleaning efficiency.

[0036] Figure 1 This is a schematic structural block diagram of a cleaning device according to one embodiment of this disclosure. Figure 1 As shown, the cleaning device includes a controller 101, a motor 102, and a roller brush 103 driven by the motor 102, wherein the controller 101 can execute the control method of the cleaning device provided in this disclosure.

[0037] Preferably, the cleaning device is a wet / dry multi-surface cleaner capable of cleaning hard floor surfaces (such as tiles, hardwood) and soft floor surfaces (such as carpets).

[0038] The controller 101 is the control center of the cleaning equipment, which is used to execute the control program stored in itself (such as the control method of the cleaning equipment provided in this disclosure), and is responsible for signal processing, logic judgment and instruction generation.

[0039] The motor 102 is driven to connect with the roller brush 103. The motor 102 can provide rotational power to the roller brush 103 so that the roller brush 103 can sweep, scrub or stir up dirt or liquid on the ground through rotational motion.

[0040] Preferably, the roller brush 103 includes a cleaning zone equipped with bristles or microfiber material to provide effective agitation. Further, different roller brushes 103 may have cleaning zones with different material properties, such as a soft microfiber zone for hardwood floors and a hard bristle zone for carpets.

[0041] Preferably, the roller brush 103 is fixed to the cleaning equipment by a quick-release mechanism, allowing the user to replace roller brushes with different cleaning areas or replace worn parts without tools.

[0042] Preferably, the motor 102 is equipped with a fluid cooling radiator to manage the heat load during long-term operation of the motor 102. This fluid cooling radiator is designed for air cooling to ensure efficient heat dissipation.

[0043] The controller 101 is electrically connected to the motor 102. The controller 101 can send speed control commands to the motor 102 through the electrical connection between the controller 101 and the motor 102, thereby controlling the motor 102 to accelerate, decelerate, or switch between forward and reverse rotation according to the speed control commands.

[0044] Preferably, the cleaning equipment further includes a surface type sensor and a dirt load sensor. The surface type sensor is used to detect the material properties of the surface to be cleaned, such as carpet pile height or hardwood texture, using optical or ultrasonic technology. The dirt load sensor is used to detect the quantity or type of dirt using infrared technology or weight-based detection technology.

[0045] Preferably, the cleaning device also provides a control interface, allowing users to manually select a cleaning mode or override automatic speed adjustment. This control interface includes a touch panel or buttons, allowing users to switch between different cleaning modes. For example, when the user selects the deep cleaning mode, the controller prioritizes a higher brush speed and increased cleaning fluid flow rate to tackle stubborn stains. Furthermore, the control interface can provide visual or auditory feedback to the user, indicating the current cleaning mode and brush speed. For example, a target speed can be displayed on an LED screen, and a buzzer can alert the user when the mode changes.

[0046] Preferably, the cleaning device includes a battery pack for cordless operation, and the controller 101 monitors the remaining power of the battery pack and adjusts the roller brush speed to optimize energy use. For example, when the battery pack's power is below 20%, the controller 101 limits the maximum roller brush speed to 1500 revolutions per minute to extend the operating time of the cleaning device.

[0047] Figure 2 This is a schematic flowchart of a control method for a cleaning device according to one embodiment of the present disclosure. The control method is applied to the controller 101 as described above.

[0048] like Figure 2 As shown, the control method for the cleaning equipment preferably includes steps S210 to S250.

[0049] In step S210, the force signal of the operating force acting on the cleaning equipment is acquired.

[0050] The operating force applied to the cleaning equipment is the pushing or pulling force that the user applies to the cleaning equipment by means of their arm when performing cleaning operations.

[0051] Force signals are electrical signals that are converted from the operating force applied to the cleaning equipment and can be recognized and processed by the controller. These force signals can characterize the magnitude and duration of the operating force applied by the user.

[0052] In this embodiment, a force detection sensor is installed on the cleaning equipment. The operating force (such as pushing or pulling force) applied by the user to the cleaning equipment can be detected by the force detection sensor and converted into a corresponding electrical signal (such as a voltage value or a current value). The controller can acquire the detection value (i.e., the electrical signal) output by the force detection sensor and convert it based on the detection value of the force detection sensor to obtain a continuous force signal.

[0053] In step S220, based on the rate of change of the force signal, it is determined whether the operating force is an instantaneous disturbance force, and based on the duration and fluctuation amplitude of the force signal, it is determined whether the operating force has reached the target stable state.

[0054] The rate of change of the force signal is the amount of change in the force signal per unit time, i.e., the derivative of force with respect to time (ΔF / Δt). The rate of change of the signal can characterize the drastic change in the force applied by the user, and its unit is Newtons per second.

[0055] Transient interference force is an ineffective operational force caused by a sudden event not intended by the user (such as the cleaning equipment colliding with an obstacle, the handle being accidentally bumped, etc.) with an extremely high signal change rate (such as exceeding a certain threshold).

[0056] The duration of the force signal is the length of time during which the signal value of the force signal remains within a preset effective value range.

[0057] The fluctuation amplitude of a force signal is the maximum deviation of the force signal value from its average value within a certain time period, or the degree of statistical dispersion (such as standard deviation).

[0058] In this embodiment, the controller performs accidental touch detection based on the signal value of the acquired force signal. The accidental touch detection includes detecting whether the operating force is an instantaneous disturbance force and detecting whether the operating force has reached the target stable state.

[0059] Specifically, when detecting whether the operating force is a transient disturbance, the controller determines the rate of change of the force signal based on the amount of change in the force signal per unit time. Based on this rate of change, it is determined whether the operating force acting on the cleaning equipment is a transient disturbance. It should be understood that a higher rate of change indicates a greater likelihood that the operating force is a transient disturbance; conversely, a lower rate of change indicates a lower likelihood that the operating force is a transient disturbance.

[0060] When detecting whether the operating force has reached the target stable state, the controller determines the duration and fluctuation amplitude of the force signal based on the force signal. Preferably, the controller accumulates the duration by using a timer to record the length of time the force signal value remains within a valid numerical range (e.g., greater than a certain threshold). When the force signal value exceeds this valid numerical range (e.g., less than the threshold), the timer value is reset, and the duration of the force signal is recalculated.

[0061] When determining the fluctuation amplitude of the force signal, the controller calculates the fluctuation amplitude of the force signal value within the aforementioned duration (or can calculate the fluctuation amplitude of the signal value according to a fixed period), such as calculating the standard deviation between the force signal values ​​within the duration, or calculating the maximum deviation between the force signal value and the average value within the duration (i.e., the maximum difference between each signal value and the average value), etc.

[0062] Therefore, based on the duration and fluctuation amplitude of the force signal, the controller can determine the stable state of the force signal. If the duration is short or the fluctuation amplitude is large, it indicates that the operating force corresponding to the force signal is in a changing state, and it is likely to be an invalid operating force that is not intended by the user. If the duration of the force signal is long and the fluctuation amplitude is small, it can be determined that the operating force corresponding to the force signal is an effective operating force that conforms to the user's intention, is continuous and stable, and that is, the target stable state has been reached.

[0063] In step S230, if the operating force is not an instantaneous disturbance force and the target stable state is reached, the magnitude of the operating force is determined based on the force signal.

[0064] In this embodiment, after the force signal passes the anti-accidental touch detection (that is, it is determined that the operating force corresponding to the force signal is not an instantaneous interference force and has reached the target stable state), the controller determines the magnitude of the operating force based on the signal value of the force signal.

[0065] Preferably, the controller determines the average value of multiple signal values ​​in the force signal (such as the signal value of the force signal within the aforementioned duration) and uses the average value as the magnitude of the operating force corresponding to the force signal.

[0066] In step S240, the target speed of the motor is determined based on the magnitude of the operating force, according to the nonlinear mapping relationship.

[0067] The nonlinear mapping relationship is a pre-defined mapping rule between the magnitude of the operating force and the speed of the motor. This nonlinear mapping relationship can be defined by a function or a data table. Within this nonlinear mapping relationship, the slope of the mapping curve (i.e., the change in speed caused by a unit change in force) changes with the magnitude of the operating force.

[0068] In this embodiment, after determining the magnitude of the operating force, the controller calculates or queries based on a nonlinear mapping relationship to determine the motor speed corresponding to the magnitude of the operating force, i.e., the target speed. For example, the magnitude of the operating force can be used as input to a nonlinear mapping relationship function for calculation, and the function output is the target speed; alternatively, the target speed of the motor corresponding to the magnitude of the operating force can be determined by querying a nonlinear mapping relationship data table.

[0069] Preferably, after determining the magnitude of the operating force, the controller can compare the magnitude of the operating force with a preset effective value range (including the minimum effective value and the maximum effective value). If the determined magnitude of the operating force is greater than or within the effective value range, the operating force can be determined as an effective operating force, and the controller can then determine the target speed of the motor based on the magnitude of the operating force. If the magnitude of the operating force exceeds the effective value range (e.g., less than the minimum effective value or greater than the maximum effective value), the controller maintains the current speed of the motor.

[0070] In step S250, the actual speed of the motor is adjusted to the target speed to achieve speed control of the roller brush.

[0071] In this embodiment, after determining the target speed of the motor, the controller obtains the actual speed of the motor, compares the target speed with the actual speed, and generates a corresponding speed regulation command based on the comparison result. For example, when the target speed is less than the actual speed, the controller can generate a deceleration command; when the target speed is greater than the actual speed, the controller can generate an acceleration command; when the target speed is equal to the actual speed of the motor, the controller may not generate a speed regulation command or generate a speed regulation command to maintain the current speed.

[0072] The controller sends the generated speed control command to the motor via an electrical connection, thereby adjusting the actual speed of the motor to the target speed, and thus realizing the speed control of the roller brush driven by the motor.

[0073] Thus, the control method for the cleaning equipment disclosed herein accurately identifies the user's true operating intention by acquiring the force signal of the operating force acting on the cleaning equipment and combining the change rate and stability verification of the force signal with a dual anti-misoperation mechanism. Then, by using a nonlinear mapping relationship, the user's effective operating force is converted into an appropriate roller brush speed, thereby achieving dynamic matching between cleaning intensity and user operating force, which not only ensures the cleaning effect but also improves cleaning efficiency.

[0074] In some embodiments of this disclosure, determining whether the operating force is an instantaneous disturbance force based on the signal change rate of the force signal preferably includes steps S310 to S330. Please refer to [link / reference needed]. Figure 3 .

[0075] In step S310, the rate of change of the force signal is compared with a rate of change threshold.

[0076] In step S320, when the rate of change of the force signal is greater than the rate of change threshold, the operating force is determined to be an instantaneous disturbance force, and the actual speed of the motor is maintained until the first target duration.

[0077] In step S330, when the rate of change of the force signal is less than or equal to the rate of change threshold, it is determined that the operating force is not an instantaneous disturbance force.

[0078] In this embodiment, after determining the rate of change of the force signal, the controller compares this rate of change with a preset rate of change threshold. This rate of change threshold is a critical value used to define whether the operating force is in an abnormally rapid change state, and can be set by those skilled in the art based on prior experience.

[0079] If the rate of change of the signal is less than or equal to the rate of change threshold, it can be determined that the operating force corresponding to the force signal is not an instantaneous disturbance force.

[0080] When the rate of change of the signal exceeds the threshold, the change in the corresponding operating force is considered too drastic and cannot be generated by normal operation. At this time, the controller determines that the operating force corresponding to the force signal is a transient disturbance force. After determining that the operating force is a transient disturbance force, in order to eliminate the influence of the transient disturbance force, the controller starts a timer with a timing length of the first target duration (a pre-set duration for which the controller maintains the current motor speed unchanged and ignores subsequent changes in the force signal after determining that the operating force is a transient disturbance force).

[0081] During the timer's duration, regardless of subsequent changes in the force signal, the controller maintains the motor's actual speed at the current value. Once the timer finishes (i.e., the first target duration is reached), the controller resumes the normal force signal detection process.

[0082] It should be noted that the duration of the first target must be sufficient to cover the duration of a typical transient disturbance; for example, the duration of the first target can be set to 0.5 seconds.

[0083] Thus, by determining that the operating force is a momentary disturbance, the strategy of maintaining the motor speed to the first target duration can ensure the stability of the cleaning operation during the momentary disturbance, avoid sudden increases or decreases in the speed of the roller brush due to a single accidental collision, maintain the consistency of the cleaning effect, and improve the user experience.

[0084] In some embodiments of this disclosure, determining whether the operating force has reached a target stable state based on the duration and fluctuation amplitude of the force signal preferably includes steps S410 to S430. Please refer to [link / reference needed]. Figure 4 .

[0085] In step S410, the duration and fluctuation amplitude of the force signal are compared with the second target duration and fluctuation amplitude threshold, respectively.

[0086] In step S420, if the duration of the force signal reaches the second target duration and the fluctuation amplitude is less than or equal to the fluctuation amplitude threshold, it is determined that the operating force has reached the target stable state.

[0087] In step S430, if the duration of the force signal does not reach the second target duration or the fluctuation amplitude is greater than the fluctuation amplitude threshold, it is determined that the operating force has not reached the target stable state, and the motor is controlled to enter a low power consumption mode.

[0088] In this embodiment, the controller compares the duration of the determined force signal with a second target duration, where the second target duration is a pre-set minimum time threshold used to determine whether the user operation is continuous. Only when the duration of the operating force reaches or exceeds the second target duration is it considered a valid operation that may conform to the user's intention. It should be noted that the second target duration can be determined by those skilled in the art based on prior experience, such as 1 second, and is not specifically limited thereto.

[0089] Simultaneously, the controller can compare the fluctuation amplitude of the determined force signal with a fluctuation amplitude threshold, which is a pre-set critical value used to define whether the force signal is stable. When the fluctuation amplitude is lower than (i.e., less than or equal to) the fluctuation amplitude threshold, the force applied by the user can be considered stable. Similarly, the fluctuation amplitude threshold can be determined by those skilled in the art based on prior experience.

[0090] Based on the above comparison, when the duration of the force signal reaches (i.e., is greater than or equal to) the second target duration and the fluctuation amplitude of the force signal is less than or equal to the fluctuation amplitude threshold, it can be considered that the operating force corresponding to the force signal has reached a continuous and stable target stable state.

[0091] If the duration of the force signal does not reach (i.e., is less than) the second target duration, or if the fluctuation amplitude of the force signal is higher than (i.e., greater than) the fluctuation amplitude threshold (e.g., the user applies force intermittently or with excessive jitter), it can be determined that the operating force corresponding to the force signal has not reached the target stable state. At this time, the controller can control the motor to enter a low-power mode (e.g., smoothly reduce the actual speed of the motor to a preset minimum speed and maintain it), thereby reducing energy consumption.

[0092] Thus, by combining verification of both duration and fluctuation amplitude, the controller can reliably distinguish between the user's intentional, continuous, and stable cleaning operations and unintentional brief touches, hesitant force application, or habitual hand tremors. When it detects that the user has no intention of stable operation (not reaching the target stable state), the control motor enters a low-power mode, avoiding unnecessary high-speed idling of the cleaning equipment and significantly reducing energy consumption.

[0093] Preferably, when the motor is in low power mode, the controller still detects the force signal of the operating force applied to the cleaning equipment. If the operating force that has reached the target stable state is subsequently detected, the controller can control the motor to exit the low power mode and resume normal speed control.

[0094] In some embodiments of this disclosure, adjusting the actual speed of the motor to the target speed preferably includes: adjusting the duty cycle of the pulse width modulation signal input to the motor according to the difference between the target speed and the actual speed of the motor, thereby adjusting the actual speed of the motor to the target speed.

[0095] In this implementation, once the target speed of the motor is determined, the controller acquires the actual speed of the motor in real time (e.g., by reading it through a Hall sensor or encoder built into the motor). Within each control cycle (e.g., 1 millisecond), the controller calculates the difference between the target speed and the actual speed of the motor.

[0096] The controller employs a proportional-integral-derivative (PID) control algorithm. Based on the aforementioned determined difference, it calculates the appropriate duty cycle of the pulse width modulation (PWM) signal. This duty cycle is the ratio of the high-level duration to the entire signal cycle time within one PWM signal period. An increase in the duty cycle leads to an increase in the average voltage / current, and the motor speed tends to increase; conversely, a decrease in the duty cycle leads to a decrease in the average voltage / current, and the motor speed tends to decrease.

[0097] Next, the controller outputs the duty cycle to the motor's drive circuit, which then adjusts the motor power accordingly. When the motor's actual speed changes under the adjusted pulse width modulation signal, the controller measures the new actual speed again and calculates the new difference and the new duty cycle. This process repeats continuously, forming a real-time negative feedback loop that allows the motor's actual speed to continuously approach and eventually stabilize near the target speed.

[0098] In this way, by adjusting the duty cycle of the pulse width modulation signal, the motor speed is precisely adjusted to ensure that the roller brush speed can accurately respond to changes in the user's operating force, thereby achieving adaptive adjustment of cleaning intensity.

[0099] In some embodiments of this disclosure, during the process of adjusting the actual speed of the motor to the target speed, the rate of change of the motor speed is controlled to be less than or equal to a rate of change threshold.

[0100] Among them, the speed change rate is the amount of change in the actual speed of the motor per unit time, which is used to characterize the speed adjustment rate.

[0101] The speed change rate threshold is a preset maximum allowable speed change rate. By setting this speed change rate threshold, the adjustment process of the motor's actual speed can be ensured to be smooth, avoiding mechanical shock.

[0102] In this implementation, during the motor speed adjustment process, the controller first calculates the difference between the target speed and the actual speed. Then, based on this difference and a preset speed change rate threshold, it determines the maximum allowable speed change for each control cycle. The controller compares the currently desired speed change (i.e., the difference between the target speed and the actual speed) with the maximum allowable speed change. If the desired speed change is greater than the maximum allowable speed change, the speed adjustment for this control cycle is limited to the maximum allowable speed change. This process is repeated over multiple control cycles to gradually adjust the motor's actual speed to the final target speed.

[0103] In this way, by imposing a hard constraint on the speed change rate threshold, it is ensured that the motor's speed, torque, and the force transmitted to the roller brush and transmission mechanism change continuously and smoothly during acceleration and deceleration. This avoids problems such as gear impact, belt slippage, machine vibration, and cleaning fluid splashing caused by abrupt changes in speed commands, significantly improving the smoothness of operation and mechanical reliability of the cleaning equipment.

[0104] In some embodiments of this disclosure, the control method for the cleaning equipment preferably further includes steps S510 to S520, please refer to... Figure 5 .

[0105] In step S510, the temperature or operating current of the motor is obtained.

[0106] In step S520, when the temperature of the motor is greater than a temperature threshold or the rate of change of the operating current is greater than a rate of change of current threshold, the actual speed of the motor is reduced or the motor is controlled to stop working.

[0107] In this embodiment, the controller monitors the motor's operating status using a temperature sensor and a current detection circuit. The temperature sensor can be installed near the motor housing or windings to collect temperature data at a certain frequency. The current detection circuit monitors the current value in the motor's power supply line (i.e., the motor's operating current) using a sampling resistor or a Hall effect current sensor. Based on the collected operating current, the controller calculates the difference in operating current between two adjacent sampling points, divides it by the sampling interval (i.e., the time interval between two adjacent sampling points), and thus obtains the rate of change of the operating current.

[0108] The controller compares the monitored motor temperature with a preset temperature threshold (the maximum permissible operating temperature; exceeding this threshold indicates overheating and potential damage) to determine if the motor temperature exceeds this threshold. It also compares the motor's current change rate with a preset current change rate threshold (a pre-set critical value used to identify abnormal current surges (such as stall). Exceeding this threshold indicates the motor may be encountering abnormally high resistance or mechanical jamming) to determine if the current change rate exceeds this threshold.

[0109] When the motor temperature exceeds the temperature threshold or the rate of change of the operating current exceeds the rate of change of current threshold, the controller can consider the motor to be in an unsafe state (such as overheating or abnormal stall risk). At this time, the controller will reduce the actual speed of the motor to a safe low speed value until the abnormal state is resolved (such as the temperature being less than the temperature threshold or the rate of change of current being less than or equal to the rate of change of current threshold).

[0110] Alternatively, when the motor is confirmed to be in an unsafe condition, the controller can shut off the pulse-width modulation signal output to the motor drive circuit, thereby stopping the motor. Preferably, after the motor stops working, the controller continuously monitors the motor's temperature and operating current, and allows the cleaning equipment to be restarted when the motor temperature decreases and the operating current stabilizes within the normal range.

[0111] It should be noted that the above-mentioned protective measures (including reducing the actual speed of the motor or controlling the motor to stop working) can be used alone or in combination (for example, if the motor has not been relieved of its abnormal state after reducing the actual speed of the motor for a certain period of time, the motor can be further controlled to stop working).

[0112] Therefore, by monitoring the temperature and operating current change rate of the motor in real time, risks can be proactively identified in the early stages of motor overheating or mechanical stall, greatly extending the service life of the core components of the cleaning equipment and reducing maintenance costs.

[0113] In some embodiments of this disclosure, the control method of the cleaning device preferably further includes: increasing the cleaning fluid flow rate of the cleaning device when the target rotational speed is greater than or equal to a rotational speed threshold; and / or reducing the suction force of the cleaning device on the dirt when the target rotational speed is greater than the actual rotational speed of the motor.

[0114] In this embodiment, the cleaning fluid flow rate is the volumetric flow rate of the cleaning fluid sprayed per unit time by the fluid delivery system of the cleaning equipment onto the roller brush or the surface to be cleaned (such as the floor). In one example, this cleaning fluid flow rate can be adjusted by a controller through the control of a micro pump or a solenoid valve.

[0115] The controller compares the determined target motor speed with a preset speed threshold (e.g., 1500 rpm). When the target speed is greater than or equal to the threshold, it indicates that high-intensity cleaning is required. The controller can then increase the cleaning fluid flow rate (e.g., to 1.5 times the base flow rate) to provide more cleaning fluid and enhance the chemical reaction. If the target speed is less than the threshold, the cleaning fluid flow rate can be maintained at the base flow rate.

[0116] Furthermore, the controller compares the target rotational speed with the actual rotational speed of the motor. When the target speed is greater than the actual rotational speed, it indicates that the actual rotational speed of the motor needs to be increased to achieve a more intense cleaning effect. To this end, the controller will reduce the suction power of the cleaning equipment on the dirt, prolonging the wetting and reaction time of the cleaning solution on the dirt, significantly improving the removal ability of stubborn stains and sticky dirt. Preferably, when reducing the suction power of the cleaning equipment on the dirt, the controller generates a control command to reduce the power of the suction motor (such as a fan) or close the damper opening, so that the suction power is reduced to a lower value.

[0117] Therefore, by determining the target rotation speed based on the user's operating force, the overall intensity of the entire cleaning system (such as the cleaning fluid flow rate and suction strength) can be adjusted synchronously. This ensures the cleaning effect while also reducing the learning curve for users and enabling intelligent control of the cleaning equipment.

[0118] In some embodiments of this disclosure, the nonlinear mapping relationship includes a first interval mapping relationship, a second interval mapping relationship, and a third interval mapping relationship, wherein the magnitude of the operating force corresponding to the first interval mapping relationship, the second interval mapping relationship, and the third interval mapping relationship increases sequentially, and the rotational speed change rate in the second interval mapping relationship is greater than the rotational speed change rate in the first interval mapping relationship and the third interval mapping relationship.

[0119] In this embodiment, the first interval mapping relationship refers to the mapping rule from operating force to motor speed applicable when the magnitude of the operating force is within a preset low force range (from the minimum effective value F_min to the first critical force value F_low). The second interval mapping relationship refers to the mapping rule from operating force to motor speed applicable when the magnitude of the operating force is within a preset medium force range (from F_low to the second critical force value F_high). The third interval mapping relationship refers to the mapping rule from operating force to motor speed applicable when the magnitude of the operating force is within a preset high force range (from F_high to the maximum effective value F_max).

[0120] For each interval, the controller has corresponding mapping parameters in memory. Specifically, the mapping relationship for the first interval is configured to have a small rate of change of rotational speed. Within this interval, even if the operating force changes, the calculated target rotational speed increases slowly only within a low range.

[0121] The second interval mapping is configured to have a significantly larger rate of change of rotational speed. Within this interval, changes in operating force will cause a rapid and significant increase in the target rotational speed.

[0122] The third interval mapping is configured to again have a small rate of change of rotational speed, eventually approaching saturation. Within this interval, even if the operating force continues to increase, the rate of increase in the target rotational speed becomes very slow, eventually approaching a limit value (maximum safe rotational speed).

[0123] Thus, by setting the low speed change rate through the mapping relationship of the first interval, it has a very high "tolerance" for unconscious hand tremors, slight touches, or unstable force applied during the initial startup of the equipment, and will hardly cause any change in speed, effectively preventing misoperation.

[0124] Once the user applies force and clearly enters the second range, it immediately responds sensitively and significantly with a high rate of change in rotational speed, perfectly matching the user's intuitive expectation of "acceleration upon application of force".

[0125] When the operating force enters the third range, the low rate of change of rotational speed in the third range makes it difficult and slow to increase the speed when the user operates at full power, eventually reaching saturation naturally. This achieves a smooth, shock-free limitation on the maximum speed, ensuring the safe operation of the cleaning equipment within its mechanical limits while avoiding the abruptness of operation caused by hard cut-off.

[0126] Furthermore, the entire three-segment mapping relationship together constructs a complete S-shaped response curve. This response characteristic conforms to the human body's perception of force control, providing users with a highly intuitive and easy-to-control feel, greatly optimizing the user experience.

[0127] In some embodiments of this disclosure, the cleaning device also includes a handle for a user to grip. The user grips the handle to adjust the cleaning position, direction, or intensity of the cleaning device.

[0128] A force sensor is installed on the handle or support point of the cleaning equipment (i.e., the fixed position where the brush connects to the main body of the cleaning equipment, such as the bearing seat or hinge shaft for mounting the brush). This force sensor converts the force it receives (such as the user's operating force) into a measurable electrical signal. When the user applies a pushing or pulling force (i.e., the aforementioned operating force) to the cleaning equipment by gripping the handle, the force is transmitted to the force sensor through the equipment structure. The controller can generate a force signal of the operating force acting on the cleaning equipment based on the detection value of the force sensor. In this way, the operating force applied by the user to the cleaning equipment can be accurately identified, ensuring the accuracy of the generated force signal.

[0129] Preferably, the force detection sensor is a torque sensor or a pressure sensor, wherein the torque sensor is used to measure the magnitude of the torque that causes the structure to rotate, while the pressure sensor can measure the magnitude of the pressure acting on its detection surface.

[0130] In one embodiment, when the force detection sensor is a torque sensor, the torque sensor is mounted on the support point of the brush roller. This torque sensor can detect the torque transmitted from the handle to the support point. When the force detection sensor is a pressure sensor, the pressure sensor can directly detect the force applied by the user's hand.

[0131] Preferably, to ensure the accuracy of the force signal generated by the force sensor, the force sensor can continuously collect force data at a fixed frequency (e.g., 100 times per second). The controller converts the analog signal output by the force sensor into a digital signal through an analog-to-digital converter, and uses a mean filtering algorithm to eliminate high-frequency noise introduced by user hand tremors or vibrations from the cleaning equipment, ultimately generating a smooth and accurate force signal.

[0132] Figure 6 This is a flowchart illustrating a control method for a cleaning device according to another embodiment of this disclosure. Figure 6 As shown, the control method for the cleaning equipment preferably includes steps S601 to S618.

[0133] In step S601, the system is initialized. The controller performs a power-on self-test, performs zero-point calibration on the force detection sensor to eliminate initial offset errors, and sets the motor speed to the default starting value, preparing the cleaning equipment to enter a stable working state.

[0134] In step S602, the main loop is started. The controller enters a continuously running main control loop and begins to periodically execute subsequent signal acquisition, processing, and control tasks.

[0135] In step S603, the force sensor signal is acquired in real time. The controller samples the analog output signal of the force sensor at a fixed frequency (e.g., 100 times per second) through an analog-to-digital converter, and performs digital filtering (e.g., mean filtering) on ​​the sampled values ​​to eliminate high-frequency noise introduced by hand tremors or equipment vibration, and finally outputs a smooth force signal.

[0136] In step S604, accidental touch detection is performed. The controller performs accidental touch detection processing on the force signal, eliminating instantaneous interference forces by calculating the signal change rate, and eliminating unintentional operations by verifying the continuous stability of the force signal, thus filtering out the effective operating forces that truly reflect the user's intention.

[0137] In step S605, it is determined whether the force is a transient disturbance. The controller calculates the rate of change of the force signal and compares this rate of change with a rate of change threshold. If the rate of change is greater than the rate of change threshold, the operating force is determined to be a transient disturbance caused by an event such as a collision.

[0138] In step S607, the anti-accidental touch flag is triggered. When the interference force is determined to be transient, the controller sets an internal status flag to indicate that it is currently in the anti-accidental touch processing period.

[0139] In step S608, the change is ignored for a short period. After the anti-accidental touch flag is triggered, the controller starts a timer (e.g., 0.5 seconds). During this time period, the controller ignores the change in the force signal and maintains the current speed of the motor, so as to effectively shield against transient interference.

[0140] In step S609, stability detection is performed. For force signals that are not determined to be transient disturbances, the controller further calculates the duration and fluctuation amplitude of the force signal to determine whether the user has applied a continuous and stable operating force.

[0141] In step S610, it is determined whether the operation is valid. The controller makes the determination based on the duration and fluctuation amplitude of the force signal. Only when the operating force reaches the target stable state is it determined to be a valid operation.

[0142] In step S611, the system enters a sleep mode. When an operation is deemed invalid, the controller controls the motor to enter a low-power sleep mode, reducing the brush speed to a preset minimum value to save energy, and continuously monitors the system to await activation by a valid operating force.

[0143] In step S612, the magnitude of the operating force is output. When a valid operation is determined, the controller outputs the magnitude of the operating force based on the signal value of the force signal.

[0144] In step S613, it is determined whether the operating force is valid. The controller determines whether the operating force is within a preset valid value range (e.g., whether the operating force is between the minimum and maximum valid values) based on its magnitude: if the operating force is within the valid value range, it is determined to be a valid operating force, and proceeds to S615; if the operating force is not within the valid value range, it is determined to be an invalid operating force, and proceeds to S614.

[0145] In step S614, the current speed is maintained. In cases where the operating force is deemed invalid, the controller does not execute the speed adjustment command and maintains the motor running at the current speed.

[0146] In step S615, the target speed is calculated. The controller takes the magnitude of the operating force as input and calculates it using a preset nonlinear mapping relationship to obtain the target speed of the motor that matches the operating force.

[0147] In step S616, motor speed control is performed. The controller uses a proportional-integral-derivative control algorithm to compare the difference between the target speed and the actual speed, and dynamically adjusts the duty cycle of the pulse width modulation signal output to the motor. At the same time, it limits the slope of the speed change (i.e., the rate of change of speed) to smoothly and accurately adjust the actual speed of the motor to the target value.

[0148] In step S617, safety monitoring is performed. The controller monitors the motor's temperature and operating current in real time. If the temperature exceeds the temperature threshold or the current experiences an abnormal surge (i.e., the rate of change of current exceeds the current rate of change threshold), a protection mechanism is triggered to reduce the motor speed or stop the motor to protect hardware safety.

[0149] In step S618, the process ends (continues until shutdown). The controller determines whether it needs to end the operation. If it does not need to end (i.e., no shutdown command is received), it returns to step S603 to continue execution. This process continues until the cleaning equipment receives a shutdown command.

[0150] This disclosure also provides a readable storage medium storing a computer program that, when executed by a processor, is used to implement the methods described above. A "readable storage medium" can be any means that can contain a program for storage, communication, propagation, or transmission for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples of a readable storage medium include: an electrical connection with one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable read-only memory (CDROM), etc.

[0151] This disclosure also provides a computer program product, the methods of which can be implemented wholly or partially through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented wholly or partially as a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed, all or part of the processes or functions of this disclosure are performed.

[0152] Computer programs or instructions can be stored in a readable storage medium or transferred from one readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The readable storage medium can be any available medium capable of access, or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video optical disc; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium can be a volatile or non-volatile storage medium, or it can include both volatile and non-volatile types of storage media.

[0153] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0155] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0156] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0157] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0158] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A control method for a cleaning device, the cleaning device comprising a controller, a motor, and a roller brush driven by the motor, wherein the controller is electrically connected to the motor; characterized in that, The control method is applied to the controller and includes: Acquire the force signal of the operating force acting on the cleaning equipment; Based on the rate of change of the force signal, determine whether the operating force is an instantaneous disturbance force, and based on the duration and fluctuation amplitude of the force signal, determine whether the operating force has reached the target stable state. If the operating force is not an instantaneous disturbance and reaches the target stable state, the magnitude of the operating force is determined based on the force signal. Based on a nonlinear mapping relationship, the target speed of the motor is determined according to the magnitude of the operating force; and The actual speed of the motor is adjusted to the target speed to achieve speed control of the roller brush.

2. The control method as described in claim 1, characterized in that, Determining whether the operating force is a transient disturbance force based on the rate of change of the force signal includes: The rate of change of the force signal is compared with a rate of change threshold; and When the rate of change of the force signal is greater than the rate of change threshold, the operating force is determined to be an instantaneous disturbance force, and the actual speed of the motor is maintained until the first target duration. When the rate of change of the force signal is less than or equal to the rate of change threshold, it is determined that the operating force is not an instantaneous disturbance force.

3. The control method as described in claim 1, characterized in that, Determining whether the operating force has reached the target stable state based on the duration and fluctuation amplitude of the force signal includes: The duration and fluctuation amplitude of the force signal are compared with the second target duration and fluctuation amplitude thresholds, respectively; and If the duration of the force signal reaches the second target duration and the fluctuation amplitude is less than or equal to the fluctuation amplitude threshold, it is determined that the operating force has reached the target stable state. If the duration of the force signal does not reach the second target duration or the fluctuation amplitude is greater than the fluctuation amplitude threshold, it is determined that the operating force has not reached the target stable state, and the motor is controlled to enter a low power consumption mode.

4. The control method as described in claim 1, characterized in that, Adjusting the actual speed of the motor to the target speed includes: Based on the difference between the target speed and the actual speed of the motor, the duty cycle of the pulse width modulation signal input to the motor is adjusted to bring the actual speed of the motor to the target speed.

5. The control method as described in claim 4, characterized in that, During the process of adjusting the actual speed of the motor to the target speed, the rate of change of the motor speed is controlled to be less than or equal to the rate of change threshold.

6. The control method as described in claim 1, characterized in that, The control method further includes: Obtain the temperature or operating current of the motor; and When the temperature of the motor exceeds a temperature threshold or the rate of change of the operating current exceeds a rate of change threshold, the actual speed of the motor is reduced or the motor is stopped.

7. The control method as described in claim 1, characterized in that, The control method further includes: When the target rotational speed is greater than or equal to the rotational speed threshold, the cleaning fluid flow rate of the cleaning equipment is increased; and / or When the target rotational speed is greater than the actual rotational speed of the motor, the suction force of the cleaning device on the dirt is reduced.

8. The control method as described in claim 1, characterized in that, The nonlinear mapping relationship includes a first interval mapping relationship, a second interval mapping relationship, and a third interval mapping relationship. The magnitude of the operating force corresponding to the first interval mapping relationship, the second interval mapping relationship, and the third interval mapping relationship increases sequentially, and the rotational speed change rate in the second interval mapping relationship is greater than the rotational speed change rate in the first interval mapping relationship and the third interval mapping relationship.

9. The control method according to any one of claims 1-8, characterized in that, The cleaning device also includes a handle, and a force detection sensor is provided on the support point of the handle or the roller brush. The controller generates a force signal that acts on the cleaning device based on the detection value of the force detection sensor.

10. A cleaning device, comprising a controller, a motor, and a roller brush driven by said motor, characterized in that, The controller is used to perform the control method for the cleaning equipment as described in any one of claims 1-9.

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