Cleaning brush, control method, device and equipment of cleaning brush and storage medium

Abstract

The present application relates to the technical field of cleaning equipment, and particularly relates to a cleaning brush, a control method and device of the cleaning brush, equipment, and a storage medium, wherein the cleaning brush comprises a brush handle, a brush head, a power generation assembly, and a controller, is compact in structure, the power generation assembly can convert vibration energy generated when the brush head works into electric energy, realizes self-recovery of energy, can power or store energy for the cleaning brush, effectively prolongs the endurance time; the electric signal generated in the friction nanometer power generation process is used as a sensing information source, without additional configuration of pressure or optical sensors, the cleaning state can be sensed in real time, the cost and power consumption are reduced, the motor speed, power or alarm is automatically adjusted according to the sensed cleaning state, dynamic optimization of the cleaning strategy is realized, the cleaning effect and energy efficiency are improved, and the service life of the cleaning brush is prolonged.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a cleaning brush, a method for controlling the cleaning brush, a device, an equipment, and a storage medium. Background Technology

[0002] Handheld electric cleaning brushes are widely used for surface cleaning in homes and commercial spaces due to their flexibility and strong cleaning power. However, electric cleaning brushes currently on the market have the following problems: First, in terms of energy supply, existing electric cleaning brushes generally rely on built-in batteries or external power sources for power. When the brush head rotates or reciprocates at high speed to perform cleaning operations, the friction between it and the cleaning surface generates a large amount of mechanical vibration and sound wave energy. However, this part of the energy is completely wasted in traditional equipment and cannot be effectively recycled. This not only limits the equipment's battery life but also places higher demands on battery capacity and charging frequency.

[0003] Secondly, in terms of working condition perception and intelligent control, traditional cleaning brushes are mostly single-function, only providing fixed or limited adjustable cleaning modes. They cannot perceive the contact status between the brush head and the cleaning surface or the degree of dirt on the surface to be cleaned in real time. Even if some high-end products introduce independent sensors (such as pressure sensors, optical sensors or cameras) for environmental perception, these solutions significantly increase the hardware cost, structural complexity and size of the device, which is particularly disadvantageous for handheld devices. At the same time, additional sensors will further increase power consumption.

[0004] Finally, in terms of user experience, due to the lack of effective working condition perception, users often need to manually adjust the cleaning level based on experience, or they cannot obtain the best cleaning effect when facing surfaces with different levels of dirt. They may even damage the cleaning surface due to improper cleaning force or need to repeat the work due to insufficient cleaning power. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention aims to provide a cleaning brush, a control method, a device, an equipment and a storage medium that can effectively utilize the waste energy generated during the cleaning process and achieve low-cost, low-power self-sensing of the cleaning status based on this energy, thereby dynamically optimizing the cleaning strategy.

[0006] The technical solution adopted in this invention is as follows: In a first aspect, the present invention provides a cleaning brush, comprising: brush handle; The brush head is rotatably connected to one end of the brush handle; A power generation component is disposed at the connection interface between the brush handle and the brush head. The power generation component is used to convert the vibration energy generated by the brush head during the cleaning process into electrical energy and output an electrical signal characterizing the vibration characteristics. The controller is electrically connected to both the power generation component and the motor that drives the brush head to rotate. The controller is used to collect the electrical signals, determine the current cleaning state of the cleaning brush based on the electrical signals, and generate matching control commands based on the current cleaning state to adjust the operating state of the motor.

[0007] Preferably, the power generation component includes a support frame and a stacked positive polarity material layer, a negative polarity material layer, a metal electrode, and an elastic element. The positive polarity material layer is disposed on the support frame, and the negative polarity material layer is spaced apart from the positive polarity material layer. The metal electrode is connected to the surface of the negative polarity material layer away from the positive polarity material layer, and the metal electrode and the positive polarity material layer are electrically connected through an external circuit. The elastic element is disposed on the surface of the metal electrode away from the negative polarity material layer, and the elastic element is used to elastically deform in response to the vibration generated by the brush head during the cleaning process, so as to drive the negative polarity material layer and the positive polarity material layer to make contact and separate.

[0008] Preferably, the elastic element is a planar spring.

[0009] Preferably, the elastic element consists of a support plate and two tension springs symmetrically connected to both ends of the support plate. The support plate is disposed on the side surface of the metal electrode away from the negative polarity material layer, and the end of each tension spring away from the support plate is connected to a bracket.

[0010] Preferably, the elastic element consists of a support plate and a tension spring passing through the support plate. The support plate is disposed on the side surface of the metal electrode away from the negative polarity material layer, and both ends of the tension spring are connected to the bracket.

[0011] Preferably, a flexible layer is provided on the side of the support plate away from the negative polarity material layer. The middle part of the flexible layer is connected to the support plate through a connecting column. The periphery of the flexible layer is connected to the bracket and is configured to deform in response to the vibration generated by the brush head during the cleaning process.

[0012] Preferably, the positive polar material layer is made of carbon nanotubes.

[0013] Secondly, the present invention also provides a method for controlling a cleaning brush, comprising: Acquire the electrical signal output by the power generation component in response to the vibration generated by the brush head during the cleaning process; Extract the characteristic parameters of the electrical signal, including voltage amplitude and waveform distortion rate; The feature parameters are compared with a preset threshold group, and the current cleaning state of the cleaning brush is determined based on the comparison result. The current cleaning state includes clean state, normal cleaning state, heavily soiled state, and sudden obstacle state. Based on the current cleaning status, corresponding control commands are generated and executed to adjust the operating status of the motor that drives the brush head to rotate.

[0014] Preferably, the threshold group includes a heavy contamination voltage threshold, a clean voltage threshold, and a distortion rate threshold, wherein the heavy contamination voltage threshold is greater than the clean voltage threshold; The step of determining the current cleaning status of the cleaning brush based on the comparison results includes: When the voltage amplitude in the characteristic parameter is less than the clean voltage threshold and the waveform distortion rate in the characteristic parameter is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a clean state. When the voltage amplitude in the characteristic parameters is less than or equal to the heavy pollution voltage threshold, the voltage amplitude in the characteristic parameters is greater than or equal to the clean voltage threshold, and the waveform distortion rate in the characteristic parameters is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a normal cleaning state. When the voltage amplitude in the characteristic parameter is greater than the heavy pollution voltage threshold and the waveform distortion rate in the characteristic parameter is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a heavy pollution state. When the waveform distortion rate in the feature parameters is greater than the distortion rate threshold, the current cleaning state is directly determined to be a sudden obstacle state.

[0015] Preferably, the step of generating and executing corresponding control commands based on the current cleaning state to adjust the motor's operating state includes: When the current cleaning state of the cleaning brush is determined to be a heavily soiled state, a first control command to increase the motor power is generated and executed. When the current cleaning state of the cleaning brush is determined to be clean, a second control command to reduce the motor power is generated and executed. When the current cleaning state of the cleaning brush is determined to be a sudden obstacle state, a third control command is generated and executed to stop the motor or issue an alarm. When the current cleaning state of the cleaning brush is determined to be a normal cleaning state, the current operating state of the motor is maintained.

[0016] Thirdly, the present invention also provides a control device for a cleaning brush, comprising: The signal acquisition module is used to acquire the electrical signal output by the power generation component in response to the vibration generated by the brush head during the cleaning process; The feature extraction module is used to extract the feature parameters of the electrical signal, including voltage amplitude and waveform distortion rate; The status judgment module is used to compare the feature parameters with a preset threshold group and determine the current cleaning status of the cleaning brush based on the comparison result. The current cleaning status includes clean status, normal cleaning status, heavily soiled status and sudden obstacle status. The instruction execution module is used to generate and execute corresponding control instructions based on the current cleaning status, so as to adjust the operating status of the motor that drives the brush head to rotate.

[0017] Fourthly, the present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the cleaning brush control method described in the second aspect.

[0018] Fifthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the cleaning brush control method described in the second aspect.

[0019] The beneficial effects of this invention are as follows: This cleaning brush converts the mechanical vibrations generated during brush head operation into electrical energy through a power generation component, achieving energy self-recovery to power or store energy for the brush, effectively extending its runtime and reducing battery dependence. Utilizing electrical signals generated by the triboelectric nano-power generation process as a sensing information source, it can identify the degree of dirt and obstacles on the cleaning surface in real time without the need for additional pressure or optical sensors, reducing cost and power consumption. The controller automatically adjusts the motor speed and power or issues an alarm based on the sensed cleaning status, achieving dynamic optimization of the cleaning strategy, improving cleaning effect and energy efficiency, and extending the brush's lifespan. Users do not need to manually switch gears, improving ease of use and intelligence, and enhancing the user experience. The energy recovery, status sensing, and adaptive control functions are highly integrated at the connection between the brush handle and brush head, resulting in a compact structure that does not increase product size or affect the device's portability and handheld operation feel. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the cleaning brush according to an embodiment of the present invention.

[0021] Figure 2 This is a first structural schematic diagram of a power generation component according to an embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram illustrating the working process of the power generation component according to an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the second structure of the power generation component according to an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the third structure of the power generation component according to an embodiment of the present invention.

[0025] Figure 6 This is a flowchart of a cleaning brush control method according to an embodiment of the present invention.

[0026] Figure 7 This is a structural block diagram of the cleaning brush control device according to an embodiment of the present invention.

[0027] Figure 8 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention.

[0028] In the diagram: 1. Brush handle; 2. Brush head; 3. Power generation component; 31. Positive polarity material layer; 32. Negative polarity material layer; 33. Metal electrode; 34. Support; 35. Connecting post; 36. Elastic element; 37. Support plate; 38. Flexible layer. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] According to an embodiment of the present invention, please refer to... Figures 1-2 A cleaning brush is provided, including: a brush handle 1, a brush head 2, a power generation component 3, and a controller (not shown in the figure). The brush handle 1 is the part held by the user. The brush handle 1 can be designed as a cylindrical shape, an ergonomic arc shape, or other shapes that are easy to hold, depending on the actual application needs. This embodiment does not limit the actual structure and material of the brush handle 1. The brush head 2 is rotatably connected to one end of the brush handle 1. Cleaning elements such as bristles, cleaning cloths or sponges can be installed on the brush head 2 for contacting the surface to be cleaned. The motor (not shown in the figure) is built into the brush handle 1, and its output shaft is connected to the brush head 2 for transmission, driving the brush head 2 to rotate or reciprocate. It should be noted that the specific structure and shape of the brush head 2, the specific model of the motor and the driving parameters in this embodiment can be adaptively configured according to the needs of the actual application scenario, and are not limited here. The power generation component 3 is located at the connection interface between the brush handle 1 and the brush head 2. It is configured to convert the mechanical vibration generated by the cleaning brush during operation into electrical energy based on the triboelectric nano-power generation effect. Specifically, when the cleaning element installed on the brush head 2 contacts the surface to be cleaned and undergoes relative movement, mechanical vibration and acoustic vibration are generated. This vibration energy is transferred to the power generation component 3, causing the internal friction layer to make contact and separation movements. This generates an electrical signal through triboelectric charging and electrostatic induction coupling effects, realizing the conversion of mechanical energy into electrical energy. This electrical energy, after being processed by the rectification and filtering circuit, can be supplied to the motor of the cleaning brush or other electrical components in real time, or it can be stored in the built-in battery, thereby realizing energy self-recovery. This effectively extends the cleaning brush's runtime, reduces the dependence on large-capacity batteries, and allows the product to be designed to be more portable. At the same time, this structural design highly integrates the energy recovery function into the original connection interface without adding extra space, ensuring the product's compactness and the convenience of handheld operation. The controller is electrically connected to the power generation component 3 and the motor that drives the brush head 2 to rotate. The controller is used to collect electrical signals, which can be voltage signals or current signals. The controller can determine the current cleaning state of the cleaning brush based on the characteristics of the electrical signals and adjust the motor's operating parameters, such as speed, torque or output power, based on the current cleaning state to achieve the adjustment of the motor's operating state. The waste mechanical vibration energy is converted into electrical energy by the power generation component 3, realizing the self-recovery of energy. It can charge the battery of the cleaning brush or directly power the motor and other components, effectively extending the battery life. At the same time, the electrical signal generated in the power generation process is directly used as the source of sensing information. The cleaning status can be sensed in real time without the need for additional pressure, optical or infrared sensors, which significantly reduces hardware costs and power consumption. Specifically, during the process of converting mechanical energy into electrical energy, the characteristic parameters of the electrical signal generated by the power generation component 3, such as amplitude, frequency, and waveform distortion rate, are closely related to the external force that causes vibration. When the degree of dirt on the cleaning surface varies or when an obstacle is encountered, the friction and impact characteristics between the brush head 2 and the surface will change significantly, which in turn causes the electrical signal output by the power generation component 3 to change accordingly. The signal acquisition component acquires these electrical signals containing rich state information in real time, and the controller analyzes and processes them. Based on this, the controller determines the current cleaning state (such as heavily soiled, clean, or encountering an obstacle) and adaptively adjusts the motor speed, power, or start / stop. This design cleverly reuses the power generation component 3 as a self-sensing sensor, eliminating the need for additional expensive and high-power independent sensors such as pressure, optical, or camera sensors. This greatly reduces hardware costs and system power consumption, achieving low-cost, low-power intelligent sensing and closed-loop control, improving cleaning effect and user experience.

[0031] In an optional embodiment, the power generation component 3 includes a support 34 and a stacked positive polarity material layer 31, a negative polarity material layer 32, a metal electrode 33, and an elastic element 36. The positive polarity material layer 31 is disposed on the support 34, and the negative polarity material layer 32 is spaced apart from the positive polarity material layer 31. The metal electrode 33 is connected to the side surface of the negative polarity material layer 32 away from the positive polarity material layer 31, and the metal electrode 33 and the positive polarity material layer 31 are electrically connected through an external circuit. The elastic element 36 is disposed on the side surface of the metal electrode 33 away from the negative polarity material layer 32. The elastic element 36 is used to elastically deform in response to the vibration generated by the brush head 2 during the cleaning process, so as to drive the negative polarity material layer 32 and the positive polarity material layer 31 to make contact and separate movements. The positive polar material layer 31 is made of a material that easily loses electrons, such as carbon nanotubes or metals (copper, aluminum), and the negative polar material layer 32 is made of a material that easily gains electrons, such as polytetrafluoroethylene (PTFE), polydimethylsiloxane (PDMS), or fluorinated ethylene propylene copolymer (FEP). like Figure 3 As shown, when the cleaning brush is working, mechanical vibration and acoustic vibration cause the negative polarity material layer 32 and the positive polarity material layer 31 to intermittently contact and separate. The complete working process includes the following three stages: Contact stage: When the elastic element 36 is stretched, driving the negative polar material layer 32 to move toward the positive polar material layer 31 and make close physical contact, due to the difference in the triboelectric electrode sequence between the positive polar material layer 31 (preferably carbon nanotube) and the negative polar material layer 32 (preferably FEP or PTFE), the negative polar material layer 32 takes electrons from the surface of the positive polar material layer 31. This charge transfer causes the negative polar material layer 32 to carry a net negative charge, and the positive polar material layer 31 to carry an equal amount of net positive charge. The surface charge formed is trapped in the deep energy level traps on the material surface, establishing a potential basis for subsequent electron flow. At this stage, the external circuit has not yet generated current, and the charge is stored on the surface of the two polar material layers in the form of electrostatics. Separation stage: When the elastic element 36 begins to elastically reset, it drives the negative polarity material layer 32 and the positive polarity material layer 31 to gradually separate (the gap between the negative polarity material layer 32 and the positive polarity material layer 31 gradually increases). At the initial moment of separation, the opposite electrostatic charges carried on the surfaces of the two polarity material layers generate a strong potential difference. Through electrostatic induction, this potential difference acts on the metal electrode 33 through the external circuit (the wire connecting the metal electrode 33 and the positive polarity material layer 31). As a metal conductor, the metal electrode 33 contains a large number of free electrons. Driven by the potential difference, these free electrons flow from the metal electrode 33 to the positive polarity material layer 31 through the external circuit, neutralizing the positive charge on the surface of the positive polarity material layer 31 and forming a positive current pulse. The separation phase: When the two polar material layers continue to move away to the maximum distance, the positive charge on the surface of the positive polar material layer 31 is completely neutralized by electrons from the metal electrode 33. At this time, the metal electrode 33 becomes positively charged due to the loss of electrons, while the negative polar material layer 32 still maintains a net negative charge. After the potential difference between the two polar material layers reaches its peak, it begins to reverse. The distance between the negative polar material layer 32 and the positive polar material layer 31 gradually decreases from its maximum. The potential difference drives the missing electrons in the metal electrode 33 to flow back from the external circuit, forming a reverse current pulse that is opposite to the direction of the second stage. As the sound wave vibration continues to excite, the above three processes of contact, separation, and moving away repeat in a cycle with the same frequency as the sound wave, thereby outputting a stable AC pulse voltage signal at both ends of the power generation component 3.

[0032] In an optional embodiment, such as Figure 4 As shown, the elastic element 36 is a planar spring. The center of the planar spring is fixedly connected to the metal electrode 33, and the periphery of the planar spring is fixedly connected to the bracket 34. Through the planar deformation characteristics of the planar spring, a uniform elastic restoring force is provided in a limited space, ensuring that the negative polarity material layer 32 can stably contact and separate from the positive polarity material layer 31 during vibration, thereby improving the output stability and structural compactness of the power generation component 3. Moreover, the planar spring can generate high-frequency micro-amplitude deformation in response to sound wave vibration, further improving the recovery efficiency of the power generation component 3 for broadband vibration energy.

[0033] In an optional embodiment, such as Figure 2 As shown, to enhance structural stability, the elastic element 36 consists of a support plate 37 and two tension springs symmetrically connected to both ends of the support plate 37. The support plate 37 is disposed on the surface of the metal electrode 33 away from the negative polarity material layer 32. The end of each tension spring away from the support plate 37 is connected to the bracket 34. The support plate 37 is a rigid plate, such as a plastic plate. The arrangement of the support plate 37 can provide stable support for the metal electrode 33 and the negative polarity material layer 32, and provide a uniform force-bearing surface, ensuring that the force applied by the elastic element 36 can be evenly distributed, avoiding local stress concentration, and making the negative polarity material layer 32 more stable. The polar material layer 32 remains stable during vibration, avoiding tilting or poor local contact, thereby improving the stability of the power generation component 3 and the consistency of the output electrical signal. The symmetrical arrangement of two tension springs, which are respectively connected to the two ends of the support plate 37, is to form a symmetrical elastic traction force on both sides of the support plate 37, so that the support plate 37 can move smoothly back and forth along the axial direction when subjected to vibration force, avoiding deflection or tilting. This ensures that the contact and separation process between the negative polar material layer 32 and the positive polar material layer 31 is uniform and synchronous, improving the mechanical reliability of the power generation component 3.

[0034] In an optional embodiment, such as Figure 5As shown, the elastic element 36 consists of a support plate 37 and a tension spring that passes through the support plate 37. The support plate 37 is located on the side of the metal electrode 33 away from the negative polarity material layer 32. The axial direction of the tension spring is perpendicular to the direction of movement of the support plate 37. Both ends of the tension spring are connected to the bracket 34. The tension spring passes through the support plate 37 and both ends of the tension spring are connected to the bracket 34 to facilitate the installation of the tension spring and the support plate 37. Specifically, the support plate 37 has a through hole for the tension spring to pass through. This through-type installation structure does not require additional connecting ears or buckles on the support plate 37. During assembly, it is only necessary to insert the support plate 37 into the tension spring and fix both ends of the tension spring to the bracket 34, which simplifies the part structure and assembly process.

[0035] In an optional embodiment, a flexible layer 38 is provided on the side of the support plate 37 away from the negative polarity material layer 32. The center of the flexible layer 38 is connected to the support plate 37 via a connecting post 35. The periphery of the flexible layer 38 is connected to the bracket 34 and is configured to deform in response to the vibration generated by the brush head 2 during cleaning. The connecting post 35 is a rigid post, which effectively transmits the larger deformation of the central area of ​​the flexible layer 38 to the support plate 37, thereby causing the negative polarity material layer 32 to generate a more effective relative displacement, improving the conversion efficiency of mechanical energy to electrical energy. The flexible layer 38 can be made of silicone. This design allows the power generation component 3 to respond not only to low-frequency mechanical vibrations but also to high-frequency sound wave vibrations, thereby broadening the energy recovery frequency band and enabling the cleaning brush to sense more subtle changes in the cleaning state. For example, the high-frequency sound waves generated by the friction between the brush head and a hard surface will cause the flexible layer 38 to undergo slight stretching deformation, thereby causing the negative polarity material layer 32 to move relative to the positive polarity material layer 32. High-frequency, minute relative displacements are generated between the two polar material layers 31, thereby generating electrical signals. Specifically, when the user holds the cleaning brush and moves it back and forth on the ground, the bristles on the brush head 2 rub against the ground, generating high-frequency mechanical vibrations. These vibrations are converted into sound waves, which act on the flexible layer 38 through the cavity inside the brush head 2, causing the flexible layer 38 to vibrate under pressure. The minute displacement of the flexible layer 38 causes the planar spring to deform, which in turn drives the negative polar material layer 32 attached to the planar spring to move back and forth at high frequency relative to the fixed positive polar material layer 31. When the two polar material layers are in close contact, charge transfer occurs (electrons flow from the metal electrode 33 to the positive polar material layer 31). When the planar spring rebounds and the distance between the two polar material layers is increased to the maximum, a potential difference is established, and free electrons flow back to form a reverse current. Under continuous sound pressure excitation, an AC pulse voltage signal is output. The AC pulse voltage signal is converted into DC power by a rectifier circuit and stored in an energy storage capacitor, which can directly power the motor and reduce reliance on an external battery.

[0036] In an optional embodiment, the positive polarity material layer 31 is made of carbon nanotubes. Carbon nanotubes have excellent mechanical strength and conductivity. As the positive polarity material layer 31, it can withstand long-term friction and vibration, ensuring the durability of the power generation component 3 and improving power generation efficiency.

[0037] In an optional embodiment, the brush handle 1 may have an anti-slip texture or rubber layer on its surface to enhance the stability and comfort of the user's hand.

[0038] According to an embodiment of the present invention, in another aspect, a method for controlling a cleaning brush is provided, such as... Figure 6 As shown, it includes the following steps: S100, acquire the electrical signal output by the power generation component in response to the vibration generated by the brush head during the cleaning process; specifically, the controller acquires the voltage or current signal output by the power generation component 3 in real time (e.g., every 10ms) through a signal acquisition component (such as an AD converter); S200 extracts the characteristic parameters of the electrical signal, including voltage amplitude and waveform distortion rate (THD); the characteristic parameters may also include current amplitude, frequency or pulse count, etc. The controller filters, amplifies and digitizes the original electrical signal, and uses algorithms such as Fast Fourier Transform (FFT) to calculate these characteristic parameters. S300 compares the feature parameters with a preset threshold group and determines the current cleaning state of the cleaning brush based on the comparison result. The current cleaning state includes clean state, normal cleaning state, heavily soiled state, and sudden obstacle state. The controller has a preset threshold group based on a large number of experiments and determines the current cleaning state of the cleaning brush based on the comparison result of the feature parameters and the threshold group. The S400 generates and executes corresponding control commands based on the current cleaning status to adjust the operating status of the motor that drives the brush head to rotate.

[0039] In an optional embodiment, step S300 specifically includes: The feature parameters are compared with a preset threshold set, which includes a heavy contamination voltage threshold, a cleanliness voltage threshold, and a distortion rate threshold. The heavy contamination voltage threshold is greater than the cleanliness voltage threshold. For example, and not as a limitation, the heavy contamination voltage threshold can be set to 15V, the cleanliness voltage threshold can be set to 3V, and the distortion rate threshold can be set to 25%. When the voltage amplitude in the characteristic parameters is greater than the heavy dirt voltage threshold (e.g., 15V) and the waveform distortion rate in the characteristic parameters is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a heavy dirt state. The principle is that when the surface to be cleaned is covered with heavy oil or particulate matter, the friction coefficient between the brush head 2 and the surface increases, and the amplitude of the mechanical vibration generated is significantly enhanced, which causes the voltage amplitude output by the power generation component 3 to increase synchronously. At the same time, since the surface condition is continuous and uniform, without sudden obstacles or violent impacts, the vibration waveform remains regular and stable, and the waveform distortion rate is low. Therefore, by judging the voltage amplitude and waveform distortion rate, the cleaning brush can be accurately identified as being in a heavy dirt state. When the voltage amplitude in the characteristic parameters is less than or equal to the heavy dirt voltage threshold, the voltage amplitude in the characteristic parameters is greater than or equal to the clean voltage threshold, and the waveform distortion rate in the characteristic parameters is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a normal cleaning state. The principle is as follows: when the degree of dirt on the surface to be cleaned is moderate, the coefficient of friction between the brush head 2 and the surface is within the normal range, the amplitude of the generated mechanical vibration is moderate, and the voltage amplitude output by the power generation component 3 is between the heavy dirt voltage threshold and the clean voltage threshold. At the same time, since the surface condition is continuous and uniform, without sudden obstacles or violent impacts, the vibration waveform remains regular and stable, and the waveform distortion rate is low. Therefore, by judging the voltage amplitude and waveform distortion rate, the cleaning brush can be accurately identified as being in a normal cleaning state without adjusting the motor operating parameters. When the voltage amplitude in the characteristic parameters is less than the clean voltage threshold (e.g., 3V) and the waveform distortion rate in the characteristic parameters is less than or equal to the distortion rate threshold, the current cleaning state is determined to be clean. The principle is that when the surface has been cleaned, the frictional resistance decreases, the vibration amplitude decays, and the output voltage amplitude of the power generation component 3 drops to a low stable range. At the same time, since the surface condition is continuous and uniform, without sudden obstacles or violent impacts, the vibration waveform remains regular and stable, and the waveform distortion rate is low. Therefore, by judging the voltage amplitude and waveform distortion rate, the cleaning brush can be accurately identified as being in a clean state. When the waveform distortion rate in the characteristic parameters is greater than the distortion rate threshold (e.g., 25%), the current cleaning state is directly determined to be a sudden obstacle state. The principle is that when the brush head 2 accidentally hits a hard obstacle (e.g., table leg, step) or gets caught in a flexible object (e.g., carpet tassel), the mechanical vibration exhibits non-periodic impact characteristics, causing the waveform of the output electrical signal to be severely distorted, that is, the waveform distortion rate increases sharply.

[0040] In an optional embodiment, step S400 specifically includes: When the current cleaning state of the cleaning brush is determined to be a heavily soiled state, the controller generates and executes the first control command to increase the motor power, thereby increasing the motor speed and cleaning force, and improving the decontamination effect; When the current cleaning state of the cleaning brush is determined to be clean, the controller generates and executes a second control command to reduce the motor power, thereby reducing the motor speed and cleaning intensity, saving energy, extending the battery life, and avoiding damage to the cleaning surface due to over-cleaning. When the current cleaning state of the cleaning brush is determined to be a sudden obstacle state, the controller generates and executes a third control command to stop the motor or issue an alarm to the user (such as by sounding a buzzer or flashing an LED light). This can prevent the brush head 2 from getting stuck and causing the motor to overload and burn out, or prevent the brush head 2 from damaging the object being cleaned, thus playing a safety protection role. When the current cleaning state of the cleaning brush is determined to be normal, the motor continues to operate normally.

[0041] In a more detailed embodiment, the specific operational logic of the cleaning brush control method is as follows: The power generation component 3 generates an electrical signal corresponding to the vibration energy in real time; the controller acquires the voltage value of the electrical signal at a sampling rate of 50Hz; the controller calculates the average amplitude A and waveform distortion rate D of the voltage signal in the past second. If A > 15V and D ≤ 25%, it is determined to be a heavy pollution state. The controller will increase the duty cycle of the motor PWM control signal from 60% to 90% to accelerate the motor. If A is between 3V and 15V and D≤25%, it is determined to be a normal cleaning state, and the controller maintains the current operating parameters of the motor unchanged; If A < 3V and D ≤ 25%, the system is considered clean. The controller will reduce the duty cycle of the motor PWM control signal to 30% to slow down the motor. If D > 25%, it is directly determined to be a sudden obstacle state. The controller immediately outputs a low level to the motor drive circuit to brake and stop the motor, and drives the buzzer to emit three short alarm sounds of "beep beep beep". The specific thresholds (15V, 3V, 25%) and parameters (sampling rate 50Hz, time window 1 second) in the above logic can be calibrated and adjusted according to the model of the cleaning brush, the characteristics of the motor, and typical application scenarios. This embodiment does not limit them to a single one.

[0042] In a more detailed embodiment, the specific application scenario will be used as an example: Scenario 1 (Heavy Oil Stains): The user uses the cleaning brush to clean the surface of the kitchen stove. The stove surface is covered with heavy oil stains, and the brush head 2 rubs violently against the surface. At this time, the voltage amplitude output by the power generation component 3 reaches 18V, which exceeds the preset heavy stain voltage threshold (e.g., 15V). Moreover, the calculated waveform distortion rate is 15%, which is lower than the distortion rate threshold (e.g., 25%). The controller determines that it is a heavy stain state and immediately increases the motor speed from the default 2000rpm to 3500rpm. The user feels that the cleaning power is enhanced and there is no need to manually change the speed. The oil stains are quickly removed. As the oil stains gradually decrease, the voltage amplitude gradually decreases.

[0043] Scenario 2 (Cleaning Completed): After the stove surface is cleaned, the frictional resistance is significantly reduced, and the voltage amplitude output by the power generation component 3 drops to 0.5V, which is lower than the clean voltage threshold (e.g., 3V). The calculated waveform distortion rate is 10%, which is lower than the distortion rate threshold (e.g., 25%). The controller determines that the surface is clean and reduces the motor speed to a low-power maintenance mode of 1000rpm. The indicator light will also indicate to the user that cleaning is complete. The user can choose to turn off the power or continue cleaning the next area. During this period, the battery power consumption is significantly reduced.

[0044] Scenario 3 (Obstacle Collision): When the user is cleaning the floor, the brush head 2 accidentally collides with the sofa leg. At the moment of impact, the waveform of the electrical signal output by the power generation component 3 exhibits violent high-frequency oscillations. The waveform distortion rate is calculated to reach 40%, exceeding the distortion rate threshold (e.g., 25%). Within milliseconds, the controller determines that it is a sudden obstacle state, immediately cuts off the motor power and sounds a buzzer alarm, and the brush head 2 stops rotating, preventing damage to the bristles or motor due to overload.

[0045] Scenario 4 (Normal Cleaning): The user uses the cleaning brush to clean the daily dust on the living room floor. The friction between the brush head and the floor is moderate. The voltage amplitude output by the power generation component is stable at 8V (between the clean voltage threshold of 3V and the heavy dirt voltage threshold of 15V). The calculated waveform distortion rate is 15%, which is lower than the distortion rate threshold (e.g., 25%). The controller determines that it is in normal cleaning state and maintains the motor to continue working at the default speed of 2000rpm without changing the power or issuing an alarm.

[0046] According to an embodiment of the present invention, in another aspect, a control device for a cleaning brush is provided, such as... Figure 7 As shown, it includes: The signal acquisition module is used to acquire the electrical signal output by the power generation component in response to the vibration generated by the brush head during the cleaning process; The feature extraction module is used to extract the feature parameters of the electrical signal, including voltage amplitude and waveform distortion rate. The status judgment module is used to compare the feature parameters with the preset threshold group and determine the current cleaning status of the cleaning brush based on the comparison result. The current cleaning status includes clean status, normal cleaning status, heavily soiled status and sudden obstacle status. The instruction execution module is used to generate and execute corresponding control instructions based on the current cleaning status, so as to adjust the operating status of the motor that drives the brush head to rotate.

[0047] In an optional embodiment, the state determination module is specifically used to: compare the feature parameters with a preset threshold group, the threshold group including a heavy contamination voltage threshold, a clean voltage threshold, and a distortion rate threshold, wherein the heavy contamination voltage threshold is greater than the clean voltage threshold; when the voltage amplitude in the feature parameters is greater than the heavy contamination voltage threshold and the waveform distortion rate in the feature parameters is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a heavy contamination state; when the voltage amplitude in the feature parameters is less than or equal to the heavy contamination voltage threshold, the voltage amplitude in the feature parameters is greater than or equal to the clean voltage threshold, and the waveform distortion rate in the feature parameters is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a normal cleaning state; when the voltage amplitude in the feature parameters is less than the clean voltage threshold and the waveform distortion rate in the feature parameters is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a clean state; when the waveform distortion rate in the feature parameters is greater than the distortion rate threshold, the current cleaning state is directly determined to be a sudden obstacle state.

[0048] In an optional embodiment, the instruction execution module is specifically configured to: generate and execute a first control instruction to increase motor power when the current cleaning state of the cleaning brush is determined to be a heavily soiled state; generate and execute a second control instruction to reduce motor power when the current cleaning state of the cleaning brush is determined to be a clean state; generate and execute a third control instruction to stop motor operation or issue an alarm when the current cleaning state of the cleaning brush is determined to be a sudden obstacle state; and maintain the current operating state of the motor when the current cleaning state of the cleaning brush is determined to be a normal cleaning state.

[0049] In this embodiment, the control device for the cleaning brush is presented in the form of a functional unit. Here, a unit refers to an ASIC circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0050] Further functional descriptions of the above modules are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0051] According to an embodiment of the present invention, in another aspect, a computer device is provided, having the above-described... Figure 7 The control device for the cleaning brush shown.

[0052] Please see Figure 8 , Figure 8This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 8 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 8 Take a processor 10 as an example.

[0053] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0054] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0055] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device as shown by a landing page for an app. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0056] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0057] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 8 Taking the example of a connection between China and Israel via a bus.

[0058] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0059] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0060] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0061] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders.

[0062] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cleaning brush, characterized in that, include: Brush handle (1); The brush head (2) is rotatably connected to one end of the brush handle (1); A power generation component (3) is provided at the connection interface between the brush handle (1) and the brush head (2). The power generation component (3) is used to convert the vibration energy generated by the brush head (2) during the cleaning process into electrical energy and output an electrical signal characterizing the vibration characteristics. The controller is electrically connected to the power generation component (3) and the motor that drives the brush head (2) to rotate. The controller is used to collect the electrical signal, determine the current cleaning state of the cleaning brush based on the electrical signal, and generate a matching control command based on the current cleaning state to adjust the operating state of the motor.

2. The cleaning brush according to claim 1, characterized in that, The power generation component (3) includes a support (34) and a positive polar material layer (31), a negative polar material layer (32), a metal electrode (33), and an elastic element (36) stacked together. The positive polar material layer (31) is disposed on the support (34), and the negative polar material layer (32) is disposed at a distance from the positive polar material layer (31). The metal electrode (33) is connected to the side surface of the negative polar material layer (32) away from the positive polar material layer (31), and the metal electrode (33) and the positive polar material layer (31) are electrically connected through an external circuit. The elastic element (36) is disposed on the side surface of the metal electrode (33) away from the negative polar material layer (32). The elastic element (36) is used to elastically deform in response to the vibration generated by the brush head (2) during the cleaning process, so as to drive the negative polar material layer (32) and the positive polar material layer (31) to make contact and separate movements.

3. The cleaning brush according to claim 2, characterized in that, The elastic element (36) is a planar spring.

4. The cleaning brush according to claim 2, characterized in that, The elastic element (36) consists of a support plate (37) and two tension springs symmetrically connected to both ends of the support plate (37). The support plate (37) is disposed on the side surface of the metal electrode (33) away from the negative polarity material layer (32). The end of each tension spring away from the support plate (37) is connected to the bracket (34).

5. The cleaning brush according to claim 2, characterized in that, The elastic element (36) consists of a support plate (37) and a tension spring that passes through the support plate (37). The support plate (37) is disposed on the side surface of the metal electrode (33) away from the negative polarity material layer (32). Both ends of the tension spring are connected to the bracket (34).

6. The cleaning brush according to claim 4 or 5, characterized in that, A flexible layer (38) is provided on the side of the support plate (37) away from the negative polarity material layer (32). The middle part of the flexible layer (38) is connected to the support plate (37) by a connecting post (35). The periphery of the flexible layer (38) is connected to the bracket (34) and is configured to deform in response to the vibration generated by the brush head (2) during the cleaning process.

7. The cleaning brush according to any one of claims 2-5, characterized in that, The positive polar material layer (31) is made of carbon nanotubes.

8. A control method for a cleaning brush based on any one of claims 1-7, characterized in that, include: Acquire the electrical signal output by the power generation component in response to the vibration generated by the brush head during the cleaning process; Extract the characteristic parameters of the electrical signal, including voltage amplitude and waveform distortion rate; The feature parameters are compared with a preset threshold group, and the current cleaning state of the cleaning brush is determined based on the comparison result. The current cleaning state includes clean state, normal cleaning state, heavily soiled state, and sudden obstacle state. Based on the current cleaning status, corresponding control commands are generated and executed to adjust the operating status of the motor that drives the brush head to rotate.

9. The method for controlling a cleaning brush according to claim 8, characterized in that, The threshold group includes a heavy contamination voltage threshold, a clean voltage threshold, and a distortion rate threshold, wherein the heavy contamination voltage threshold is greater than the clean voltage threshold. The step of determining the current cleaning status of the cleaning brush based on the comparison results includes: When the voltage amplitude in the characteristic parameter is less than the clean voltage threshold and the waveform distortion rate in the characteristic parameter is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a clean state. When the voltage amplitude in the characteristic parameters is less than or equal to the heavy pollution voltage threshold, the voltage amplitude in the characteristic parameters is greater than or equal to the clean voltage threshold, and the waveform distortion rate in the characteristic parameters is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a normal cleaning state. When the voltage amplitude in the characteristic parameter is greater than the heavy pollution voltage threshold and the waveform distortion rate in the characteristic parameter is less than or equal to the distortion rate threshold, the current cleaning state is determined to be a heavy pollution state. When the waveform distortion rate in the feature parameters is greater than the distortion rate threshold, the current cleaning state is directly determined to be a sudden obstacle state.

10. The method for controlling a cleaning brush according to claim 8, characterized in that, The step of generating and executing corresponding control commands based on the current cleaning state to adjust the operating state of the motor driving the brush head rotation includes: When the current cleaning state of the cleaning brush is determined to be a heavily soiled state, a first control command to increase the motor power is generated and executed. When the current cleaning state of the cleaning brush is determined to be clean, a second control command to reduce the motor power is generated and executed. When the current cleaning state of the cleaning brush is determined to be a sudden obstacle state, a third control command is generated and executed to stop the motor or issue an alarm. When the current cleaning state of the cleaning brush is determined to be a normal cleaning state, the current operating state of the motor is maintained.

11. A control device for a cleaning brush, characterized in that, include: The signal acquisition module is used to acquire the electrical signal output by the power generation component in response to the vibration generated by the brush head during the cleaning process; The feature extraction module is used to extract the feature parameters of the electrical signal, including voltage amplitude and waveform distortion rate; The status judgment module is used to compare the feature parameters with a preset threshold group and determine the current cleaning status of the cleaning brush based on the comparison result. The current cleaning status includes clean status, normal cleaning status, heavily soiled status and sudden obstacle status. The instruction execution module is used to generate and execute corresponding control instructions based on the current cleaning status, so as to adjust the operating status of the motor that drives the brush head to rotate.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the control method for the cleaning brush according to any one of claims 8-10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the control method for the cleaning brush according to any one of claims 8-10.

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