Control method of a floor brush device and floor brush device

Abstract

The present specification provides a control method of a floor brush device and the floor brush device, and relates to the technical field of cleaning equipment. The floor brush device comprises a machine body, a rolling brush assembly and a booster wheel. The rolling brush assembly and the booster wheel are rotatably arranged on the machine body. The mop assembly can reciprocate and lift between an initial position and a working position. In the working position, at least part of the mop assembly protrudes from the side wall surface of the machine body. The control method comprises: when a cleaning instruction is received, rotating the rolling brush assembly in a first direction; if it is detected that the machine body is in a close-to-wall state, switching the mop assembly from the initial position to the working position; and if the machine body is in a suspended state, rotating the booster wheel in a second direction. The floor brush device is adapted to lift the cleaning surface to be cleaned. When the machine body falls to the ground, the booster wheel rotates in the opposite direction to generate a restraining force opposite to the forward dragging force direction of the rolling brush assembly, effectively offsetting the tendency of the machine body to move, and significantly improving the stability of the machine body falling to the ground.

Description

Technical Field

[0001] This specification relates to the field of cleaning equipment technology, and in particular to a control method for a floor brush device and the floor brush device itself. Background Technology

[0002] The floor brush unit is the core working component of cleaning equipment such as floor scrubbers. It generally includes the body, roller brush assembly, assist wheels, and mop assembly. The body provides support for each component. The roller brush assembly is located on the front of the body and removes dirt from the floor by rotating. The assist wheels are located on the rear of the roller brush assembly and assist the body in moving. The mop assembly is located between the two and is used to clean the corners, the bottom of the baseboards, and other edge areas.

[0003] As users' cleaning needs change, some users, in addition to using cleaning equipment to clean the floor and low walls such as corners, will also pick up the entire floor brush unit and use the mop assembly to clean high walls (such as the upper part of the baseboard).

[0004] In the aforementioned cleaning scenario, the user needs to lift the cleaning equipment, meaning the floor brush assembly is suspended in the air, while all working components continue to operate to meet the corresponding cleaning needs. The rotation direction of the roller brush assembly is also consistent with the normal travel direction of the machine body. However, when the user places the floor brush assembly back on the ground, the continuously rotating roller brush will generate momentary friction with the ground, creating a forward dragging force on the machine body. This causes the floor brush to lurch forward when the machine body lands, and this lurching is transmitted through the machine body to the user's hand, causing discomfort, affecting the user experience, and potentially leading to the undesirable situation of the brush slipping from their hand. Summary of the Invention

[0005] To overcome the problems existing in related technologies, this specification provides a control method for a floor brush device and a floor brush device, which aims to solve the problem that the floor brush device tends to move forward when it is lifted to clean a high wall and then put back on the ground, thereby reducing user discomfort and avoiding safety hazards caused by user loss of control due to the movement.

[0006] According to a first aspect of the embodiments of this specification, a method for controlling a floor brush device is provided, the floor brush device comprising: body; A roller brush assembly is rotatably mounted on the machine body for cleaning the bottom surface to be cleaned; An assist wheel is rotatably mounted on the machine body, and the assist wheel is located behind the roller brush assembly in the direction of travel of the machine body; A mop assembly is located between the brush assembly and the assist wheel in the direction of travel of the machine body. The mop assembly is configured to reciprocate between an initial position and a working position, and when the mop assembly is in the working position, at least a portion of the mop assembly protrudes from the side wall of the machine body. The control method includes: Upon receiving a cleaning instruction, the roller brush assembly is controlled to rotate in a first direction; If the machine body is detected to be in a contact state, the mop assembly is controlled to switch from the initial position to the working position; When the machine body is in the edge-fitting state, if the machine body is in the suspended state, the power wheel is controlled to rotate in the second direction; The first direction and the second direction are opposite.

[0007] Currently, when users lift the floor brush device to clean a high wall and then put it back on the ground, the continuously rotating roller brush assembly and assist wheel will exert a forward drag force on the entire cleaning equipment, causing the floor brush device to lurch forward. This not only causes discomfort to the user but may also lead to problems such as slipping out of their hands.

[0008] In this application, the main body serves as the supporting base for the floor brush device, providing stable support for the roller brush assembly, assist wheels, and mop assembly. This ensures both the continuity of power transmission and movement assistance during regular cleaning and allows the mop assembly to accurately cover the edge area. The mop assembly is configured to reciprocate between the initial position and the working position, and at least partially protrudes from the side wall of the main body during operation. The principle is to switch between non-edge-attached idle and edge-attached working states through the lifting action. The protruding structure ensures that it can closely fit the edge area of ​​the bottom surface to be cleaned and the wall surface to be cleaned during edge-attaching, meeting the cleaning needs of different heights.

[0009] In terms of control logic, upon receiving a cleaning command, the roller brush assembly is first controlled to rotate in the first direction, which is consistent with the normal travel direction of the machine body. The principle is to efficiently remove dirt from the bottom surface to be cleaned by rotating the roller brush, ensuring that the normal cleaning function is not affected. When the machine body is detected to be in a close-to-the-edge state, the mop assembly is controlled to switch from the initial position to the working position, responding to the close-to-the-edge scenario, allowing the protruding mop assembly to adapt to the cleaning needs of close-to-the-edge areas such as corners and baseboards. If the machine body is in a suspended state when it is already in a close-to-the-edge state (i.e., the user lifts the cleaning device to clean a high wall surface to be cleaned), the assist wheel is controlled to rotate in the second direction opposite to the first direction, pre-establishing a reverse force reserve to prepare for offsetting the dragging force when the machine body lands.

[0010] This control method employs a sequence of first triggering the mop assembly to operate when the device touches the edge, and then triggering the assist wheel to rotate in the opposite direction when suspended in the air. This adapts to users' usual practice of first cleaning the bottom surface by touching the edge, and then lifting the device to clean higher surfaces like walls. Users can seamlessly transition between different scenarios without needing to change their usage habits. Upon landing, the reverse rotation of the assist wheel generates a constraint force opposite to the forward dragging force of the roller brush assembly, effectively counteracting the device's tendency to swerve and significantly improving landing stability. The overall solution requires no additional complex components; through logical coordination and component function optimization, it solves the problems existing in related technologies in specific cleaning scenarios and avoids the safety hazards caused by the swerving of the floor brush device.

[0011] According to a second aspect of the embodiments of this specification, a method for controlling a floor brush device is provided, the floor brush device comprising: body; A roller brush assembly is rotatably mounted on the machine body for cleaning the bottom surface to be cleaned; An assist wheel is rotatably mounted on the machine body, and the assist wheel is located behind the roller brush assembly in the direction of travel of the machine body; A mop assembly is located between the brush assembly and the assist wheel in the direction of travel of the machine body. The mop assembly is configured to reciprocate between an initial position and a working position, and when the mop assembly is in the working position, at least a portion of the mop assembly protrudes from the side wall of the machine body. The control method includes: Upon receiving a cleaning instruction, the roller brush assembly is controlled to rotate in a first direction; If the fuselage is in a suspended state, the power steering wheel is controlled to rotate in the second direction; When the machine body is in a suspended state, if it is detected that the machine body is in a state of contact with the edge, the mop assembly is controlled to switch from the initial position to the working position. The first direction and the second direction are opposite.

[0012] Currently, when users lift the floor brush device to clean a high wall and then put it back on the ground, the continuously rotating roller brush assembly and assist wheel will exert a forward drag force on the entire cleaning equipment, causing the floor brush device to lurch forward. This not only causes discomfort to the user but may also lead to problems such as slipping out of their hands.

[0013] In this application, the main body serves as the supporting base for the floor brush device, providing stable support for the roller brush assembly, assist wheels, and mop assembly. This ensures both the continuity of power transmission and movement assistance during regular cleaning and allows the mop assembly to accurately cover the edge area. The mop assembly is configured to reciprocate between the initial position and the working position, and at least partially protrudes from the side wall of the main body during operation. The principle is to switch between non-edge-attached idle and edge-attached working states through the lifting action. The protruding structure ensures that it can closely fit the edge area of ​​the bottom surface to be cleaned and the wall surface to be cleaned during edge-attaching, meeting the cleaning needs of different heights.

[0014] In terms of control logic, upon receiving a cleaning command, the roller brush assembly is first controlled to rotate in the first direction, which is consistent with the normal travel direction of the machine body. The rotation of the roller brush assembly efficiently removes dirt from the ground, ensuring the basic start of the regular cleaning function without changing the user's original user experience. If the machine body is in a suspended state (i.e., the user has lifted the cleaning device to clean the wall surface to be cleaned at a high position), the assist wheel is controlled to rotate in the second direction opposite to the first direction, pre-establishing a reverse force reserve to prepare for offsetting the dragging force of the roller brush when the machine body lands. If the machine body is already in a suspended state and it is further detected that the machine body is in a border state (i.e., the user has aligned the lifted cleaning device with the wall surface to be cleaned at a high position), the mop assembly is controlled to switch from the initial position to the working position to respond to the high-level border cleaning needs, allowing the protruding mop assembly to adapt to the wall surface to be cleaned and avoid cleaning omissions.

[0015] This control method first triggers the reverse rotation of the assist wheel while the device is suspended in the air, and then detects and triggers the mop assembly to work while the device is suspended. This control sequence is compatible with users' operating habits of first lifting the cleaning device and then cleaning the wall surface at a height. It achieves seamless scene transition without requiring users to adjust their usage. At the moment the machine lands, the reverse force stored in advance by the assist wheel forms a reverse constraint force opposite to the forward dragging force of the roller brush assembly, effectively counteracting the tendency of the machine to move and improving landing stability. The overall solution does not require the addition of complex components. It solves the problems of related technologies in specific cleaning scenarios and avoids the safety hazards caused by the movement of the floor brush device by simply optimizing the control logic and component functions.

[0016] In some example embodiments of this disclosure, when the roller brush assembly rotates along the first direction and contacts the bottom surface to be cleaned, the roller brush assembly is configured to generate a first force on the body in the forward travel direction; When the assist wheel rotates in the second direction and contacts the bottom surface to be cleaned, the assist wheel is configured to generate a second force on the machine body that is opposite to the forward direction of travel.

[0017] In this type of embodiment, when the roller brush assembly rotates in the first direction and actually contacts the surface to be cleaned, friction is generated between the roller brush assembly and the surface. According to the principle of action and reaction, this friction creates a first force on the machine body in the forward direction. This first force is the source of the dragging force that causes the machine body to lurch forward when the user lifts the cleaning device to clean it and the machine body lands. Correspondingly, when the assist wheel rotates in the second direction opposite to the first direction and contacts the surface to be cleaned, friction is also generated between the assist wheel and the surface. This friction creates a second force on the machine body opposite to the forward direction, which is essentially a reverse constraint force specifically adapted to counteract the first force.

[0018] By clarifying the directional correspondence between the first and second forces, the force balance mechanism is adjusted from a qualitative description of opposing directions to a quantitative logic of opposing forces and counteracting constraint forces. Simultaneously, by limiting the force application to the contact with the surface to be cleaned, the system ensures that the force application scenario matches the core pain point of the user's landing and reset, making the effect of offsetting the jerking motion upon landing more certain.

[0019] In some example embodiments of this disclosure, when the machine body returns from a suspended state to the bottom surface to be cleaned, the speed at which the assist wheel rotates in the second direction decreases or stops.

[0020] In this type of embodiment, when the machine body is suspended in the air, the purpose of the assist wheel rotating in the second direction is to store reverse constraint force in advance, preparing to counteract the forward drag force of the roller brush assembly upon landing. When the machine body returns from the suspended state to the surface to be cleaned, the instantaneous friction between the roller brush assembly and the ground has been completed, and the risk of drag force causing the machine body to lurch has been eliminated. At this time, it is no longer necessary to maintain the original reverse rotation state of the assist wheel. By reducing or stopping the rotation speed of the assist wheel in the second direction, the reverse constraint force can be avoided from continuously acting on the machine body, ensuring that the machine body can quickly switch to the force balance state of normal cleaning after landing. Following the principle of exerting force as needed, the reverse rotation is only maintained in the critical stage where it is necessary to counteract the lurch force, and timely adjustments are made after landing to adapt to the subsequent normal travel needs.

[0021] This control method further refines the force balance control process. At the moment the machine lands, the reverse rotation of the assist wheel still effectively exerts a restraining force, ensuring the machine returns to its stable position and preventing any jerking. After landing, the assist wheel slows down or stops its reverse rotation, eliminating the obstruction of continuous reverse force on the machine's normal movement. This allows the forward force of the roller brush assembly to smoothly drive the machine forward, ensuring the smoothness of routine cleaning. It also reduces the ineffective operation of the assist wheel motor, lowering energy consumption and component wear, and extending the equipment's lifespan. Simultaneously, this precise, node-based control makes the control logic more targeted, avoiding machine stagnation or reverse deviation caused by excessive reverse force. This results in smoother force state transitions throughout the cleaning process, further enhancing user convenience and equipment stability.

[0022] In some example embodiments of this disclosure, after controlling the mop assembly to switch from the initial position to the working position, the method further includes: Control the mop assembly to rotate in a third or fourth direction; The third direction is opposite to the fourth direction.

[0023] In this type of embodiment, when the mop assembly is switched to the working position, the mop assembly is in a cleaning state that is attached to the bottom surface to be cleaned or close to the wall surface to be cleaned. At this time, it is controlled to rotate in a third or fourth direction, and the cleaning effect is enhanced by dynamic motion, forming a continuous sweeping and friction compound action. With the help of the tangential force generated by the rotation, stubborn stains and crevices on the wall surface or bottom surface to be cleaned are removed more efficiently.

[0024] Meanwhile, the two opposite rotation directions can flexibly adapt to different cleaning needs. For example, forward rotation is suitable for sweeping loose dust, while reverse rotation is suitable for scraping sticky stains. Furthermore, when the mop assembly protrudes from different side walls of the body, it can be compatible with cleaning scenarios on both sides, achieving full-directional adaptation without adjusting the component layout.

[0025] In addition, the uniform friction generated between the rotating mop assembly and the wall surface to be cleaned provides a slight guiding effect, especially when the user lifts the cleaning device to clean the wall surface. This enhances the stability of the fit between the machine body and the wall surface, reduces operational shaking, and improves the accuracy and convenience of cleaning at heights.

[0026] In some exemplary embodiments of this disclosure, when the body is in a flush position, at least a portion of the mop assembly protruding from the side wall of the body can contact the wall surface to be cleaned; When at least a portion of the mop assembly rotates along the third direction and contacts the wall surface to be cleaned, the mop assembly is configured to generate a third force on the machine body in the forward travel direction; when at least a portion of the mop assembly rotates along the fourth direction and contacts the wall surface to be cleaned, the mop assembly is configured to generate a fourth force on the machine body opposite to the forward travel direction. Wherein, the wall surface to be cleaned is a surface that is at an angle to the bottom surface to be cleaned.

[0027] In this type of embodiment, when the machine body is in the edge-fitting state, the mop assembly protruding from the side wall of the machine body can naturally form contact with the corresponding wall surface to be cleaned. When the mop assembly rotates in a third direction and contacts the wall surface to be cleaned, friction is generated between the mop assembly and the wall surface to be cleaned. This friction generates a third force on the machine body in the forward direction. When the mop assembly rotates in a fourth direction opposite to the third direction and contacts the wall surface to be cleaned, a fourth force opposite to the forward direction is generated on the machine body through the friction between the mop assembly and the wall surface to be cleaned. The generation of these two forces relies on the friction effect between the rotation of the components and the contact surface, and the direction is designed to be opposite to the rotation direction, forming a flexible force support.

[0028] Specifically, the third force assists the forward driving force of the roller brush when cleaning along the edge, reducing the force required for the user to push the device and making edge cleaning less strenuous; the fourth force works in the opposite direction with the force generated by the rotation of the assist wheel when it is necessary to decelerate or stabilize the machine, further offsetting the forward dragging force of the roller brush and improving operational stability.

[0029] In some example embodiments of this disclosure, when the machine body returns from a suspended state to the bottom surface to be cleaned, the speed at which the assist wheel rotates in the second direction decreases or stops.

[0030] In this type of embodiment, when the machine body is in a suspended edge cleaning state, the mop assembly can rotate in a third or fourth direction and contact the wall surface to be cleaned. When the mop assembly rotates in the third direction, it generates a third force in the forward direction, and when it rotates in the fourth direction, it generates a fourth force in the opposite direction. At this time, the reverse force generated by the assist wheel rotating in the second direction needs to be dynamically adapted according to the rotation direction of the mop assembly. If the mop rotates in the third direction, the force generated by the assist wheel and the bottom surface to be cleaned can accurately offset the combined force of the force generated by the roller brush assembly and the surface to be cleaned and the third force of the mop, avoiding the machine body from shifting due to excessive forward force. If the mop rotates in the fourth direction, the assist wheel and the mop assembly form a counterforce synergy, doubly offsetting the forward dragging force of the roller brush assembly, jointly ensuring the operational stability of high-altitude edge cleaning, ensuring the machine body returns to its stable position, and completely avoiding the risk of landing and shifting.

[0031] Once the machine returns from its suspended state to the surface to be cleaned, the instantaneous drag force upon landing is completely offset by force counteraction. Furthermore, regardless of whether the mop assembly rotates in the third or fourth direction, the contact force between its components and the surface to be cleaned continues to assist in machine stability, eliminating the need for the assist wheel to maintain its original reverse rotation. Therefore, by reducing or stopping the assist wheel's rotation speed in the second direction, redundant reverse constraint forces can be promptly terminated, preventing them from conflicting with the forward driving force of the roller brush assembly and the force exerted by the mop assembly. This ensures the machine quickly switches to a balanced force state for regular cleaning, further enhancing user convenience and equipment stability.

[0032] In some example embodiments of this disclosure, the mop assembly includes: A transmission mechanism is disposed on the fuselage; and The mop body is connected to the transmission mechanism. The transmission mechanism is configured to drive the mop body to reciprocate between the initial position and the working position; Wherein, at least when the mop body is in the working position, at least a portion of the mop body protrudes from the side wall of the machine body, and at least a portion of the mop body protruding from the side wall of the machine body can contact the bottom surface and / or the wall surface to be cleaned; The wall surface to be cleaned is a surface that is connected to the bottom surface to be cleaned at an angle.

[0033] In this type of embodiment, the mop assembly consists of a transmission mechanism disposed on the body and a mop body drivenly connected to the transmission mechanism. The function of the transmission mechanism is limited to driving the mop body to reciprocate between an initial position and a working position, realizing the switching between the mop body being idle off the ground and being attached to the surface for cleaning. When the mop body is in the working position, a portion of the mop body protrudes from the side wall of the body. This protrusion does not require an additional outward or inward drive structure; the switching between cleaning and interference avoidance can be completed simply through the lifting action. When the body is in the edge-attached position, the transmission mechanism drives the mop body to descend to the working position, and the protruding portion can naturally fit against the wall surface to be cleaned at an angle to the bottom surface to be cleaned, while also contacting the bottom surface to be cleaned in the edge-attached area. When the mop body is in the initial position, the transmission mechanism drives the mop body to rise, detaching it from the bottom surface to be cleaned, avoiding interference with the regular cleaning of the roller brush assembly and preventing unnecessary movement.

[0034] In some example embodiments of this disclosure, the transmission mechanism is also configured to drive the mop body to rotate relative to the machine body in a third or fourth direction; Wherein, the third direction is opposite to the fourth direction; After controlling the mop assembly to switch from the initial position to the working position, the method further includes: The transmission mechanism controls the mop body to rotate in a third or fourth direction.

[0035] In this type of embodiment, based on the original lifting function of the mop assembly, a bidirectional rotation drive capability is added to the transmission mechanism. The cleaning effect is enhanced and the operation is assisted by the combined action of lifting and rotation. The same transmission mechanism realizes dual drive function without the need to add an additional independent drive component, which simplifies the structural design and power transmission path, reduces the number of parts and assembly complexity, and reduces the risk of failure.

[0036] In terms of control logic, the transmission mechanism only starts rotating after the mop assembly switches from the initial position to the working position, ensuring that the rotation action only takes effect in the edge-to-edge state, avoiding ineffective operation in the non-working state. In addition, the third direction is opposite to the fourth direction, adapting to different cleaning needs and force assistance scenarios, allowing the mop body to flexibly switch the rotation direction according to the actual situation, and also allowing the interaction force generated between the mop assembly and the bottom or wall surface to be cleaned to better achieve the smooth landing of the floor brush device when combined with the rotation of the assist wheel in the second direction.

[0037] The mop body uses a combination of dynamic sweeping and friction to more efficiently remove stubborn stains and residual dust from the edges of the bottom surface and the walls to be cleaned, compared to static contact, thus avoiding blind spots in cleaning. Secondly, when the user lifts the cleaning device to clean the wall, the uniform friction generated by the rotating mop body in contact with the wall creates a guiding force along the direction of the wall, effectively suppressing the deviation of the machine body caused by shaking during operation, making cleaning of high edges more stable and precise.

[0038] In some example embodiments of this disclosure, the roller brush assembly has a first axis of rotation on the machine body, the first axis of rotation extending in a horizontal direction; The mop body and the transmission mechanism have a second rotation axis. In the vertical projection plane along the traveling direction of the machine body, the second rotation axis is not parallel to the first rotation axis. The second rotation axis is inclined from top to bottom towards the center of the machine body, so that the mop body has a lower part and a higher part with different horizontal heights, and the lower part is at least partially located on one side close to the side wall of the machine body.

[0039] In this type of embodiment, the first rotation axis of the roller brush assembly extends horizontally to ensure that the roller brush can form uniform contact with the surface to be cleaned when it rotates, thus ensuring consistent cleaning. The second rotation axis between the mop body and the transmission mechanism is not parallel to the first rotation axis in the vertical projection plane along the direction of travel of the machine body, and adopts a layout that is inclined from top to bottom towards the center of the machine body. When the mop body is distributed around the second rotation axis, it naturally forms a lower part and a higher part with different horizontal heights. At the same time, by limiting the lower part to be at least partially located on the side wall of the machine body, it can be precisely adapted to edge cleaning scenarios.

[0040] The lower part of the mop body is close to the side wall of the machine. When rotating, it naturally conforms to the edge area of ​​the surface to be cleaned, forming a seamless cleaning coverage. Compared to a horizontally oriented mop, it can reach deeper into crevices to remove stains, completely solving the problem of blind spots in edge cleaning. At the same time, the height design of the lower part ensures stable contact with the surface to be cleaned even when cleaning at higher levels. Combined with the rotation function of the transmission mechanism, it improves the cleaning efficiency of higher surfaces. The higher part of the mop body is located at the bottom of the machine, creating a reserved space between it and the surface to be cleaned. This space can be used to directly install a self-cleaning component without affecting the cleaning contact effect of the lower part. This allows the mop assembly to have both core cleaning functions and the ability to expand with self-cleaning capabilities, improving the practicality and ease of maintenance of the equipment.

[0041] In some example embodiments of this disclosure, after detecting that the fuselage is in a contact state, the method further includes: If the machine body is detected to have detached from the edge-fitting state, the mop assembly is controlled to switch from the working position to the initial position.

[0042] Currently, if the mop assembly does not promptly return to its original position after cleaning along the edge, the exposed mop may interfere with regular floor cleaning, increase the machine's resistance, and cause excessive wear due to continuous friction with the floor. This can also affect the cleaning coverage of the roller brush assembly and disrupt the smoothness of the overall cleaning process.

[0043] In this type of embodiment, when the machine body is detected to have detached from the edge-contact state, the need for edge-contact cleaning has disappeared. At this time, controlling the mop assembly to switch from the working position to the initial position essentially ensures that the state of the mop assembly is precisely matched with the cleaning scenario through real-time detection of the scene state, avoiding unnecessary exposure and operation. This completely avoids functional interference in non-edge-contact scenarios. After the mop assembly returns to its initial position, it detaches from the surface to be cleaned, preventing overlap with the cleaning area of ​​the roller brush assembly and reducing the machine's travel resistance. This ensures smooth operation of regular floor cleaning, allowing the roller brush assembly to fully perform its cleaning function. It also effectively protects the mop assembly, preventing wear and deformation caused by continuous friction with the surface to be cleaned or scraping against obstacles in the non-edge-contact state, thus extending the mop's lifespan.

[0044] In some example embodiments of this disclosure, the mop assembly further includes: A transmission mechanism is disposed on the fuselage; and The mop body is connected to the transmission mechanism. The transmission mechanism is configured to drive the mop body to reciprocate up and down between the initial position and the working position, and to reciprocate in directions close to and away from the interior of the machine body. Specifically, when the mop assembly is in the initial position, the mop assembly is at least partially located inside the body in the horizontal projection direction, and the mop assembly is detached from the bottom surface to be cleaned; when the mop assembly is in the working position, the mop assembly is at least partially located outside the side wall of the body in the horizontal projection direction.

[0045] In this type of embodiment, the state switching method of the mop assembly is optimized by using the combined driving function of lifting and horizontal reciprocating of the transmission mechanism, making the initial position's interference avoidance and the working position's cleaning adaptation more thorough. The mop assembly consists of the transmission mechanism of the machine body and the mop body connected by the transmission. On the one hand, the transmission mechanism can drive the mop body to reciprocate between the initial position and the working position, realizing the height switching between being off the ground and attached to the surface to be cleaned. On the other hand, it can drive the mop body to reciprocate in the direction of moving towards and away from the inside of the machine body, realizing the horizontal position switching between retracting and extending. When the mop assembly is in the initial position, the mop body is at least partially retracted into the body in the horizontal projection direction, and at the same time, it detaches from the bottom surface to be cleaned through a lifting action, forming a dual avoidance of retraction and ground lifting. When the body is detected to be in the edge-fitting state, the transmission mechanism simultaneously initiates the extension and descent actions, causing the mop assembly to switch to the working position, partially protruding from the side wall of the body in the horizontal projection direction, and precisely fitting the edge area of ​​the wall and bottom surface to be cleaned. When the body is detected to be detached from the edge-fitting state, the transmission mechanism reverses the drive, causing the mop body to retract back into the body and rise to the initial position, completing the reset.

[0046] In the above solution, the mop body can not only rise to detach from the surface to be cleaned, but also retract into the machine body. This completely avoids the interference caused by exposed mop components due to fixed protrusions or only rising and falling without retraction. It avoids overlap with the cleaning area of ​​the roller brush assembly, does not increase the machine's travel resistance, and prevents the mop components from rubbing against obstacles when not cleaning, ensuring smooth cleaning of regular floors. Furthermore, the initial position, with the mop body retracted into the machine body and detached from the surface to be cleaned, also avoids ineffective friction, rubbing, or dust adhesion when not in contact with the edges, reducing the risk of mop wear and contamination and extending its service life.

[0047] In some example embodiments of this disclosure, the floor brush device further includes a distance sensor disposed on the body; The detection of the body being in a contact state includes: The distance between the side wall of the machine body and the wall to be cleaned, as collected by the distance sensor, is obtained. If the interval distance is less than the preset value, it is determined that the body is in the edge-fitting state.

[0048] In this type of embodiment, the floor brush device uses a distance sensor mounted on its body. Utilizing the non-contact detection characteristic of the distance sensor, it directly collects the distance data between the side wall of the brush body and the wall to be cleaned. This allows the distance sensor to capture the actual distance between the two surfaces at close range, avoiding interference from intermediate media and ensuring data accuracy. When the real-time distance obtained by the distance sensor is less than a preset value, it is determined that the brush body is close to the wall to be cleaned and is in a contact state; otherwise, it is determined that it has moved away from the contact state. This provides a clear numerical basis for identifying the contact state, and the detection process does not require direct contact with the wall, avoiding damage to the wall or the device.

[0049] This solution ensures that the mop assembly switches to the working position only when it is truly touching the edge, and the assist wheel starts to rotate in the opposite direction only when it is suspended in the air while touching the edge. This makes the triggering of each function action more targeted. At the same time, the distance sensor can collect and feed back distance data in real time. The system can quickly complete threshold comparison and status determination to ensure that the actions such as the mop assembly switching to the working position and the assist wheel reversing are followed up in a timely manner, avoiding the risk of cleaning omissions or ground movement caused by detection delays.

[0050] In some exemplary embodiments of this disclosure, the floor brush device further includes: A first motor is mounted on the machine body and drivenly connected to the roller brush assembly; A second motor is mounted on the machine body and drivenly connected to the mop assembly; A third motor is installed in the machine body and driven by the booster wheel; Upon receiving a cleaning instruction, the first motor is controlled to drive the roller brush assembly to rotate in a first direction; After detecting that the machine body is in the edge-fitting state, and controlling the mop assembly to switch from the initial position to the working position, the second motor is controlled to drive the mop assembly to rotate in a third or fourth direction; After the machine body is in a suspended state, the third motor is controlled to drive the booster wheel to rotate in the second direction.

[0051] In this type of embodiment, the floor brush device establishes a one-to-one drive connection with the roller brush assembly, mop assembly, and assist wheel through a first motor, a second motor, and a third motor mounted on the body, respectively. This ensures that the power output of each functional component is not interfered with by other components, and allows for flexible adjustment of speed, direction, and start / stop timing according to the cleaning scenario requirements. Upon receiving a cleaning command, the first motor starts and drives the roller brush assembly to rotate in a first direction, ensuring timely output of regular cleaning power. After detecting that the body is in an edge-to-edge state and the mop assembly has switched to the working position, the second motor starts and drives the mop assembly to rotate in a third or fourth direction, allowing the mop to form dynamic cleaning actions when cleaning against the edge and in the air. After detecting that the body is in a suspended state, the third motor starts and drives the assist wheel to rotate in a second direction opposite to the first direction, establishing a reverse constraint force.

[0052] Independent motors allow for individual adjustment of the roller brush assembly, mop assembly, and assist wheels, ensuring they do not interfere with each other. For example, changing the rotation direction of the mop assembly will not affect the cleaning speed of the roller brush assembly; adjusting the reverse rotation speed of the assist wheels will not interfere with the cleaning action of the mop assembly, ensuring that the action of each functional component can precisely match the needs of the scenario. Furthermore, each motor responds sequentially based on scenario detection signals, seamlessly switching power from regular cleaning to edge cleaning and then to suspended cleaning. This makes the entire cleaning process more coordinated, ensuring both the precise implementation of the force balance mechanism and enhanced cleaning results.

[0053] In addition, the independent drive design avoids the problems of uneven power distribution and motion jamming caused by a single motor driving multiple components. If a motor fails, it will only affect the function of the corresponding component and will not cause the entire equipment to be paralyzed, reducing the impact of failure on the cleaning process and making it easier to repair and replace later.

[0054] According to a third aspect of the embodiments of this specification, a floor brush device is provided, employing a control method for the floor brush device as described in any of the preceding claims. Attached Figure Description

[0055] Figure 1 This is one of the overall structural diagrams of the floor brush device in this manual (the mop assembly is in the working position). Figure 2 This is the second schematic diagram of the overall structure of the floor brush device in this manual (the mop assembly is in the initial position). Figure 3 This is one of the bottom views of the floor brush device in this manual (the mop assembly is in the working position). Figure 4 This is the second bottom view of the floor brush device in this manual (the mop assembly is in the initial position). Figure 5 This is one of the main views of the floor brush device in this manual (the mop assembly is in the working position). Figure 6 This is the second main view of the floor brush device in this manual (mop assembly in the initial position). Figure 7 This is one of the control method flowcharts for the floor brush device in this manual; Figure 8 This is the second flowchart of the control method for the floor brush device in this manual; Figure 9 This is a schematic diagram showing the connection relationship of the internal components of the floor brush device in this manual.

[0056] Explanation of reference numerals in the attached figures 10. Body; 20. Brush assembly; 21. Brush body; 30. Assist wheel; 40. Mop assembly; 41. Mop body; 50. Distance sensor; 60. Control unit; 70. First motor; 80. Second motor; 90. Third motor. Detailed Implementation

[0057] The exemplary implementation will now be described more fully with reference to the accompanying drawings.

[0058] The floor brush unit is the core working component of floor scrubbers and other cleaning equipment. It typically includes the body, roller brush assembly, assist wheels, and mop assembly. It can be widely used for floor cleaning in homes, offices, and other scenarios, and can also meet the cleaning needs of corners, baseboards, and other edge areas.

[0059] As can be seen from the background technology, in special cleaning scenarios where users use cleaning equipment to clean high walls, when the floor brush device in the cleaning equipment is lowered back to the ground, the continuous rotation of the roller brush assembly (and the assist wheel) will generate a forward drag force on the entire cleaning equipment, causing the machine to sway, resulting in user discomfort and posing a safety hazard.

[0060] In view of this, this embodiment provides a control method for a floor brush device. This control method is based on the detection of the edge-contact state and the suspended state of the floor brush device. By controlling the steering of the roller brush assembly 20, at least a cooperative force balance mechanism between the roller brush assembly 20 and the assist wheel 30 is established. This aims to solve the problem of the machine body 10 moving around when it is on the ground, while adapting to different cleaning sequence requirements, enhancing the cleaning effect on edge-contact and high wall surfaces, and improving the stability and ease of operation of the equipment.

[0061] It should be noted that the "surface to be cleaned" in this embodiment refers to various load-bearing surfaces that need to be cleaned in daily cleaning. Its core is the area used for human activity, placing items, or serving as a spatial base. It is not limited to horizontal surfaces, but also includes gently sloping surfaces with a slight gradient, the treads of stair steps, sloping balcony floors, and the inclined floors of sunken bathrooms—all non-perfectly horizontal load-bearing surfaces. The materials of these surfaces cover common types found in daily life, including not only tile floors, wooden floors, and cement floors, but also stone floors, plastic floors, outdoor anti-corrosion wood floors, and non-slip metal floors.

[0062] Whether it's a level indoor living room floor, a sloping balcony drain with a gradient of 3° to 15°, or the level tread of stair treads, all fall under the category of surfaces to be cleaned. The roller brush assembly 20 and assist wheels 30 of the floor brush device are designed to adapt to these diverse surface shapes. The rotational cleaning method of the roller brush assembly 20 is not affected by slight surface tilts, and it can remove stains through full contact with the surface. The assist wheels 30's auxiliary movement function can also adapt to gentle slopes, ensuring that the machine body 10 can move smoothly on surfaces with different inclines. Combined with the cleaning action of the mop assembly 40, it can achieve comprehensive cleaning of various load-bearing surfaces, avoiding cleaning omissions due to differences in surface shape.

[0063] The wall surface to be cleaned refers to various non-horizontal surfaces that need to be cleaned and are set at an angle to the bottom surface to be cleaned. The wall surface to be cleaned can be connected to the bottom surface to be cleaned, such as the wall surface of the baseboard area or the corner area, etc.; the wall surface to be cleaned can also be separated from the bottom surface to be cleaned, such as the surface of a shoe cabinet or an irregularly shaped baseboard area, etc., when the two are separated.

[0064] The surfaces to be cleaned are typically vertical or nearly vertical to the surface to be cleaned, and also include sloping surfaces that form acute or obtuse angles with the surface to be cleaned. Materials commonly used in indoor cleaning include tiled walls, latex-painted walls, the sides of wooden furniture, plastic door and window frames, and metal decorative surfaces. In specific scenarios, this includes wall sides perpendicular to the ground at corners, the sides of baseboards (including the upper and middle areas), as well as vertical surfaces close to the ground or at higher elevations such as furniture sides, door panels, cabinet back panels, and radiator sides. It also includes non-perpendicular sloping surfaces such as stair sides and sloping cabinet walls. These types of walls tend to accumulate dust and stains, and are easily soiled by footsteps or other objects during daily use. Conventional cleaning tools are difficult to reach them. The design of the mop assembly 40 protruding from the side wall of the machine body in this technical solution, as well as the control logic adapted to suspended cleaning, are precisely designed to meet the cleaning needs of these types of walls. Whether it is a low wall against the edge or a high vertical wall, effective cleaning can be achieved through the contact and cleaning action of the mop assembly 40.

[0065] Please refer to the instruction manual attached. Figures 1-4 As can be seen from the above, the floor brush device mainly includes a body 10, a roller brush assembly 20, auxiliary wheels 30, and a mop assembly 40. The body 10 serves as the supporting foundation for the floor brush device, providing a stable mounting base for all functional components. Its shape can be designed to be flat, elongated, or other easy-to-operate forms to ensure user convenience when pushing or lifting. The roller brush assembly 20 is rotatably mounted on the front side of the body 10. During operation, it removes stains by rotating in contact with the surface to be cleaned. Its mounting structure can adopt common forms such as bearing connection or shaft fixation, as long as smooth rotation is ensured. The power source for rotation can be directly driven by a motor or through gear transmission. The assist wheels 30 are also rotatably mounted on the body 10 and are positioned behind the roller brush assembly 20 in the direction of travel of the body 10. This arrangement allows for more balanced force distribution on the body 10. The number of assist wheels 30 can be flexibly set according to the width of the body 10. For example, a small floor brush device can be configured with two symmetrically distributed assist wheels 30 on the left and right sides of the body 10. Alternatively, an integrated roller-type assist wheel 30 extending along the width of the body 10 can be used to support the body 10. Its main function is to reduce the frictional resistance between the body 10 and the surface to be cleaned, making it easier for the user to push the device. The mop assembly 40 is installed between the roller brush assembly 20 and the assist wheels 30, in the middle area in the direction of travel of the body 10. This layout does not interfere with the cleaning range of the roller brush assembly 20 on the surface to be cleaned, allows the mop assembly 40 to be precisely aligned with the edge area, and facilitates coordinated force distribution with the assist wheels 30, avoiding mutual interference.

[0066] Specifically, the mop assembly 40 can reciprocate between an initial position and a working position, and when in the working state, a portion of the mop assembly 40 protrudes from the side wall of the body 10 in the width direction (such as the left or right side). The mop assembly 40 can be configured as a static or dynamic form. For example, when using a static mop assembly 40, the mop assembly 40 may include a fixed mop body 41 (such as a cleaning cloth, high-density sponge, or fiber bristle bundle), and the switching between cleaning and idle states is achieved solely through lifting and lowering movements. During the cleaning process, the user mainly drives the floor brush device to achieve relative movement between the mop body 41 and the wall to be cleaned, thereby achieving the corresponding cleaning effect. When using a dynamic mop assembly 40, the mop body 41 included in the mop assembly 40 can have additional movement functions in addition to lifting and lowering. For example, the mop body 41 can be driven to rotate by a built-in motor, or the mop body 41 can be driven to swing up and down by a linkage mechanism. The motor drives the mop body 41 to achieve relative movement between it and the wall to be cleaned, thereby achieving the corresponding cleaning effect.

[0067] It is understood that the structure of the mop assembly 40 to achieve the lifting function can be, but is not limited to, a motor-driven linkage telescopic mechanism, a cylinder-driven lifting bracket, an electromagnetic adsorption lifting device, etc., as long as it can achieve smooth and precise reciprocating lifting. This embodiment does not impose strict limitations or requirements on this.

[0068] like Figure 2 , Figure 4 As shown, when the mop assembly 40 is in the initial position, the mop body 41 rises under the control of the transmission mechanism (not shown), causing the entire mop assembly 40 to completely detach from the surface to be cleaned. At this time, the mop assembly 40 does not participate in cleaning, whether static or dynamic, avoiding unnecessary friction with the surface to be cleaned and ensuring that the machine body 10 moves normally without obstruction; Figure 1 , Figure 3 As shown, when the mop assembly 40 is switched to the working position, the transmission mechanism drives the mop body 41 to descend to a state where it is at least partially in contact with the bottom surface to be cleaned. At the same time, the part of the mop body 41 that is in contact with the bottom surface to be cleaned protrudes from the side wall of the body 10. The protrusion distance can be set according to the needs of common edge-fitting scenarios to ensure that it can fit tightly to the wall surface to be cleaned and achieve full coverage of the edge-fitting area.

[0069] Please refer to the instruction manual attached. Figure 7 Based on the aforementioned basic structure of the floor brush device, in one embodiment, the control method of the floor brush device is as follows: The floor brush device control method provided in this embodiment is applicable to cleaning equipment such as floor scrubbers. Its core is to solve the problem of the machine body 10 moving when it is on the ground by matching the cleaning sequence of first cleaning the edge and then suspending it in the air, while ensuring the adaptability of cleaning the edge and high wall surfaces.

[0070] After the control unit 60 of the floor brush device receives a cleaning command, it will prioritize controlling the roller brush assembly 20 to rotate in a first direction, which is consistent with the normal travel direction of the machine body 10. This not only conforms to the user's usual cleaning habits, but also facilitates the efficient cleaning of the bottom surface by the roller brush assembly 20. The friction generated by the rotation of the roller brush assembly 20 and the bottom surface to be cleaned will form a forward driving force, reducing the need for additional pushing force from the user to achieve smooth cleaning. The rotation speed of the roller brush assembly 20 can be flexibly adjusted according to cleaning needs. For example, a high-speed rotation can be used to quickly sweep away light dust, while the rotation speed can be appropriately reduced for stubborn stains adhering to the bottom surface, increasing the friction time to improve the cleaning effect. The rotation speed can be adjusted, but is not limited to, through the operation panel or control buttons of the cleaning equipment, or automatically adjusted by the relevant detection unit in the cleaning equipment based on the stain detection results.

[0071] During the regular cleaning process, as the roller brush assembly 20 rotates continuously, the floor brush device continuously monitors whether the body 10 is in a contact state. The detection method can be flexibly selected according to the configuration of the cleaning equipment. For example, a contact pressure sensor can be installed on the side wall of the body 10. When the body 10 comes into contact with the wall to be cleaned and generates pressure, it is determined to be in a contact state. Alternatively, non-contact detection units such as infrared distance sensor 50 or ultrasonic distance sensor 50 can be used to determine whether it is in contact with the wall by detecting the distance between the body 10 and the wall. When the detection result confirms that the body 10 is in a contact state, the floor brush device (control unit 60) will control the mop assembly 40 to switch from the initial position to the working position. At this time, the mop assembly 40 descends and at least partially protrudes from the side wall of the body 10. The protruding part will simultaneously adhere to the wall to be cleaned and the bottom surface of the contact area to be cleaned, thoroughly removing dirt from crevices that the roller brush assembly 20 cannot reach, avoiding the formation of cleaning blind spots in the contact area, and allowing contact cleaning and regular floor cleaning to be completed simultaneously, improving cleaning efficiency.

[0072] It is worth mentioning that this embodiment does not impose strict limitations or requirements on the positional relationship between the mop assembly 40 and the side wall of the body 10 in the initial position state. When the mop assembly 40 is in the initial position, it is only necessary to ensure that it is completely detached from the bottom surface to be cleaned. It can be at least partially protruding from the side wall of the body 10, or it can be completely retracted to the inside of the side wall of the body 10 and placed in the body 10.

[0073] When the brush unit 10 is already in the edge-to-edge position, and the user needs to clean a high wall surface by lifting the entire brush unit, the brush unit will identify the suspended state of the brush unit 10 through a preset detection mechanism. Suspension detection can be achieved through a gravity sensor installed at the bottom of the brush unit 10. When the gravity sensor detects that the supporting force on the brush unit 10 has disappeared or significantly decreased, it determines that the brush unit 10 is in a suspended state. Alternatively, the distance sensor 50 can detect the distance between the brush unit 10 and the surface to be cleaned. When the distance between the brush unit 10 and the surface to be cleaned exceeds a preset threshold, it confirms that the brush unit 10 is in a suspended state. Of course, the brush unit can also determine whether the brush unit 10 is in a suspended state by collecting parameters such as the current and voltage of the motors installed in the roller brush assembly 20, the assist wheel 30, and even the mop assembly 40, and by analyzing changes in the current and voltage values. When the device body 10 is suspended in the air, the control unit 60 of the floor brush device controls the assist wheel 30 to rotate in a second direction, which is completely opposite to the first direction. The principle is that by reversing the direction of the assist wheel 30 relative to the roller brush assembly 20, a reverse constraint force is established for the device body 10 in advance. When the assist wheel 30 rotates, it stores a force opposite to the driving force of the roller brush assembly 20. When the user finishes cleaning the high wall and puts the floor brush device back on the ground, the forward drag force generated by the continuous rotation of the roller brush assembly 20 on the device body 10 will counteract the reverse constraint force generated by the rotation of the assist wheel 30 on the device body 10, effectively counteracting the tendency of the device body 10 to lurch forward, allowing the device body 10 to land smoothly. This reduces user discomfort and safety hazards such as the device slipping out of the user's hands.

[0074] The above control process follows the operation sequence of first cleaning the edge and then suspending it in the air, which precisely matches the user's habit of first cleaning the ground with the edge and then lifting the cleaning equipment to clean the high wall. It does not change the operation logic of conventional cleaning, and can efficiently solve the problem of ground movement. At the same time, through a variety of selectable component shapes, installation structures and detection methods, the applicability and feasibility of the technical solution are improved, meeting the cleaning needs in different scenarios.

[0075] Please refer to the instruction manual attached. Figure 8 Based on the aforementioned basic structure of the floor brush device, in another embodiment, the control method of the floor brush device is as follows: The floor brush device control method provided in this embodiment is also applicable to various floor scrubbing machine cleaning equipment. It matches the cleaning operation sequence of first suspending and then cleaning the edge, which specifically solves the problem that the machine body 10 will move when landing after the user lifts the cleaning equipment and then cleans the edge of the wall at a high place. At the same time, it ensures the effect and operation stability of cleaning the edge at a high place.

[0076] After the control unit 60 of the floor brush device receives a cleaning command, it first controls the roller brush assembly 20 to rotate in a first direction, which is consistent with the normal travel direction of the machine body 10. This not only conforms to the user's usual cleaning habits, but also facilitates the efficient cleaning of the bottom surface by the roller brush assembly 20. The friction generated by the rotation of the roller brush assembly 20 and the bottom surface to be cleaned will form a forward driving force, reducing the need for additional pushing force from the user to achieve smooth cleaning. The rotation speed of the roller brush assembly 20 can be flexibly adjusted according to cleaning needs. For example, a high-speed rotation can be used to quickly sweep away light dust, while the rotation speed can be appropriately reduced for stubborn stains adhering to the bottom surface, increasing the friction time to improve the cleaning effect. The rotation speed can be adjusted, but is not limited to, through the operation panel or control buttons of the cleaning equipment, or automatically adjusted by the relevant detection unit in the cleaning equipment based on the stain detection results.

[0077] During the continuous rotation of the roller brush assembly 20, the floor brush device continuously monitors whether the body 10 is in a suspended state. This suspension detection can be achieved in various ways, including, but not limited to, the methods described above, which will not be elaborated further in this embodiment. When the body 10 is suspended, the floor brush device (control unit 60) controls the assist wheel 30 to rotate in a second direction, which is completely opposite to the first direction. The principle is that by reversing the direction of the assist wheel 30 relative to the roller brush assembly 20, a reverse constraint force is established for the body 10 in advance. Since the user lifts the cleaning equipment to suspend the floor brush device, the risk of slippage when it is subsequently placed back on the ground already exists. Pre-emptively reversing the rotation of the assist wheel 30 relative to the roller brush assembly 20 generates reverse kinetic energy. When the body 10 lands, this generates a force opposite to the forward dragging force of the roller brush assembly 20, thus preparing to counteract slippage. The rotation speed of the assist wheel 30 can be matched with the rotation speed of the roller brush assembly 20 to ensure that the magnitude of the reverse constraint force is sufficient to balance the dragging force and avoid poor counteracting effect due to insufficient force.

[0078] When the body 10 is suspended in the air, and the user aligns the floor brush device with the high wall surface to be cleaned and completes the edge contact, the floor brush device will detect that the body 10 is in the edge contact state. The detection method for the edge contact state can be flexibly selected, and the specific method can be, but is not limited to, the above-described implementation method, which will not be repeated here. If the body 10 is detected to be in the edge contact state, the control unit 60 of the floor brush device will control the mop assembly 40 to switch from the initial position to the working position. The transmission mechanism drives the mop body 41 to descend, and the part of the mop body 41 protruding from the side wall of the body 10 will closely contact the high wall surface to be cleaned, achieving cleaning of the high edge contact area. If the mop assembly 40 is in a dynamic form, the rotation or swing function can be activated simultaneously to enhance the cleaning effect through dynamic friction. For example, the rotating mop body 41 can quickly sweep dust off the wall surface, and the swinging mop body 41 can scrape stubborn stains, making the cleaning of the wall surface more thorough.

[0079] The above control process follows the operation sequence of first suspending the device in the air and then applying it to the edge, which is in line with the user's habit of first lifting the cleaning device and then aiming it at the wall to be cleaned at a high position and applying it to the edge for cleaning. This allows for seamless scene transition without requiring the user to adjust their operating habits.

[0080] Furthermore, the various selectable component shapes, installation structures, and detection methods in the above embodiments make the control method of this floor brush device widely applicable, allowing for flexible adaptation to both small handheld floor scrubbers and large push-bar floor scrubbers based on their structural characteristics. Ultimately, through the synergy of the various components, the tendency of the machine body 10 to sway when placed on the ground is effectively counteracted, ensuring cleaning accuracy and operational safety, while also improving the effectiveness and convenience of cleaning high-altitude edges, thus optimizing the user experience.

[0081] Based on the two implementation methods provided above, in one embodiment, it can be understood that the roller brush assembly 20 and the assist wheel 30, as components that can both generate power for the floor brush device on the surface to be cleaned, both generate force based on the rotation and friction effect of the contact surface, and their force logics correspond to each other and complement each other. When the roller brush assembly 20 rotates in the first direction and contacts the surface to be cleaned, according to the principle of action and reaction, the friction between the roller brush body 21 and the surface to be cleaned will generate a first force on the machine body 10 in the forward direction. This first force provides the machine body 10 with a natural driving force during regular floor cleaning, reducing the force required for the user to push the device and making cleaning easier. On the other hand, it is also the source of the dragging force that causes the machine body 10 to lurch forward when the user lifts the floor brush device and puts it back on the surface to be cleaned. The magnitude of the initial force generated by the roller brush assembly 20 can be adjusted in various ways. For example, different materials can be selected for the roller brush body 21. Hard bristles have greater friction with the ground and are suitable for generating stronger driving force to deal with stubborn stains. Soft fiber roller brushes have less friction and are suitable for cleaning light dust and can reduce the risk of slippage. At the same time, adjusting the rotation speed of the roller brush assembly 20 can also change the magnitude of the force. The higher the speed, the more significant the driving force and dragging force generated by friction with the ground, which can be flexibly adapted according to cleaning needs.

[0082] Correspondingly, when the assist wheel 30 rotates in the second direction and contacts the surface to be cleaned, it also generates a second force on the machine body 10 in the opposite direction of forward movement, based on the principle of friction and action-reaction. This force functions as a reverse constraint force, specifically designed to counteract the risk of surging caused by the first force. The magnitude of the second force generated by the assist wheel 30 can also be flexibly adjusted. For example, using a wheel material with a high coefficient of friction (such as PU material or anti-slip rubber) can enhance the friction with the ground and increase the strength of the second force. Designing different wheel diameters allows for greater torque when the assist wheel 30 rotates, resulting in a stronger reverse constraint force. In addition, the rotation speed of the assist wheel 30 can be adjusted in conjunction with the rotation speed of the roller brush assembly 20. When the rotation speed of the roller brush assembly 20 increases, leading to an increase in the first force, the reverse rotation speed of the assist wheel 30 is simultaneously increased to ensure that the magnitude of the second force is sufficient to balance the dragging force (e.g., slightly less than or equal to the first force), avoiding poor counteracting effect due to force mismatch.

[0083] The matching method between the first and second forces is compatible with the two control methods mentioned above (edge ​​contact followed by suspension, suspension followed by edge contact). Regardless of the cleaning sequence adopted by the user, the force balance logic can be stably effective. In the scenario of edge contact followed by suspension, the body 10 is suspended after contacting the edge, and the assist wheel 30 starts to rotate in the second direction. When it lands, the second force and the first force counteract each other, canceling out the surging motion. In the scenario of suspension followed by edge contact, the assist wheel 30 rotates in advance in the second direction after the body 10 is suspended to store the second force. When it lands, it can also balance with the first force.

[0084] Meanwhile, by limiting the force application to the premise of contact with the surface to be cleaned, the scenario in which the force is generated is more precise, avoiding ambiguity regarding the ineffective movement of components when they are suspended in the air. For example, when the body 10 is suspended in the air, even if the roller brush assembly 20 and the assist wheel 30 rotate, they will not generate the first and second forces because they are not in contact with the surface to be cleaned. The coordinated force among the components allows the floor brush device to move smoothly in the first direction during regular cleaning with the help of the first force and the rotation of the assist wheel 30, and to smoothly reset upon landing with the second force generated by the rotation of the assist wheel 30 in the second direction, thus achieving a balance between cleaning convenience and operational stability.

[0085] Based on the above description of the first and second forces, it can be understood that when the body 10 is suspended in the air, the core purpose of the auxiliary wheel 30 rotating in the second direction is to prepare to provide a reverse driving force to counteract the first force (forward dragging force) of the roller brush assembly 20 upon landing. This reverse rotation is crucial for ensuring a smooth landing. However, once the body 10 returns from the suspended state to the surface to be cleaned, the instantaneous friction between the roller brush assembly 20 and the ground is complete, resulting in a significant reduction or complete elimination of the dragging force of the body 10. Therefore, the reverse rotation of the auxiliary wheel 30 is no longer necessary. If the original reverse rotation is maintained, the resulting second force (reverse constraint force) will continuously counteract the first force (forward driving force) of the roller brush assembly 20, hindering the normal movement of the body 10 and requiring the user to apply additional force during cleaning, thus affecting ease of use.

[0086] Based on this logic, in one embodiment, when the body 10 returns from the suspended state to the bottom surface to be cleaned, the speed at which the assist wheel 30 rotates in the second direction is reduced or stopped.

[0087] The speed reduction of the assist wheel 30 can be achieved through several methods, including: gradient speed reduction, which involves gradually reducing the rotational speed based on the stability of the machine body 10 after landing. For example, the speed can be reduced to 30% of the original speed immediately upon landing, maintained for a preset time (e.g., 0.5 seconds), then reduced to 10%, and finally stopped, to avoid jerking of the machine body 10 due to sudden changes in speed; or proportional speed reduction, which involves dynamically adjusting the speed according to the ratio of the rotational speed of the roller brush assembly 20. For example, if the rotational speed of the roller brush assembly 20 is the normal cleaning speed, the reverse speed of the assist wheel 30 can be reduced to 10%-20% of the rotational speed of the roller brush assembly 20, which will not create significant resistance and can reserve a slight reverse force to cope with the risk of sudden lurching; or uniform speed reduction, which gradually reduces the rotational speed until it stops, to ensure smooth force switching.

[0088] The way the booster wheel 30 stops rotating includes instantaneous stopping, such as when the fuselage 10 lands, the booster wheel 30 stops rotating due to the load and friction, or the booster wheel 30 brakes and stops rotating in advance to provide assistance for the forward rotation of the booster wheel 30 for the subsequent forward movement of the fuselage 10.

[0089] There are multiple ways to detect whether the body 10 is in a suspended state, and the detection of the body 10's grounded state can also be based on detecting the body 10's suspended state. For example, the supporting pressure detected by the pressure sensor at the bottom of the body 10 can be used to determine whether it reaches a preset threshold, or the distance sensor 50 can be used to monitor the distance between the body 10 and the surface to be cleaned. The posture of the body 10 can also be sensed by a gyroscope. The determination of the suspended state and the grounded state can also be achieved by combining the load changes of the roller brush assembly 20 and the assist wheel 30.

[0090] In this embodiment, the assist wheel 30 slows down or stops after the body 10 lands, which not only ensures the offsetting effect of the swaying when the floor brush device lands, but also avoids the continuous interference of the reverse force, realizing a seamless switching of the force state, allowing the body 10 to quickly switch from the anti-swaying balance mode to the normal cleaning drive mode, ensuring the smoothness of the cleaning process.

[0091] Secondly, the assist wheel 30 does not need to maintain reverse rotation during unnecessary stages, reducing the motor load, extending the service life of the wheel and drive mechanism, reducing ineffective energy consumption and component wear, and users do not need to manually intervene in the status of the assist wheel 30. The floor brush device can complete the entire process adaptation through automatic detection and adjustment, making the cleaning process more worry-free and efficient.

[0092] Please refer to the instruction manual attached. Figures 1-6 In one embodiment, taking the mop assembly 40 having the function of rotating relative to the body 10 as an example, the mop assembly 40 in this embodiment enhances the cleaning effect of the dynamic cleaning action by adding the function of bidirectional rotation relative to the body 10, thus improving the cleaning effect of the edge and high wall surfaces to be cleaned.

[0093] It should be understood that the rotation function of the mop assembly 40 (mop body 41) relies on the drive of the transmission mechanism. The transmission mechanism needs to retain its original lifting drive capability while adding a rotation drive function. The coordination of the two actions must be precisely matched; that is, the rotation function is only activated after the mop assembly 40 has completely descended from its initial position to its working position and at least partially protrudes from the side wall of the machine body 10, to avoid interference between the rotation and the surface to be cleaned or the parts of the machine body 10 during the lifting process. The specific form of the transmission mechanism can be flexibly selected. For example, a combination of a motor and gear set can be used, with different power paths output by the same motor to control lifting and rotation separately; dual motors can also be used for independent drive, with one motor responsible for lifting and the other specifically driving the rotation of the mop body 41; or a belt drive or worm gear structure can be used to achieve rotation drive. As long as the lifting and rotation of the mop body 41 can be achieved, this embodiment does not impose strict limitations or requirements on this.

[0094] After controlling the mop assembly 40 to switch from the initial position to the working position, the control method of the floor brush device also includes controlling the mop assembly 40 to rotate in a third or fourth direction. The third and fourth directions are opposite rotation directions, which can be defined according to the cleaning scenario requirements. For example, taking the direction of travel of the machine body 10 as a reference, the third direction is clockwise rotation, and the fourth direction is counterclockwise rotation, or vice versa. Alternatively, it can be defined as forward rotation towards the wall to be cleaned and reverse rotation away from the wall, depending on the installation position of the mop assembly 40. These two opposite directions are essentially designed to adapt to different types of stain cleaning needs and edge-cleaning scenarios, making the cleaning action of the mop assembly 40 more targeted.

[0095] The rotation principle of the mop assembly 40 is based on the combined action of dynamic friction and brushing. Compared with static contact cleaning, when the rotating mop body 41 comes into contact with the surface to be cleaned (the bottom surface to be cleaned in the contact area and the wall surface to be cleaned), it generates a continuous tangential force. This tangential force can more efficiently peel off stubborn stains attached to the surface, while sweeping residual dust in the gaps to the cleaning range of the roller brush assembly 20, avoiding blind spots in cleaning. Different rotation directions have different functional focuses. In actual cleaning scenarios, different directions can be adopted according to different cleaning needs.

[0096] In addition, the bidirectional rotating mop assembly 40 allows users to adapt to the left and right edge cleaning scenarios without having to deliberately adjust the position of the body 10. For example, when cleaning the left edge of the body 10, the third direction rotation is used, and when cleaning the right edge, the fourth direction rotation is switched to ensure that both edges can receive uniform cleaning force.

[0097] The shape of the mop body 41 can be flexibly selected in conjunction with the rotation function. For example, it can use a circular cleaning disc with a microfiber cloth or bristles attached to the disc surface, forming a 360° all-round sweeping motion when rotating, suitable for cleaning flat walls and corners of surfaces to be cleaned; it can also use a cylindrical roller with a sponge or cleaning cloth wrapped around the roller surface, scraping away stains through rolling friction when rotating; it can also be designed as a fan-shaped brush, simulating manual wiping action through reciprocating rotation. However, regardless of the shape adopted, its rotation trajectory must be adapted to the part of the mop body 41 that protrudes from the side wall of the body 10 to ensure that it can continuously adhere to the surface to be cleaned when rotating.

[0098] Please continue to refer to the instruction manual appendix. Figure 1 , Figure 3 , Figure 5 As mentioned above, when the mop assembly 40 is in the working position, the mop body 41 protrudes at least partially from the side wall of the body 10. When the body 10 is in the edge-fitting state, at least part of the mop body 41 protruding from the side wall of the body 10 can contact the wall surface to be cleaned.

[0099] When the mop assembly 40 rotates in a third direction and contacts the wall to be cleaned, a continuous frictional force is generated between the mop body 41 and the wall to be cleaned. For example, when the third direction is clockwise, the area of ​​the mop body 41 that contacts the wall to be cleaned will exert a backward frictional force on the wall to be cleaned. According to the action and reaction forces, the wall to be cleaned will generate a forward reaction force on the mop assembly 40, which is the third action force in the forward direction of the body 10. When the mop assembly 40 rotates in a fourth direction (counterclockwise), the direction of the frictional force of the mop on the wall to be cleaned becomes forward, and the corresponding reaction force is the fourth action force opposite to the forward direction of travel. The magnitude of these two forces can be adjusted in various ways. For example, the rotation speed of the mop assembly 40 can be adjusted. The higher the rotation speed, the greater the friction intensity with the wall surface, and the more significant the force, which is suitable for scenarios requiring stronger auxiliary force. Different mop materials with different coefficients of friction can be selected. Materials with high coefficients of friction (such as wear-resistant rubber brushes and coarse fiber cloth) can generate greater forces, while materials with low coefficients of friction (such as microfiber cloth) can reduce the force. The contact pressure between the mop assembly 40 and the wall surface to be cleaned can be controlled to change the contact tightness and thus adjust the magnitude of the force.

[0100] As can be seen from the above, the third force is in the same direction as the first force generated between the roller brush assembly 20 and the surface to be cleaned. When cleaning along the edge, it can assist the forward driving force of the roller brush, reducing the user's effort in pushing the machine body 10. When cleaning high walls, the user can reduce the additional forward pushing force and only needs to stabilize the machine body 10, making cleaning along the edge at high places less strenuous. The fourth force is in the same direction as the second force generated between the assist wheel 30 and the surface to be cleaned. When it is necessary to decelerate, stabilize the machine body 10, or counteract the first force of the roller brush, the two form a counter-force synergy, doubly weakening the tendency of the machine body 10 to lurch forward. For example, when preparing to land after cleaning along the edge at a high place, the fourth force and the second force together counteract the first force, making the landing of the machine body 10 more stable.

[0101] The rotation of the mop assembly 40 enhances the cleaning effect on the wall surface through dynamic friction, especially effectively removing residues and stubborn stains from crevices. Furthermore, the synergistic action of the forces makes the main body 10 easier and more stable to operate. Secondly, the balanced interaction of multiple forces allows for more comprehensive adaptation to various cleaning scenarios. Whether it's pushing forward along the edge, slowing down for stability, or avoiding landing and resetting after cleaning at heights, precise adaptation can be achieved through combinations of different forces, avoiding the limitations of single-force operation. Whether the cleaning sequence is edge-to-edge followed by suspension or suspension followed by edge-to-edge, the third and fourth forces seamlessly integrate into the force balance system without interfering with the normal operation of other components.

[0102] In one embodiment, similar to the matching principle of the first and second forces described above, when the machine body 10 is in a suspended state or a state close to the edge, when the mop assembly 40 rotates in a third direction, it will generate a third force on the machine body 10 to move forward between the mop assembly 40 and the wall to be cleaned. At this time, the first force generated when the roller brush assembly 20 lands and the third force of the mop assembly 40 form a forward resultant force. The reverse force generated by the assist wheel 30 rotating in the second direction and the bottom surface to be cleaned needs to be precisely matched with this resultant force. By reasonably setting its size, it is ensured that the risk of the machine body 10 lurching due to excessive forward force can be effectively suppressed. Specifically, the second force can be limited to be less than or equal to the sum of the first and third forces, so that the speed control will not fail due to insufficient reverse force, nor will the operation flexibility be affected by excessive reverse force when cleaning at heights. When the mop assembly 40 rotates in the fourth direction, it will generate a fourth force on the body 10 opposite to the direction of forward movement with the wall to be cleaned. At this time, the fourth force and the second force generated when the booster wheel 30 lands will form a reverse force superposition, which will double offset the first force of the roller brush, making the body 10 more stable when cleaning the edge in the air.

[0103] When the machine body 10 returns from its suspended state to the surface to be cleaned, the risk of slippage caused by the instantaneous friction between the roller brush assembly 20 and the surface is effectively mitigated by the opposing forces. Furthermore, if the mop assembly 40 is still in operation, its contact force with the surface to be cleaned (either the bottom or wall) can continue to assist in stabilizing the machine body 10. The reverse rotation of the assist wheel 30 has already fulfilled its core function. At this point, slowing down or stopping the assist wheel 30 essentially terminates the redundant reverse force, preventing it from conflicting with the forward driving force of the roller brush assembly 20 and the force of the mop assembly 40, ensuring that the machine body 10 quickly switches to the force state required for regular cleaning.

[0104] Regarding the detection of the landing status of the fuselage 10, the specific methods can be, but are not limited to, those provided in the above-described embodiments, and will not be repeated in this embodiment.

[0105] Similarly, the deceleration or stopping scheme of the assist wheel 30 can be dynamically adjusted according to the rotation direction of the mop assembly 40 to achieve mutual matching of forces. For example, when the mop assembly 40 rotates in a third direction, since the first force and the third force form a forward resultant force, the assist wheel 30 can adopt a gradient deceleration scheme to avoid slight swaying caused by excessive resultant force and to avoid significant travel resistance. Alternatively, the assist wheel 30 can also adopt a proportional deceleration scheme, dynamically adjusted according to the rotational speed ratio of the roller brush assembly 20 and the mop assembly 40, to ensure that the second force is always less than or equal to the resultant force of the first two during the deceleration process. When the mop assembly 40 rotates in a fourth direction, the first force needs to balance the superposition effect of the second force and the fourth force. At this time, the assist wheel 30 can adopt a rapid deceleration or delayed stopping scheme to avoid insufficient first force due to the superposition of two opposing forces, which could lead to the machine body 10 stopping or even swaying in the opposite direction. At the same time, the first force is limited to be greater than or equal to the sum of the second force and the fourth force to ensure that the machine body 10 can still maintain a controllable forward movement rhythm, making it convenient for the user to continue cleaning.

[0106] This control method balances the stability of the mop body 10 upon landing with the smoothness of regular cleaning. Regardless of the rotation state of the mop assembly 40, the mop body 10 can quickly enter a stable travel mode after landing, without any risk of lurching or stagnation. This avoids control problems caused by excessive power or excessive reverse constraint, ensuring that the travel rhythm of the mop body 10 is always within the user's controllable range.

[0107] Please refer to the instruction manual attached. Figures 1-6In one embodiment, the mop assembly 40 includes a transmission mechanism and a mop body 41. As can be seen from the above, the body 10 serves as the supporting foundation for the floor brush device, providing a stable mounting platform for the transmission mechanism. The transmission mechanism is located on the body 10, and its mounting position on the body 10 can be selected according to the functional requirements of the mop assembly 40. This includes the mounting cavity reserved in the inner middle of the body 10, the side wall, or the space reserved between the roller brush assembly 20 and the auxiliary wheel 30, ensuring that the transmission mechanism does not interfere with other components, while also ensuring smooth lifting and lowering of the mop body 41 and its protrusion from the side wall of the body 10. The transmission mechanism serves as the support structure and power source for the mop body 41. Based on the transmission connection between the mop body 41 and the transmission mechanism, the transmission mechanism is used to drive the mop body 41 to reciprocate between the initial position and the working position. The transmission mechanism can adopt various implementation schemes. In addition to the methods mentioned in the above implementation scheme, it can also adopt a motor-driven linkage telescopic mechanism, which drives the linkage to open and close by rotating the motor forward and backward to achieve smooth lifting and lowering of the mop body 41; it can also adopt a screw lifting mechanism, in which the motor drives the screw to rotate, which is converted into linear motion through the nut seat to drive the mop body 41 to lift and lower, etc. This implementation scheme does not impose strict limitations or requirements on this.

[0108] It is understood that in the above-described embodiment where the mop assembly 40 can rotate in a third or fourth direction, the transmission mechanism also undertakes the function of driving the mop body 41 to rotate relative to the machine body 10. Since this has been explained above, it will not be repeated in this embodiment.

[0109] The connection method between the mop body 41 and the transmission mechanism can be flexibly selected according to their respective forms. For example, a snap-on connection facilitates disassembly and replacement, a bolt-fixed connection provides strong stability, and a Velcro connection is convenient for daily cleaning. At least in the working position, at least a portion of the mop body 41 will protrude from the side wall of the body 10. This protrusion must balance cleaning coverage and ease of operation, ensuring that it can reach gaps that the roller brush assembly 20 cannot cover.

[0110] When the mop assembly 40 is in its initial position, the transmission mechanism drives the mop body 41 to rise, completely detaching it from the surface to be cleaned. At this time, the mop body 41 is idle, whether in static or dynamic form, avoiding frictional resistance with the surface to be cleaned and ensuring smooth normal movement of the machine body 10. It also prevents the mop body 41 from getting dusty or being scratched by obstacles when not cleaning. When the machine body 10 is detected to be in an edge-to-edge position or when a high wall surface needs cleaning, the transmission mechanism drives the mop body 41 to descend to the working position. At this time, the portion protruding from the side wall of the machine body 10 will naturally adhere to the cleaning surface, achieving simultaneous or separate coverage of the surface to be cleaned. When cleaning the edge-to-edge area, the protruding portion can simultaneously contact the bottom surface of the corner and the vertical wall surface, removing dirt from crevices in one go. When cleaning high walls, the user lifts the machine body 10, and the protruding portion can adhere to the high wall surface alone.

[0111] As mentioned in the above embodiments, in the embodiment of the mop assembly 40 with dynamic cleaning, the transmission mechanism, in addition to having the function of driving the mop body 41 to reciprocate up and down, is further configured to drive the mop body 41 to rotate in a third or fourth direction.

[0112] The mop body 41 maintains a stable transmission connection with the transmission mechanism. The connection method must meet the power transmission requirements for both lifting and rotation. For example, a spline shaft connection or a combination connection with snap-fit ​​and positioning pins can be used. This embodiment does not impose strict limitations or requirements on this.

[0113] The third and fourth directions are opposite rotation directions. Since the rotation of the mop assembly 40 (mop body 41) in the third and fourth directions has been described above, it will not be repeated in this embodiment.

[0114] In this embodiment, the dual-drive function of the transmission mechanism ensures the orderly connection between lifting and rotating actions, guaranteeing precise positioning of the mop body 41 while achieving dynamic cleaning through rotation. The combination of the protruding side wall of the mop body 41 and its rotation relative to the body 10 results in a more comprehensive cleaning coverage, significantly upgrading cleaning performance. Furthermore, the integration of lifting and rotating functions within the same transmission mechanism avoids component redundancy, saves internal space in the body 10, and reduces the risk of malfunction.

[0115] Please continue to refer to the instruction manual appendix. Figures 5-6In one embodiment, based on the fact that the mop body 41 can rotate relative to the body 10 via the transmission mechanism, the roller brush assembly 20 has a first rotation axis L1 on the body 10. The first rotation axis of the roller brush assembly 20 extends horizontally to ensure that when the roller brush body 21 rotates, its cleaning surface forms uniform contact with the bottom surface to be cleaned, avoiding excessive local pressure or cleaning blind spots due to the tilt of the axis, and ensuring that the roller brush assembly 20 is evenly stressed and has a consistent cleaning effect when removing dirt from the ground. Correspondingly, there is a second rotation axis L2 between the mop body 41 and the transmission mechanism. In the vertical projection plane along the traveling direction of the body 10 (i.e., a plane perpendicular to the bottom surface to be cleaned and consistent with the forward movement direction of the body 10), the second rotation axis is not parallel to the first rotation axis and is tilted from top to bottom towards the center of the body 10. The tilt angle of the second rotation axis relative to the first rotation axis can be flexibly set according to the cleaning scenario and the structure of the body 10, for example, 45°-85°. The principle of this tilt design is to utilize the spatial angle of the axis so that when the mop body 41 is distributed around the second rotation axis, it naturally forms two areas with different horizontal heights. The side closer to the side wall of the body 10 is the lower part, and the side closer to the center of the body 10 is the higher part. When the mop assembly 40 is in the working position, the lower part extends at least partially to the outside of the side wall of the body 10 to ensure effective contact when touching the edge.

[0116] Taking the mop body 41 as a circular cleaning disc as an example, when it rotates around the inclined second rotation axis, the edge of the cleaning disc will form a spatial shape with one side low and one side high. The lower edge area is the cleaning part that fits the edge gap, while the higher edge area is away from the bottom surface and wall surface to be cleaned.

[0117] Because the lower part of the mop body 41 is close to the side wall of the body 10, when in the working position, it can naturally penetrate into the gaps of the edge area (such as the junction of the corner and the ground, the gap between the baseboard and the ground) after descending. When rotating, its cleaning surface forms a close dynamic contact with the bottom surface and the wall surface to be cleaned. The tangential force can more efficiently remove residual stains in the gaps. Compared with a mop with a horizontal axis, it avoids the problem of insufficient contact caused by the cleaning surface being perpendicular to the gap.

[0118] The higher section significantly enhances structural and functional compatibility. By raising its horizontal height, the higher section near the center of the main body 10 creates a reserved space between the mop body 41 and the surface to be cleaned. This space can be flexibly used to install various auxiliary functional components. For example, a self-cleaning brush can be installed to scrape and clean the surface of the mop body 41 after cleaning, removing residual stains; a spray structure can also be set up to spray cleaning liquid onto the mop body 41 during cleaning, improving its cleaning ability; and a wastewater collection tank can be installed to collect wastewater after cleaning, preventing contamination of the main body 10, the surface to be cleaned, or the wall surface to be cleaned, thus achieving integrated compatibility between cleaning and auxiliary functions.

[0119] In one embodiment, after detecting that the body 10 is in the edge-adhering state, the control method of the floor brush device further includes controlling the mop assembly 40 to switch from the working position to the initial position if it is detected that the body 10 is out of the edge-adhering state.

[0120] Of course, the mop assembly 40 also remains in its initial position until the body 10 is detected to be in the edge-fitting state.

[0121] Specifically, when the floor brush device (through the relevant detection unit) detects that the body 10 is in the edge-adhering state, the mop assembly 40 switches to the working position and achieves edge-adhering cleaning through lifting and possible rotation movements; during the cleaning process, the floor brush device (the relevant detection unit) continuously monitors the edge-adhering state, and once it is determined that the body 10 has detached from the edge (for example, the user moves the floor brush device from the corner to an open ground, or moves it away from a high wall), a reset command is sent to the mop assembly 40 (the transmission mechanism).

[0122] During the reset process of the mop assembly 40, the roller brush assembly 20 and the assist wheel 30 continue to operate normally, ensuring that the user remains in a normal cleaning state after detaching from the edge, without having to wait for the reset to complete. Furthermore, the reset action must adapt to two cleaning sequences. In the scenario of detaching from the edge first and then lifting the device, if the user moves the brush away from the wall after cleaning a high surface, the detection signal for detachment from the edge will trigger the mop assembly 40 to reset, and the reverse rotation of the assist wheel 30 can be adjusted synchronously according to the landing situation. In the scenario of lifting the device first and then detaching from the edge, if the user removes the device from a high wall but does not land, the mop assembly 40 can still reset after detaching from the edge, avoiding the risk of scratches caused by the exposed mop assembly 40 in a suspended state.

[0123] After the mop assembly 40 is reset, it detaches from the bottom surface to be cleaned. This prevents it from overlapping with the cleaning area of ​​the roller brush assembly 20 and from increasing the travel resistance of the body 10, ensuring smooth routine cleaning. At the same time, it avoids wear and deformation caused by continuous friction with the bottom surface to be cleaned or scraping against obstacles when it is not in contact with the edge, while also reducing dust accumulation and extending its service life.

[0124] Please refer to the instruction manual attached. Figures 1-6 As can be understood from the above, the mop assembly 40 may include a transmission mechanism and a mop body 41 in one embodiment. In this embodiment, in addition to driving the mop body 41 to reciprocate between the initial position and the working position, the transmission mechanism also has the function of driving the mop assembly 40 to reciprocate in the direction close to the inside of the body 10 and away from the inside of the body 10.

[0125] Specifically, the transmission mechanism serves as a support component and power source for the mop body 41. In this embodiment, it needs to simultaneously achieve both lifting and horizontal reciprocating movements. It can be, but is not limited to, using a single motor or dual motors, combined with transmission structures such as gear sets or lead screw pairs to achieve the combination of these two movements. Since its specific structural form is not the core content of this invention, this embodiment will not elaborate on it.

[0126] The connection between the mop body 41 and the transmission mechanism must simultaneously meet the power transmission requirements for lifting, moving outward, and retracting. Similarly, this embodiment will not be elaborated here.

[0127] Based on this structural foundation, the dual action of the transmission mechanism, along with edge detection and disengagement detection, forms a closed-loop coordination. When the body 10 is detected to be in an edge-fitting state, the floor brush device (control unit 60) sends a working command to the transmission mechanism, allowing the transmission mechanism to simultaneously extend and lower the mop body 41 according to the working command, enabling the mop assembly 40 to quickly switch to the working position; alternatively, it can be selected to extend first and then lower, or lower first and then extend. When the mop assembly 40 reaches the working position, the mop assembly 40 is at least partially located outside the side wall of the body 10 in the horizontal projection direction (mop body 41). When the body 10 is detected to be out of the edge-adhering state, the floor brush device (control unit 60) sends a reset command to the transmission mechanism, causing the transmission mechanism to drive the mop assembly 40 to rise and retract synchronously according to the reset command, or rise first and then retract, or retract first and then rise, and finally reset to the initial position to achieve the effect of being stored off the ground. At this time, the mop assembly 40 is at least partially located inside the body 10 in the horizontal projection direction. Its size inside the body 10 is larger than its size inside the body 10 in the working state, or it can be completely stored within the outline of the body 10.

[0128] This implementation allows the mop assembly 40, which is in its initial position, to be stored inside the body 10 as much as possible. This prevents it from overlapping with the cleaning area of ​​the roller brush assembly 20, from increasing the travel resistance of the body 10, and also avoids scratches and dust accumulation in non-cleaning states, ensuring the smoothness of regular cleaning.

[0129] Please refer to the instruction manual attached. Figures 1-2 , Figure 9In one embodiment, the floor brush device further includes a distance sensor 50, which is disposed on the body 10. The distance sensor 50 serves as a component for detecting the edge contact status of the floor brush device. Its installation position needs to match the detection requirements of the floor brush device. It can be, but is not limited to, disposed on the side wall of the body 10 where the mop assembly 40 protrudes, and its detection head protrudes from the side wall surface outside the body 10. For example, it can be installed in the middle area of ​​the side wall of the body 10 to capture the distance between the side wall surface of the body 10 and the wall surface to be cleaned; it can also be installed at the upper and lower ends of the side wall of the body 10 to form two-point detection, and the detection accuracy can be improved by taking the average value or double verification.

[0130] The type of distance sensor 50 can be flexibly selected according to the cleaning scenario and the cost of the floor brush device. For example, an ultrasonic distance sensor 50, an infrared distance sensor 50, or a capacitive distance sensor 50 can be used. This embodiment does not impose strict limitations or requirements on this.

[0131] The distance sensor 50 operates on the principle of non-contact ranging technology. It emits a detection signal (ultrasound, infrared, laser, etc.) towards the wall to be cleaned. The signal is reflected back to the sensor after encountering the wall. The sensor calculates the actual distance between the side wall of the machine body 10 and the wall to be cleaned based on the time difference and phase difference between the signal transmission and reception. This detection method eliminates the need for direct contact between the machine body 10 and the wall to be cleaned, thus avoiding wear and tear caused by friction and collision between the machine body 10, distance sensor 50, and other components and the wall to be cleaned. It also prevents scratches on sensitive surfaces (such as painted or wooden surfaces) caused by hard contact.

[0132] The logic for determining the edge-fitting state revolves around a distance threshold comparison. The control unit 60 of the floor brush device will preset a value for edge-fitting determination. The setting of this preset value needs to be combined with the cleaning needs and the protruding length of the mop assembly 40. For example, when the length of the mop assembly 40 protruding from the side wall of the body 10 is x centimeters, the preset value can be set to x±y centimeters or millimeters. This ensures that when the distance is less than the preset value, the mop assembly 40 can fit snugly against the wall to be cleaned after switching to the working position, and also avoids excessive pressure between the mop assembly 40 and the wall due to excessively small distance.

[0133] To avoid misjudging the edge-fitting state due to a single detection data, the control unit 60 of the floor brush device can also optimize the data processing and judgment mechanism. For example, the distance sensor 50 can acquire the spacing data in real time or periodically, which ensures timely detection and avoids misjudgment. It prevents the instantaneous distance change caused by slight shaking of the machine body 10 or local unevenness of the wall to be cleaned from being misjudged as edge-fitting or detached from the edge-fitting state.

[0134] In practical applications, the control method for detecting whether the body 10 is in the edge-adhering state includes determining that the body 10 is in the edge-adhering state when the distance between the side wall of the body 10 and the wall to be cleaned, as collected by the distance sensor 50, is less than a preset value. Compared to contact detection or fuzzy judgment, the quantitative data from the distance sensor 50 makes the determination of the edge-adhering state more objective and reliable, avoiding false triggering and missed triggering, and ensuring that the actions of components such as the mop assembly 40 and the assist wheel 30 are only activated when truly needed, thus ensuring the continuity of edge-adhering cleaning.

[0135] In one embodiment, such as Figure 9 As shown, the floor brush device also includes a first motor 70, a second motor 80, and a third motor 90. The fixed ends (such as stators or motor housings fixed to stators) of the first motor 70, the second motor 80, and the third motor 90 are all located on the body 10. The rotor of the first motor 70 (such as an output shaft) is driven to the roller brush assembly 20, the rotor of the second motor 80 is driven to the mop assembly 40, and the rotor of the third motor 90 is driven to the assist wheel 30.

[0136] This embodiment configures three independent motors to drive the roller brush assembly 20, the mop assembly 40, and the assist wheel 30 respectively, thereby achieving precise and independent control of the actions of each functional component. This makes the power output, steering adjustment, and timing switching more targeted in different cleaning scenarios. It works in conjunction with the aforementioned edge-fitting state detection, suspension state detection, and force balance mechanism to solve the problem of multi-component linkage interference.

[0137] Understandably, the body 10 serves as the supporting foundation for each motor (first motor 70, second motor 80, and third motor 90), and therefore requires independent installation space and fixing structure for the three motors. For example, partitioned installation cavities can be designed inside the body 10, with the first motor 70 mounted near the front of the roller brush assembly 20, the second motor 80 located above or to the side of the mop assembly 40, and the third motor 90 adjacent to the mounting shaft of the assist wheel 30. This ensures that the transmission distance between the motor rotor and the driven component is minimized, thereby improving power transmission efficiency.

[0138] In terms of control logic, when the floor brush device receives a cleaning instruction, the control unit 60 of the floor brush device first sends a drive signal to the first motor 70 to control it to drive the roller brush assembly 20 to rotate in the first direction; when it detects that the body 10 is in the edge-fitting state, the control unit 60 of the floor brush device sends a drive signal to the second motor 80 to drive the mop assembly 40 to switch from the initial position to the working position, and in some embodiments, further drives the mop assembly 40 to rotate; when it detects that the body 10 is in the suspended state (regardless of whether the order is edge-fitting first and then suspended or suspended first and then edge-fitting), the control unit 60 of the floor brush device sends a drive signal to the third motor 90 to control it to drive the assist wheel 30 to rotate in the second direction.

[0139] The independent drive design of the three motors ensures that the actions of each component do not interfere with each other. The first motor 70 maintains the basic cleaning power and forward driving force of the roller brush assembly 20, providing support for the overall cleaning. The second motor 80 drives the mop assembly 40 to complete lifting or lifting and rotating, enhancing the cleaning effect on edges and high places. The third motor 90 drives the assist wheel 30 to rotate in the opposite direction, counteracting the dragging force of the roller brush assembly 20 and solving the problem of slippage when placed on the ground. The three motors respond sequentially according to the scene detection signal, from regular cleaning to edge cleaning, and then to cleaning of suspended high places. The power switching is seamless, making the cleaning process more coordinated. This not only ensures the precise realization of the force balance mechanism, but also enhances the consistency of the cleaning effect.

[0140] Please refer to the instruction manual attached. Figures 1-2 This embodiment also provides a floor brush device that employs the control method of the floor brush device provided in any of the above embodiments.

Claims

1. A control method for a floor brush device, characterized in that, The floor brush device includes: body; A roller brush assembly is rotatably mounted on the machine body for cleaning the bottom surface to be cleaned; An assist wheel is rotatably mounted on the machine body, and the assist wheel is located behind the roller brush assembly in the direction of travel of the machine body; A mop assembly is located between the brush assembly and the assist wheel in the direction of travel of the machine body. The mop assembly is configured to reciprocate between an initial position and a working position, and when the mop assembly is in the working position, at least a portion of the mop assembly protrudes from the side wall of the machine body. The control method includes: Upon receiving a cleaning instruction, the roller brush assembly is controlled to rotate in a first direction; If the machine body is detected to be in a contact state, the mop assembly is controlled to switch from the initial position to the working position; When the machine body is in the edge-fitting state, if the machine body is in the suspended state, the power wheel is controlled to rotate in the second direction; The first direction and the second direction are opposite.

2. A control method for a floor brush device, characterized in that, The floor brush device includes: body; A roller brush assembly is rotatably mounted on the machine body for cleaning the bottom surface to be cleaned; An assist wheel is rotatably mounted on the machine body, and the assist wheel is located behind the roller brush assembly in the direction of travel of the machine body; A mop assembly is located between the brush assembly and the assist wheel in the direction of travel of the machine body. The mop assembly is configured to reciprocate between an initial position and a working position, and when the mop assembly is in the working position, at least a portion of the mop assembly protrudes from the side wall of the machine body. The control method includes: Upon receiving a cleaning instruction, the roller brush assembly is controlled to rotate in a first direction; If the fuselage is in a suspended state, the power steering wheel is controlled to rotate in the second direction; When the machine body is in a suspended state, if it is detected that the machine body is in a state of contact with the edge, the mop assembly is controlled to switch from the initial position to the working position. The first direction and the second direction are opposite.

3. The control method for the floor brush device according to claim 1 or 2, characterized in that, When the roller brush assembly rotates along the first direction and contacts the bottom surface to be cleaned, the roller brush assembly is configured to generate a first force on the body in the forward direction of travel. When the assist wheel rotates in the second direction and contacts the bottom surface to be cleaned, the assist wheel is configured to generate a second force on the machine body that is opposite to the forward direction of travel.

4. The control method for the floor brush device according to claim 3, characterized in that, When the machine body returns from the suspended state to the bottom surface to be cleaned, the speed at which the assist wheel rotates in the second direction decreases or stops.

5. The control method for the floor brush device according to claim 1 or 2, characterized in that, After controlling the mop assembly to switch from the initial position to the working position, the method further includes: Control the mop assembly to rotate in a third or fourth direction; The third direction is opposite to the fourth direction.

6. The control method for the floor brush device according to claim 5, characterized in that, When the body is in the edge-fitting state, at least a portion of the mop assembly protruding from the side wall of the body can contact the wall surface to be cleaned; When at least a portion of the mop assembly rotates along the third direction and contacts the wall surface to be cleaned, the mop assembly is configured to exert a third force on the body in the forward travel direction. When at least a portion of the mop assembly rotates along the fourth direction and contacts the wall surface to be cleaned, the mop assembly is configured to generate a fourth force on the body opposite to the forward direction of travel. Wherein, the wall surface to be cleaned is a surface that is at an angle to the bottom surface to be cleaned.

7. The control method for the floor brush device according to claim 6, characterized in that, When the machine body returns from the suspended state to the bottom surface to be cleaned, the speed at which the assist wheel rotates in the second direction decreases or stops.

8. The control method for the floor brush device according to claim 1 or 2, characterized in that, The mop assembly includes: A transmission mechanism is disposed on the fuselage; and The mop body is connected to the transmission mechanism. The transmission mechanism is configured to drive the mop body to reciprocate between the initial position and the working position; Wherein, at least when the mop body is in the working position, at least a portion of the mop body protrudes from the side wall of the machine body, and at least a portion of the mop body protruding from the side wall of the machine body can contact the bottom surface and / or the wall surface to be cleaned; The wall surface to be cleaned is a surface that is connected to the bottom surface to be cleaned at an angle.

9. The control method for the floor brush device according to claim 8, characterized in that, The transmission mechanism is also configured to drive the mop body to rotate relative to the machine body in a third or fourth direction; Wherein, the third direction is opposite to the fourth direction; After controlling the mop assembly to switch from the initial position to the working position, the method further includes: The transmission mechanism controls the mop body to rotate in a third or fourth direction.

10. The control method for the floor brush device according to claim 9, characterized in that, The roller brush assembly has a first rotation axis on the machine body, and the first rotation axis extends in a horizontal direction. The mop body and the transmission mechanism have a second rotation axis. In the vertical projection plane along the traveling direction of the machine body, the second rotation axis is not parallel to the first rotation axis. The second rotation axis is inclined from top to bottom towards the center of the machine body, so that the mop body has a lower part and a higher part with different horizontal heights, and the lower part is at least partially located on one side close to the side wall of the machine body.

11. The control method for the floor brush device according to claim 1 or 2, characterized in that, After detecting that the fuselage is in a contact state, the method further includes: If the machine body is detected to have detached from the edge-fitting state, the mop assembly is controlled to switch from the working position to the initial position.

12. The control method for the floor brush device according to claim 11, characterized in that, The mop assembly also includes: A transmission mechanism is disposed on the fuselage; and The mop body is connected to the transmission mechanism. The transmission mechanism is configured to drive the mop body to reciprocate up and down between the initial position and the working position, and to reciprocate in directions close to and away from the interior of the machine body. Specifically, when the mop assembly is in the initial position, the mop assembly is at least partially located inside the body in the horizontal projection direction, and the mop assembly is detached from the bottom surface to be cleaned; when the mop assembly is in the working position, the mop assembly is at least partially located outside the side wall of the body in the horizontal projection direction.

13. The control method for the floor brush device according to claim 1 or 2, characterized in that, The floor brush device also includes a distance sensor, which is disposed on the body of the device; The detection of the body being in a contact state includes: The distance between the side wall of the machine body and the wall to be cleaned, as collected by the distance sensor, is obtained. If the interval distance is less than the preset value, it is determined that the body is in the edge-fitting state.

14. The control method for the floor brush device according to claim 1 or 2, characterized in that, The floor brush device also includes: A first motor is mounted on the machine body and drivenly connected to the roller brush assembly; A second motor is mounted on the machine body and drivenly connected to the mop assembly; A third motor is installed in the machine body and driven by the booster wheel; Upon receiving a cleaning instruction, the first motor is controlled to drive the roller brush assembly to rotate in a first direction; After detecting that the machine body is in the edge-fitting state, and controlling the mop assembly to switch from the initial position to the working position, the second motor is controlled to drive the mop assembly to rotate in a third or fourth direction; After the machine body is in a suspended state, the third motor is controlled to drive the booster wheel to rotate in the second direction.

15. A floor brush device, characterized in that, The control method of the floor brush device as described in any one of claims 1-14 is adopted.

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