Start-up control method of cleaning device, cleaning device, and cleaning system

Abstract

Embodiments of the present application provide a starting control method of a cleaning device, the cleaning device and a cleaning system. The starting control method comprises: in response to a starting instruction of the cleaning device, obtaining an inclination angle of a machine body in a first direction; obtaining a contact state between a bottom of a brush main body in the cleaning device and a cleaning surface; when the inclination angle is in a preset range and the brush main body is in contact with the cleaning surface, controlling the cleaning device to start cleaning work; and when the inclination angle is not in the preset range or the brush main body is not in contact with the cleaning surface, controlling the cleaning device to not perform cleaning work. The starting control method of the present application solves the problem of false starting of the cleaning device caused by the posture of the machine body, thereby improving the user experience.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a method for starting and controlling a cleaning device, a cleaning device, and a cleaning system. Background Technology

[0002] Cleaning equipment is a device capable of automatically cleaning surfaces and is widely used in people's daily lives and work. For example, cleaning equipment may include floor scrubbers, which clean surfaces using a floor brush assembly.

[0003] In related technologies, when using a floor scrubber, the locking device between the machine body and the brush assembly needs to be released, and the machine body needs to be tilted to a specific angle before the scrubber starts and enters working mode. The aforementioned floor scrubbers typically determine whether to activate the scrubbing mode by detecting the tilt angle of the machine body.

[0004] However, during use, the aforementioned floor scrubbers are prone to accidental activation due to the machine's placement, causing the floor brush assembly to run dry, thus affecting the user experience. Summary of the Invention

[0005] This application provides a method for controlling the start-up of a cleaning device, a cleaning device, and a cleaning system to solve the problem of accidental start-up of a floor scrubber due to the machine's placement posture, thereby improving the user experience.

[0006] In a first aspect, embodiments of this application provide a method for controlling the start-up of a cleaning device, including:

[0007] Cleaning equipment includes:

[0008] The fuselage is equipped with a detection device that can detect at least the tilt angle of the fuselage in the first direction.

[0009] The floor brush assembly includes a floor brush body and rollers. The floor brush body is pivotally connected to the machine body and can move on the surface to be cleaned. Along the forward direction of the floor brush body, the rollers are located in the rear area of ​​the floor brush body to support the floor brush body. The floor brush body is equipped with a sensor that can detect the contact state between the floor brush body and the surface to be cleaned.

[0010] Startup control methods include:

[0011] In response to the start command of the cleaning equipment,

[0012] Obtain the tilt angle of the fuselage in the first direction;

[0013] Obtain the contact status between the bottom of the floor brush body in the cleaning equipment and the surface to be cleaned.

[0014] If the tilt angle is within the preset range and the brush body is in contact with the surface to be cleaned, control the cleaning equipment to start the cleaning operation;

[0015] If the tilt angle is not within the preset range, or if the brush body is not in contact with the surface to be cleaned, the cleaning equipment will not perform cleaning work.

[0016] The cleaning equipment start-up control method provided in this application embodiment obtains the tilt angle of the cleaning equipment body through a detection device, and can determine whether the tilt angle of the body body is within the working angle range of the body body; at the same time, it obtains the contact state between the bottom of the floor brush body and the surface to be cleaned through a sensor, and can determine whether the floor brush body and the surface to be cleaned are in contact.

[0017] In this way, the cleaning equipment can logically associate the tilt angle data of the machine body with the contact state between the bottom of the brush body and the surface to be cleaned. Only when the tilt angle is within the preset range and the contact state meets the preset conditions can the cleaning equipment be started. This improves the accuracy of the cleaning equipment's start-up status judgment, helps avoid the problem of false start-up caused by machine body tilt, and helps avoid energy consumption and equipment wear caused by the brush body running empty, thereby improving the user experience.

[0018] Furthermore, when the tilt angle is not within the preset range, or when the brush body is not in contact with the surface to be cleaned, the cleaning equipment will not perform cleaning work. This ensures that the cleaning equipment only performs cleaning work when the start-up conditions are met, further improving the safety and reliability of the equipment and avoiding ineffective operation and equipment damage.

[0019] Compared to separately detecting and calculating the tilt angles of the machine body and the brush body, the start-up control method in this application embodiment only needs to calculate the tilt angle of the machine body and combine it with the sensor to determine whether the brush body is in contact with the ground, so as to determine whether the cleaning equipment has triggered the floor washing mode, thereby helping to reduce the hardware cost and power consumption of the cleaning equipment due to start-up control.

[0020] In some embodiments, the preset range is , The tilt angle of the body in the first direction when the body is locked to the main body of the floor brush; The tilt angle of the body in the first direction when the brush body is lying flat relative to the ground.

[0021] This embodiment limits the minimum tilt angle α when the body and the floor brush are locked together, and the maximum tilt angle β when the body is lying flat relative to the floor brush, so that the controller can preset a range based on the tilt angle. Determining whether the tilt angle of the machine body is within the preset range helps to accurately control the start-up of the cleaning equipment.

[0022] In some embodiments, the bottom of the floor brush body also has a steering wheel; a sensor is used to detect the rotation state of the steering wheel and output a signal, the rotation state including the rotation speed of the steering wheel; the signal output by the sensor is used to determine the contact state between the floor brush body and the surface to be cleaned.

[0023] This embodiment uses sensors to detect the rotational state of the steering wheels and acquire the corresponding electrical signals, enabling the controller to determine the contact state between the brush body and the surface to be cleaned based on the rotational state of the steering wheels. Simultaneously, the sensors can also detect the rotational direction of the steering wheels, providing support for determining the subsequent movement status of the cleaning equipment.

[0024] In some embodiments, the signal output by the sensor is a pulse signal, and when the rotation speed of the steering wheel is higher than a preset speed, the frequency of the pulse signal is higher than a preset threshold.

[0025] If the tilt angle is within the preset range and the brush body is in contact with the surface to be cleaned, the steps for controlling the cleaning equipment to start the cleaning operation include:

[0026] If the tilt angle is within the preset range and the frequency of the pulse signal is higher than the preset threshold, the cleaning equipment will be controlled to start the cleaning operation.

[0027] This embodiment utilizes a sensor to output a pulse signal, resulting in more stable signal transmission and improved anti-interference capabilities during transmission. This helps avoid interference from environmental dust, oil, and other factors, enhancing the accuracy of contact status judgment and further improving the response speed of the cleaning equipment's start-up control. Simultaneously, the simple pulse signal analysis process reduces the controller's computational load, further improving start-up control response speed and balancing control accuracy with equipment operating efficiency.

[0028] In some embodiments, if the tilt angle is within a preset range and the brush body is in contact with the surface to be cleaned, the step of controlling the cleaning device to start the cleaning operation further includes:

[0029] If the tilt angle is within the preset range, then determine whether the frequency of the pulse signal is higher than the preset threshold.

[0030] This embodiment first determines the tilt angle of the fuselage. When the tilt angle is within a preset range, it then determines whether the frequency of the pulse signal is higher than a preset threshold. This can preferentially filter out scenarios where the fuselage posture does not meet the startup requirements, avoiding invalid parsing of pulse signals in invalid scenarios by the controller. This helps to reduce the computational load of the controller and improve the response efficiency of startup control.

[0031] In some embodiments, after the cleaning equipment starts cleaning operations, the start control method further includes:

[0032] The operation of the load in the cleaning equipment is controlled. The load includes at least one of the main motor, floor brush motor, and water pump motor of the cleaning equipment. In this way, through the coordinated operation of the load, the core cleaning functions of the cleaning equipment, such as floor washing and water suction, are realized, ensuring that the cleaning operation is carried out in an orderly manner.

[0033] In some embodiments, the startup control method further includes:

[0034] Detect changes in light intensity below the floor brush assembly, and / or detect the contact pressure distribution between the floor brush assembly and the surface to be cleaned;

[0035] Changes in light intensity and the distribution of contact pressure are used to assist the signals output by the sensor in determining the contact state between the brush body and the surface to be cleaned.

[0036] This embodiment detects changes in light intensity beneath the brush body to determine the changes in contact state between the brush body and the surface to be cleaned. This, combined with the rotation state of the steering wheels, further improves the accuracy and robustness of contact state determination, thereby enhancing the precision of cleaning equipment control and startup. By detecting the contact pressure distribution between the brush body and the surface to be cleaned, the overall contact pressure distribution between the brush body and the surface is obtained. The focus is on determining whether there are any abnormally low pressure areas, thus identifying whether the brush body is not adhering properly in certain areas due to uneven ground.

[0037] Furthermore, by using the coordinated signals of the steering wheel status, contact pressure distribution, and light intensity changes, the main control unit can accurately identify the overall contact status between the floor brush and the ground, and specifically troubleshoot local non-adhesion problems caused by uneven ground, thereby helping to avoid false starts caused by poor local contact between the floor brush body and the surface to be cleaned.

[0038] In some embodiments, after the cleaning equipment starts cleaning operations, the start control method further includes:

[0039] Continuously monitor the contact status between the bottom of the floor brush assembly in the cleaning equipment and the surface to be cleaned;

[0040] When the tilt angle is within the preset range and the brush body is not in contact with the surface to be cleaned, the cleaning equipment will be turned off or a prompt will be issued.

[0041] This embodiment continuously monitors the contact status between the brush body and the surface to be cleaned. If the brush assembly detaches or partially detaches from the surface, the frequency of the pulse signal output by the sensor is lower than a preset threshold. The main control unit can immediately trigger a shutdown command to stop the load of the cleaning equipment and cut off the relevant power output to complete the shutdown operation of the cleaning equipment. This avoids equipment wear caused by the brush motor running dry and the water pump running without water, while also reducing energy waste.

[0042] In some embodiments, the floor brush body further includes a roller brush and a scraper, wherein at least part of the scraper is located in front of the roller brush along the forward direction of the floor brush body and can be raised and lowered relative to the roller brush;

[0043] After the cleaning equipment starts cleaning, the start-up control method also includes:

[0044] The movement status of the floor brush body is detected, including forward or backward movement, which is determined based on the signal output by the sensor.

[0045] When the movement state is backward, control the scraper to descend, and / or control the rotation speed of the roller.

[0046] This embodiment detects the movement of the brush body and controls the raising and lowering of the scraper on the front side of the roller brush. This helps reduce friction between the scraper and the surface to be cleaned, reduces forward resistance and scraper wear, and helps to scrape water stains in the area in front of the cleaning component towards the cleaning component, so that the water stains flow to and collect at the cleaning component, thereby improving the cleaning effect of the cleaning equipment.

[0047] Furthermore, by controlling the rotation speed of the rollers, the rollers can be made to assist forward or backward, thus adapting to the cleaning operation needs in forward motion and improving the ease of operation for users.

[0048] Secondly, embodiments of this application provide a cleaning device, comprising:

[0049] The fuselage is equipped with a detection device, which is used to detect the tilt angle of the fuselage in the first direction;

[0050] The floor brush assembly includes a floor brush body and rollers. The floor brush body is pivotally connected to the machine body and can move on the surface to be cleaned. Along the forward direction of the floor brush body, the rollers are located in the rear area of ​​the floor brush body to support the floor brush body. The floor brush body is equipped with a sensor that can detect the contact state between the floor brush body and the surface to be cleaned.

[0051] The controller is connected to the detection element and sensor, and is configured to control the cleaning equipment to start cleaning when the tilt angle is within a preset range and the brush body is in contact with the surface to be cleaned.

[0052] The controller is also configured to prevent the cleaning equipment from performing cleaning work when the tilt angle is not within a preset range, or when the brush body is not in contact with the surface to be cleaned.

[0053] The cleaning device provided in this application embodiment can acquire the tilt angle of the device body through a detection component, and determine whether the tilt angle is within the working angle range of the device body. Simultaneously, a sensor on the brush body can detect the contact state between the brush body and the surface to be cleaned, determining whether the brush body is in contact with the ground. In this way, the controller of the cleaning device can logically correlate the tilt angle data and the contact state between the bottom of the brush body and the surface to be cleaned. The cleaning device will only be activated when the tilt angle data is within a preset range and the contact state meets preset conditions. This improves the accuracy of the activation state determination, helps avoid false activation due to device tilt, and helps prevent energy consumption and equipment wear caused by the brush body running idle, thereby improving the user experience.

[0054] Furthermore, compared to setting a detection element on the body and the brush body respectively and calculating the tilt angle of the body and the brush body, the cleaning device of this application embodiment only needs to set a detection element on the body and combine it with the sensor at the steering wheel to obtain the prerequisite information for whether the cleaning device is started, thereby determining whether the cleaning device triggers the floor washing mode, which helps to reduce the hardware cost and power consumption of the cleaning device due to start control.

[0055] In some embodiments, after the cleaning equipment is started, the controller is also configured to control the cleaning equipment to shut down or issue a prompt when the tilt angle is within a preset range and the brush body is not in contact with the surface to be cleaned.

[0056] This embodiment continuously monitors the contact status between the brush body and the surface to be cleaned. If the brush assembly detaches or partially detaches from the surface, the frequency of the pulse signal output by the sensor is lower than a preset threshold. The main control unit can immediately trigger a shutdown command or issue a prompt to control the load of the cleaning equipment to stop running. At the same time, it can cut off the relevant power output to complete the shutdown operation of the cleaning equipment, avoiding equipment wear caused by the brush motor running dry or the water pump running without water, and reducing energy waste.

[0057] In some embodiments, the bottom of the floor brush body also has a steering wheel, and a sensor is used to detect the rotation state of the steering wheel and output a signal; the rotation state includes the rotation speed of the steering wheel;

[0058] The controller is configured to determine the contact state between the brush body and the surface to be cleaned based on the signals output by the sensors.

[0059] This embodiment uses sensors to detect the rotational state of the steering wheels and acquire the corresponding electrical signals, enabling the controller to determine the contact state between the brush body and the surface to be cleaned based on the rotational state of the steering wheels. Simultaneously, the sensors can also detect the rotational direction of the steering wheels, providing support for determining the subsequent movement status of the cleaning equipment.

[0060] In some embodiments, the sensor includes a Hall sensor and has a magnetic element on the steering wheel.

[0061] In this embodiment, the controller continuously receives pulse signals output by the Hall sensor. By analyzing the frequency of the pulse signals, the contact state between the brush body and the surface to be cleaned is determined. When the pulse signal frequency is higher than a preset threshold within a preset range, it indicates that the rotation speed of the steering wheel meets the requirements, and the brush body is in effective contact with the surface to be cleaned. When the pulse signal frequency of the Hall sensor is lower than the preset threshold within a preset range, it indicates that the rotation speed of the steering wheel does not meet the requirements, and the contact between the brush body and the surface to be cleaned fails.

[0062] In some embodiments, the cleaning device further includes an optical sensor mounted on the brush body to detect changes in light intensity below the brush body.

[0063] This embodiment, by setting up an optical detection device, can collect the light intensity information under the main body of the floor brush in real time, and convert the collected light intensity analog signal into a digital electrical signal, which is transmitted to the controller in real time for the controller to analyze and process, providing data support for the auxiliary determination of the contact state.

[0064] In some embodiments, the cleaning device further includes a pressure sensing element mounted on the brush body to detect changes in the contact pressure distribution beneath the brush body.

[0065] This embodiment uses a pressure detection device to detect the contact pressure distribution between the brush body and the surface to be cleaned, thereby obtaining the overall contact pressure distribution between the brush body and the surface to be cleaned. The key is to determine whether there are any abnormal pressure gaps in certain areas, and then determine whether the brush body is not in contact with the surface in some areas due to uneven ground.

[0066] In some embodiments, the floor brush body further includes a roller brush and a scraper, wherein at least part of the scraper is located in front of the roller brush along the forward direction of the floor brush body and can be raised and lowered relative to the roller brush;

[0067] The controller is configured to determine the movement state of the brush assembly based on the signal output by the sensor, and control the brush to descend when the movement state is backward.

[0068] In some embodiments, the controller is configured to control the rotational speed of the rollers as the brush body moves forward.

[0069] This embodiment detects the movement of the brush body and controls the raising and lowering of the scraper on the front side of the roller brush. This helps reduce friction between the scraper and the surface to be cleaned, reduces forward resistance and scraper wear, and helps to scrape water stains in the area in front of the cleaning component towards the cleaning component, so that the water stains flow to and collect at the cleaning component, thereby improving the cleaning effect of the cleaning equipment.

[0070] Thirdly, embodiments of this application provide a cleaning system, including a base station and the aforementioned cleaning equipment, wherein the base station is used to charge the cleaning equipment.

[0071] The cleaning system provided in this application embodiment only needs to set a detection component on the machine body to detect the tilt angle of the machine body and a sensor on the brush body to detect the contact state between the brush body and the surface to be cleaned. This allows the system to obtain the prerequisites for whether the cleaning equipment is started, making it easier for the controller to determine whether the cleaning equipment has entered the cleaning working mode. This helps to reduce the hardware cost and power consumption of the cleaning equipment due to start-up control, thereby reducing the production cost of the cleaning system. Attached Figure Description

[0072] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0073] Figure 1 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application;

[0074] Figure 2 This is a schematic diagram of the structure of the floor brush assembly of the cleaning equipment provided in the embodiments of this application;

[0075] Figure 3 This is a flowchart illustrating the start-up control method for cleaning equipment provided in an embodiment of this application.

[0076] Figure label:

[0077] 100-Fuse;

[0078] 200 - Floor brush assembly; 210 - Floor brush body; 220 - Steering wheel; 230 - Roller brush; 240 - Scraper strip; 250 - Roller; X - First direction; Y - Front and rear direction of the floor brush body. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0080] The cleaning system provided in this application embodiment may include cleaning equipment and a base station. The cleaning equipment may be a sweeper, washer-extractor, vacuum cleaner, floor scrubber, or other device capable of cleaning the surface to be cleaned. The surface to be cleaned may be carpet, floor, etc. The floor may be wood flooring, tile, cement surface, etc.

[0081] The base station can provide a charging interface for cleaning equipment. When the cleaning equipment is placed inside the base station, the base station can establish an electrical connection with the equipment, putting it into a charging state. Simultaneously, the base station can also self-clean the cleaning equipment, ensuring that the areas to be cleaned remain clean. Cleaning equipment can include devices capable of cleaning surfaces such as robotic vacuum cleaners, floor cleaners, and other cleaning appliances. For example, the surface to be cleaned can be a floor.

[0082] The following example uses a floor scrubber as a cleaning equipment.

[0083] Figure 1 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application. Figure 2 This is a schematic diagram of the structure of the floor brush assembly of the cleaning equipment provided in an embodiment of this application. The X direction is the first direction, and the Y direction is the front-to-back direction of the floor brush body.

[0084] Please see Figure 1 and Figure 2 The cleaning device provided in this application embodiment includes a body 100 and a floor brush assembly 200, with the floor brush assembly 200 disposed at the bottom of the body 100.

[0085] The floor brush assembly 200 includes a floor brush body 210 and rollers 250. Along the forward direction of the floor brush body 210, the rollers 250 can be located in the rear region of the floor brush body 210 to support it. The body 100 is pivotally connected to the floor brush body 210, allowing the body 100 to rotate relative to the floor brush body 210 to accommodate the user's operating posture. The body 100 may have a handle at the end facing away from the surface to be cleaned, allowing the user to hold and push the cleaning device during operation.

[0086] Among them, the rollers 250 can assist in moving the cleaning equipment, reduce the force required for users to push or pull the equipment, and improve the smoothness of equipment movement.

[0087] The floor brush body 210 can be rotatably connected to the body 100 via a pivoting mechanism, and can be relatively fixed to the body 100 via a locking device, ensuring that the floor brush body 210 can be stably connected to the body 100 during cleaning operations. A cleaning component is typically provided at the bottom of the floor brush assembly 200, with the cleaning agent facing the surface to be cleaned.

[0088] When the cleaning equipment is in operation, the floor brush body 210 can move to clean the surface to be cleaned. The cleaning components directly contact the surface, thus brushing up and removing dirt. The bottom of the floor brush body 210 is typically equipped with steering wheels 220. When the user pushes the main body 100, the steering wheels 220 can move the entire cleaning equipment in different directions, allowing the floor brush assembly 200 to cover a wider area.

[0089] In related technologies, after a floor scrubber is powered on, it can determine whether the user intends to start cleaning based on the machine's posture and the status of the floor brushes, and then decide whether to start operation based on the cleaning intention, thereby improving user convenience. However, the aforementioned floor scrubbers are prone to misjudgment, leading to accidental start-up.

[0090] Specifically, the cleaning equipment has a chip with an Inertial Measurement Unit (IMU) installed in its body. For ease of description, this chip with an inertial measurement unit will be referred to as an IMU chip below. The cleaning equipment can detect the tilt angle of the machine body through the IMU chip, and thus determine whether to activate the floor cleaning mode based on the tilt angle. However, since the tilt angle of the machine body is limited by the user's placement angle, when the floor scrubber is in an unconventional placement position, the tilt angle of the machine body may be within the preset working angle range. For example, when the floor scrubber's brush assembly is placed on a slope, the machine body is in a relatively tilted state, causing the tilt angle detected by the IMU chip to be within the preset working angle range. If the floor scrubber directly enters the start state, it will cause the motor, water pump, and other components on the brush assembly to operate, thereby damaging the floor scrubber and shortening its lifespan. As another example, in scenarios of user misoperation, such as accidentally pushing the machine body while it is locked, the machine body's posture may briefly enter the working angle range, further increasing the risk of accidental activation and affecting the safety and reliability of the equipment.

[0091] In addition, some related technologies install an IMU chip on both the machine body and the brush assembly of the floor scrubber. These two IMU chips detect the attitude of the machine body and the brush assembly respectively, and by comparing the attitude difference, determine whether the brush assembly is in effective contact with the ground, thus deciding whether to start the floor scrubber. While the above-mentioned floor scrubbers improve the accuracy of start / stop determination by using two IMU chips, the need for an additional IMU chip significantly increases the hardware cost of the equipment, leading to a higher production cost.

[0092] Based on this, the cleaning device provided in this embodiment detects the tilt angle of the machine body by a detection component on the machine body, and detects the contact state between the brush body and the surface to be cleaned by a sensor on the brush body. This allows the cleaning device to logically associate the tilt angle of the machine body with the contact state between the brush body and the surface to be cleaned. The cleaning device can only be started when the tilt angle data is within a preset range and the contact state meets the preset conditions. This improves the accuracy of the cleaning device's start-up status judgment, helps to avoid false starts caused by machine tilt, and improves the user experience.

[0093] Please see Figure 1 and Figure 2 The structure of the cleaning equipment provided in this application will be further described below.

[0094] This embodiment provides a cleaning device including a detection element, a sensor, and a controller (not shown in the figure).

[0095] The detection element is mounted on the machine body 100 and can be used to detect the tilt angle of the machine body 100 in a first direction. The first direction can be a vertical direction perpendicular to the central axis of the roller 250, or a vertical direction perpendicular to the surface to be cleaned.

[0096] The detection device may contain sensors such as accelerometers and angular velocity sensors to measure the tilt angle of the fuselage 100. The detection device can collect inertial data such as acceleration and angular velocity of the fuselage 100 in three-dimensional space in real time, and can convert the collected inertial data into electrical signals to obtain information about the tilt angle of the fuselage 100. For example, the detection device can be an IMU chip.

[0097] A sensor is mounted on the brush body 210 to detect the contact state between the brush body 210 and the surface to be cleaned. The brush body 210 may be placed normally or abnormally on the ground, resulting in different contact states between it and the surface. For example, the brush body 210 may be tilted upwards relative to the surface, or it may be placed flat on the surface.

[0098] By setting up sensors, the placement state of the floor brush body 210 can be effectively identified, and the contact state between the collected floor brush body 210 and the surface to be cleaned can be converted into an electrical signal so that the controller can determine the contact state between the floor brush body 210 and the surface to be cleaned.

[0099] Furthermore, since the floor scrubber body 210 moves relative to the surface to be cleaned when it is in the starting state, the steering wheel 220 will rotate. Therefore, the sensor can also determine whether the floor scrubber body 210 is in contact with the surface to be cleaned by detecting the rotation state of the steering wheel 220.

[0100] The rotation state of the steering wheel 220 can include the rotation speed of the steering wheel 220, which is positively correlated with the moving speed of the cleaning equipment. At the same time, the rotation direction of the steering wheel 220 can reflect the moving state of the cleaning equipment (forward or backward), providing a basis for subsequent movement state detection and corresponding control.

[0101] The data detected by the sensor regarding the rotational state of the steering wheel 220 can be converted into corresponding electrical signals. The frequency of the electrical signals is positively correlated with the rotational speed of the steering wheel 220; that is, the faster the steering wheel 220 rotates, the higher the frequency of the pulse signals.

[0102] It is understood that the controller is the core control component of the cleaning equipment and can be fixedly installed on the body 100 or the brush body 210. The controller is electrically connected to the detection components and sensors, and can receive real-time signals detected by the detection components and sensors. The controller analyzes the signals to determine the tilt angle of the body 100 and the contact state between the brush body 210 and the surface to be cleaned.

[0103] The controller is configured to start the cleaning operation of the cleaning equipment when the tilt angle is within a preset range and the brush body 210 is in contact with the surface to be cleaned.

[0104] It should be noted that when the floor scrubber is in operation, the tilt angle of the machine body 100 mainly depends on the user's grip posture. Users can use different grip postures depending on the cleaning area. For example, when cleaning the area in front of them, the user grips the machine body 100 at an angle relative to the surface to be cleaned; the user can also squat down to grip the machine body 100, placing it horizontally, i.e., parallel to the surface to be cleaned, allowing the brush body 210 to reach areas further away from the user, thus enabling the user to clean hard-to-reach areas such as under beds, tables, and sofas.

[0105] For this, please refer to Figure 1The preset range for the working state of the body 100 can be 5°~90°, that is, the angle of the body 100 relative to the horizontal surface to be cleaned, or the angle of the body 100 relative to the height direction of the floor brush body 210.

[0106] The controller receives real-time tilt angle data of the machine body 100 transmitted by the detection device and first determines whether the tilt angle is within a preset range. If the tilt angle of the machine body 100 is not within the preset range, it is determined that the cleaning equipment does not meet the start-up conditions, and the controller does not trigger the start-up command, ensuring that the cleaning equipment only enters the start-up judgment process when the user intends to start it.

[0107] If the tilt angle is within the preset range, the controller further receives the electrical signal output by the sensor. By analyzing the frequency of this electrical signal, the contact state between the bottom of the floor brush body 210 and the surface to be cleaned can be determined. When the frequency of the electrical signal is higher than the preset threshold, it indicates that the rotation speed of the electrical signal meets the requirements, and the floor brush body is in effective contact with the surface to be cleaned, that is, the contact state meets the preset conditions. At this time, the controller triggers a start command to start the cleaning equipment and simultaneously controls various loads to run synchronously, so that the cleaning equipment enters the cleaning state.

[0108] In this embodiment, the controller is also configured to prevent the cleaning device from performing cleaning work when the tilt angle is not within a preset range or when the brush body 210 is not in contact with the surface to be cleaned.

[0109] In other words, if either the tilt angle of the machine body 100 or the contact state between the brush body 210 and the surface to be cleaned does not meet the preset conditions, the controller can stop the cleaning equipment from operating.

[0110] It is understandable that once the cleaning equipment enters the cleaning state, the controller can continuously perform monitoring. The controller can continuously receive the tilt angle data of the machine body 100 transmitted by the detection device and determine in real time whether the tilt angle is still within the preset range. If the tilt angle of the machine body 100 is not within the preset range, the controller can control the cleaning equipment to stop operating.

[0111] Similarly, the controller continuously receives electrical signals output by the sensor, and by analyzing the frequency of the electrical signals, it determines in real time whether the contact state between the bottom of the floor brush assembly 200 and the surface to be cleaned still meets the preset conditions.

[0112] When the contact state between the floor brush body 210 and the surface to be cleaned meets the preset conditions, the rotation speed of the corresponding directional wheel 220 meets the requirements, indicating that the floor brush body 210 is in effective contact with the surface to be cleaned; conversely, when the contact state does not meet the preset conditions, it indicates that the rotation speed of the directional wheel 220 has not reached the requirements, and the contact state between the floor brush body 210 and the surface to be cleaned does not meet the preset conditions, that is, the floor brush body 210 has not effectively contacted the surface to be cleaned or has detached from the surface to be cleaned, and the controller controls the cleaning equipment not to perform cleaning work.

[0113] In this embodiment, the cleaning equipment is controlled by a controller. When the cleaning equipment is in a cleaning state, if the contact state between the ground brush component 200 and the surface to be cleaned is abnormal, or if the tilt angle of the body 100 does not meet the preset range, the controller can shut down the cleaning equipment, thereby preventing the cleaning equipment from running empty due to abnormal conditions, which helps to improve the operational stability of the cleaning equipment.

[0114] In some embodiments, the sensor includes a Hall sensor and the steering wheel 220 has a magnetic element.

[0115] The magnetic component can be fixedly installed on the side of the steering wheel 220, corresponding to the detection end of the Hall sensor. Specifically, the magnetic component can be fixed to the side of the hub of the steering wheel 220 using an embedded installation method, rotating synchronously with the steering wheel 220, and the installation position of the magnetic component ensures that it can periodically move closer to and away from the detection end of the Hall sensor during rotation. The magnetic component can be a permanent magnet, a magnet, etc.

[0116] Of course, one or more magnetic components can be evenly arranged along the circumference of the steering wheel 220. When multiple magnetic components are arranged, the density of the pulse signal can be increased, further improving the accuracy of detecting the rotation speed. At the same time, it is convenient for the controller to identify the rotation direction of the steering wheel 220 through the timing characteristics of the pulse signal, providing more accurate signal support for subsequent movement state detection and control of the roller 250 and scraper 240.

[0117] When the steering wheel 220 rotates as the cleaning equipment moves, the magnetic component rotates synchronously with the steering wheel 220, periodically moving closer to the detection end of the Hall sensor and further away from the detection end of the Hall sensor.

[0118] When the magnetic component approaches the Hall sensor, the Hall sensor is within the magnetic field range of the component, and the charge carriers inside it are deflected by the Lorentz force, resulting in a low-level signal output. When the magnetic component moves away from the Hall sensor, the Hall sensor is no longer affected by the magnetic field and outputs a high-level signal. As the steering wheel 220 continues to rotate, the Hall sensor alternately outputs low-level and high-level signals, forming a periodic pulse signal. The frequency of this pulse signal is positively correlated with the rotation speed of the steering wheel 220.

[0119] It is understood that the controller can continuously receive pulse signals output by the Hall sensor and determine the contact status between the brush body 210 and the surface to be cleaned by analyzing the frequency of the pulse signals. When the pulse signal frequency is higher than a preset threshold within a preset range, it indicates that the rotation speed of the steering wheel 220 meets the requirements and the brush body 210 is in effective contact with the surface to be cleaned; when the pulse signal frequency of the Hall sensor is lower than the preset threshold within a preset range, it indicates that the rotation speed of the steering wheel 220 does not meet the requirements and the contact between the brush body 210 and the surface to be cleaned fails.

[0120] In some embodiments, the cleaning device further includes an optical sensor mounted on the brush body 210 to detect changes in light intensity below the brush body 210.

[0121] Optical detection components can be selected from ambient light sensors that are adapted to the working environment of cleaning equipment.

[0122] The optical detection component can be embedded and fixed to the bottom edge of the cleaning surface of the floor brush body 210. Its detection end faces the surface to be cleaned and is flush with the bottom shell of the floor brush body 210. This can accurately collect the light intensity data below the floor brush body 210 and avoid mechanical interference with the surface to be cleaned during the cleaning process, thus preventing the optical detection component from being worn or damaged.

[0123] The optical detection component is electrically connected to the controller, which can collect the light intensity information under the brush body 210 in real time, and convert the collected light intensity analog signal into a digital electrical signal, which is transmitted to the controller in real time for analysis and processing, providing data support for the auxiliary determination of the contact status.

[0124] When the bottom of the floor brush body 210 is in effective contact with the surface to be cleaned, a relatively closed space is formed between the bottom shell of the floor brush body 210 and the surface to be cleaned. The detection end of the optical detection element is blocked by the surface to be cleaned, and less ambient light (such as indoor lighting or natural light) shines on the detection end. At this time, the light intensity detected by the optical detection element will drop in a step and fall into the preset low value range.

[0125] When the brush body 210 is not in contact with the surface to be cleaned, a gap is formed between the bottom of the brush body 210 and the surface to be cleaned. Ambient light can penetrate the gap and shine on the detection end of the optical detection element. At this time, the detected light intensity is in the preset high value range. The controller can obtain the auxiliary judgment basis of the contact state by identifying the sudden change characteristics of the light intensity.

[0126] In some embodiments, the cleaning device further includes a pressure sensing element mounted on the brush body 210 to detect changes in the contact pressure distribution below the brush body 210.

[0127] The pressure detection element can be a miniature pressure sensor array adapted to the working environment of the cleaning equipment. It consists of multiple small pressure sensors and is fixed to the bottom of the floor brush body 210 using an embedded structure.

[0128] The pressure sensor array can be evenly installed along the width of the bottom cleaning surface of the floor brush body 210. The detection surface of each micro pressure sensor is flush with the bottom cleaning surface of the floor brush body 210 and evenly distributed in key contact areas such as the two ends and the middle of the bottom of the floor brush. This helps to ensure that the pressure distribution data between the floor brush body 210 and the surface to be cleaned can be collected comprehensively and accurately.

[0129] The testing principle of the pressure testing element is as follows:

[0130] When the bottom of the floor brush body 210 is in complete and effective contact with the surface to be cleaned and the ground is flat, the cleaning equipment's own gravity and the mechanical locking device will cause the bottom of the floor brush to form a uniform and stable contact pressure with the surface to be cleaned. The pressure values ​​detected by each micro pressure sensor are all within the preset effective pressure range, the pressure distribution is uniform, and there is no obvious local pressure loss.

[0131] When the brush body 210 is not in contact with the surface to be cleaned, none of the micro pressure sensors detect a valid pressure signal, or the detected pressure value is far below the preset pressure threshold.

[0132] When the ground is uneven, the brush body 210 may not be able to adhere to the surface to be cleaned in some areas due to the unevenness of the ground. The micro pressure sensor in the corresponding area will not be able to detect an effective pressure signal, and the pressure distribution will be uneven, resulting in local pressure loss. The controller can determine whether there is a problem with the brush body 210 not adhering to the surface by analyzing the pressure distribution characteristics.

[0133] Please see Figure 1 and Figure 2 In some embodiments, the floor brush body 210 includes a roller brush 230 and a scraper 240, with the roller brush 230 rotatably mounted on the bottom of the floor brush body 210.

[0134] Along the forward direction of the brush body 210, at least a portion of the scraper blade 240 is located in front of the roller brush 230 and can be raised and lowered relative to the brush body 210. The controller is configured to determine the movement state of the brush body 210 based on signals output by sensors, and control the scraper blade 240 to rise when the movement state is forward.

[0135] When the floor brush body 210 is in the forward position (the cleaning equipment is pushed forward), the controller can send a control command to the drive mechanism of the scraper 240 to control the drive mechanism to retract, causing the scraper 240 to rise relative to the floor brush body 210 and detach from the surface to be cleaned, so as to maintain a certain gap between the scraper 240 and the surface to be cleaned. This can reduce the friction between the scraper 240 and the surface to be cleaned, reduce the forward resistance and wear of the scraper 240, and improve the ease of operation for users when pushing the cleaning equipment forward.

[0136] When the floor brush body 210 is in the retracted state (the cleaning equipment is pulled back), the controller sends a control command to control the drive mechanism to lower the scraper 240 relative to the floor brush body 210, so that the scraper 240 contacts the surface to be cleaned. Because the floor brush body 210 is in the retracted state, the scraper 240 can scrape water stains from the area in front of the floor brush body 210 towards the direction of retraction, causing the water stains to flow and collect at the roller brush 230. This helps reduce water stains left on the surface to be cleaned during the retraction of the floor brush body 210, thereby improving the cleaning effect of the cleaning equipment.

[0137] In some embodiments, the controller is configured to control the rotational speed of the roller 250 as the brush body 210 moves forward.

[0138] In other words, as the brush body 210 moves forward, the controller can determine the rotation speed of the steering wheel 220 through the electrical signal output by the sensor, and then control the rotation speed of the roller 250 so that the roller 250 can work in tandem with the steering wheel 220, reducing the resistance for the user to push the cleaning equipment forward.

[0139] It should be noted that the roller 250 can operate under the drive of a motor, and the controller can control the rotation speed of the roller 250 by controlling the output power of the motor.

[0140] Specifically, when the brush body 210 moves forward at a relatively high speed, the controller can accelerate the motor to increase the rotation speed of the roller 250, thereby providing greater forward assistance to help the user quickly push the device and reduce the effort required to operate. When the brush body 210 moves forward at a relatively slow speed, the controller can decelerate the assist motor to reduce the rotation speed of the roller 250, avoiding excessive assistance that could cause the device to move too fast and become difficult to control, thus balancing ease of operation and safety.

[0141] When the brush body 210 is switched to the reverse state, the controller can also control the roller 250 to stop forward assistance. The roller 250 can be controlled to rotate in the opposite direction according to actual needs to provide backward assistance and help the user pull the equipment. At the same time, the scraper 240 is controlled to descend and fit the ground to scrape away water stains and improve the cleaning effect.

[0142] This application also provides a method for starting and controlling a cleaning device, used in the aforementioned cleaning device.

[0143] In this application embodiment, the main body executing the startup control method can be a chip system, main control unit, processor or controller that supports the cleaning equipment to implement the startup control method provided in this application embodiment, or it can be a logic module or software that can implement all or part of the terminal equipment. This application does not make specific limitations in this regard.

[0144] The following describes the startup control method of this application embodiment in detail, taking the controller of the cleaning equipment as the execution subject.

[0145] Figure 3 A flowchart illustrating the start-up control method for the cleaning equipment provided for the application. See also... Figure 3 The startup control method may include the following steps:

[0146] S110, responding to the start command of the cleaning equipment.

[0147] The start command can be triggered by the user through the physical button, touch panel, wireless remote control, etc. of the cleaning device. When the main control unit receives the start command, it immediately wakes up the detection elements (such as IMU chip, floor brush contact detection sensor) and its own computing module inside the device, and enters the subsequent tilt angle acquisition and contact status detection steps.

[0148] S120: Obtain the tilt angle of the fuselage 100 in the first direction.

[0149] The fuselage 100 can collect inertial data such as acceleration and angular velocity in the first direction through the detection device, and convert the collected inertial data into the tilt angle of the fuselage 100 in the first direction through the detection device, and then transmit the tilt angle data to the controller in real time to complete the acquisition of the tilt angle.

[0150] The controller can preset the tilt angle in the first direction to a range of 5° to 90° based on the actual cleaning needs of the cleaning equipment. Thus, after receiving the tilt angle data, the controller can quickly determine whether the machine body 100 is in an operable position based on the preset range.

[0151] S130: Obtain the contact status between the bottom of the floor brush body 210 in the cleaning equipment and the surface to be cleaned.

[0152] The contact state can be detected by a sensor installed on the brush body 210. The sensor can convert the relevant data of the rotation state of the steering wheel 220 into an electrical signal and transmit the electrical signal to the controller. It can be understood that the main control unit determines the contact state between the brush body 210 and the surface to be cleaned by analyzing the electrical signal.

[0153] The rotation state of the steering wheel 220 may include core parameters such as its rotation speed and frequency, which are not specifically limited in this embodiment. The sensor can detect the rotation state of the steering wheel 220 to determine whether the brush body 210 is in contact with the surface to be cleaned. Therefore, the sensor can detect the presence and range of the above parameters and output corresponding electrical signals, thereby providing data support for determining the contact state.

[0154] S141. If the tilt angle is within the preset range and the brush body 210 is in contact with the surface to be cleaned, control the cleaning equipment to start the cleaning operation.

[0155] The tilt angle preset range is a parameter preset in the controller by the R&D personnel based on the actual cleaning needs of the cleaning equipment.

[0156] In some embodiments, the preset range can be , When the body 100 is locked to the brush body 210, the tilt angle of the body 100 relative to the first direction; When the body 100 is in a flat position relative to the brush body 210, the tilt angle of the body 100 relative to the first direction.

[0157] The first direction can be a vertical direction perpendicular to the central axis of the roller, or a vertical direction perpendicular to the surface to be cleaned.

[0158] When the body 100 is locked to the brush body 210, the body 100 is in the initial operating tilt posture. The tilt angle α at this time is the minimum tilt angle threshold that the cleaning equipment can start. The specific value is preset according to the model, size and operation requirements of the cleaning equipment. For example, for small household floor scrubbers, α can be set to 5°~10°, and for large commercial floor scrubbers, α can be set to 8°~15°.

[0159] In this configuration, the body 100 is in a horizontal position relative to the floor brush body 210. This means that the body 100 rotates around the connecting shaft with the floor brush body 210 to its maximum tilt angle. At this point, the angle between the body 100 and the floor brush body 210 is minimal, and the body 100 is nearly parallel to the surface to be cleaned. This state can be considered the maximum tilt angle threshold that the cleaning equipment can operate in. The specific value of β is also preset according to the model and structural design of the cleaning equipment. For example, β for a small household floor scrubber can be set to 80°~90°, while β for a large commercial floor scrubber can be set to 75°~85°.

[0160] in, It can be 5°. It can be 90°, meaning the preset range can be 5°~90°.

[0161] The controller can compare the tilt angle obtained in S120 with the preset range to determine whether the body 100 is in an openable position. At the same time, combined with the contact state obtained in S130, it can determine whether the brush body 210 is in effective contact with the surface to be cleaned.

[0162] When the tilt angle is within the preset range, it indicates that the machine body 100 is in the operating posture intended by the user; when the ground brush body 210 is in contact with the surface to be cleaned, it indicates that the basic conditions for cleaning operation are met; when the above two conditions are met at the same time, the controller will trigger the start command to control the cleaning equipment to start the cleaning operation.

[0163] In this way, the controller can control the main motor, floor brush motor, water pump motor and other loads of the cleaning equipment to operate synchronously. The floor brush body 210 starts to rotate and brush the surface to be cleaned. The water pump outputs cleaning liquid. At the same time, the water suction component works synchronously to realize the integrated cleaning operation of washing and water suction, and ensure that the cleaning work is carried out in an orderly manner.

[0164] The preset conditions for the contact state can be set based on the rotation signal of the steering wheel 220 output by the sensor. For example, the steering wheel 220 can have a minimum rotation speed threshold. When the sensor detects that the rotation speed of the steering wheel 220 is greater than or equal to this threshold, the controller determines that the contact state meets the preset conditions, indicating that the floor brush body 210 has effectively adhered to the surface to be cleaned and moved, and has the basic conditions to start the cleaning operation.

[0165] S142. If the tilt angle is not within the preset range, or if the brush body 210 is not in contact with the surface to be cleaned, the cleaning equipment shall not perform cleaning work.

[0166] Step 142 complements S141, ensuring that the cleaning equipment only performs cleaning work when the start-up conditions are met, further improving the safety and reliability of equipment use and avoiding ineffective operation and equipment damage.

[0167] Specifically, the controller may prevent the cleaning equipment from performing cleaning tasks in the following situations:

[0168] In the first case, the tilt angle is not within the preset range, that is, the tilt angle of the body 100 in the first direction is less than 5° or greater than 90°. At this time, the body 100 is not in the operating posture that the user intends to start. If the body 100 is upright or tilted excessively, even if the brush body 210 is in contact with the surface to be cleaned, the controller will not trigger the start, thus avoiding invalid cleaning in non-operating postures.

[0169] In the second scenario, the brush body 210 is in a non-contact state with the surface to be cleaned, meaning the sensor does not detect a valid rotation signal from the steering wheel 220. This indicates that the brush body 210 is not in contact with the surface to be cleaned. In this case, even if the body 100 is tilted within the preset range, the controller will not trigger the start-up, thus avoiding equipment wear caused by the brush motor running idle or the water pump running without water.

[0170] When the cleaning equipment is not performing cleaning work, the controller can keep the detection components and sensors in a low-power detection state. If the user adjusts the posture of the body 100 to the preset range and makes the brush body 210 effectively contact the surface to be cleaned, the controller can capture the above changes in real time and trigger the start operation of S141 while there is still a start command, thus taking into account both operational flexibility and practicality.

[0171] In summary, the cleaning equipment start-up control method provided in this application embodiment can determine whether the tilt angle of the body 100 in the cleaning equipment is within the working angle range of the body 100 by obtaining the tilt angle of the body 100 through the detection device; at the same time, it can determine whether the bottom of the floor brush body 210 is in contact with the surface to be cleaned by obtaining the contact state between the bottom of the floor brush body 210 and the surface to be cleaned through the sensor.

[0172] In this way, the cleaning equipment can logically associate the tilt angle data of the body 100 with the contact state between the bottom of the brush body 210 and the surface to be cleaned. Only when the tilt angle is within the preset range and the contact state meets the preset conditions can the cleaning equipment be started. This improves the accuracy of the cleaning equipment's start-up status judgment, helps avoid the problem of false start-up caused by the tilt of the body 100, and helps avoid energy consumption and equipment wear caused by the brush body 210 running empty, thereby improving the user experience.

[0173] Furthermore, when the tilt angle is not within the preset range, or when the brush body 210 is not in contact with the surface to be cleaned, the cleaning equipment will not perform cleaning work. This ensures that the cleaning equipment only performs cleaning work when the start-up conditions are met, further improving the safety and reliability of the equipment and avoiding ineffective operation and equipment damage.

[0174] Compared to separately detecting and calculating the tilt angles of the body 100 and the brush body 210, the start-up control method in this embodiment only needs to calculate the tilt angle of the body 100 and indirectly determine whether the brush body 210 is in contact with the ground by combining the sensor at the steering wheel 220. This can determine whether the cleaning equipment has triggered the floor washing mode, thereby helping to reduce the hardware cost and power consumption of the cleaning equipment due to start-up control.

[0175] In some embodiments, the sensor outputs a pulse signal.

[0176] The frequency of the pulse signal can be positively correlated with the rotational speed of the steering wheel 220; that is, the higher the rotational speed of the steering wheel 220, the higher the frequency of the pulse signal output by the sensor. Correspondingly, when the rotational speed of the steering wheel 220 is higher than a preset speed, the frequency of the pulse signal is higher than a preset threshold.

[0177] When the steering wheel 220 rotates, the magnetic component rotates synchronously with the rotating shaft, periodically approaching or moving away from the Hall sensor, causing the Hall sensor to generate periodic pulse signals. The frequency of these pulse signals directly reflects the rotation speed of the steering wheel 220. The faster the rotation speed, the shorter the period of the magnetic component approaching or moving away from the Hall sensor, and the higher the frequency of the pulse signal.

[0178] Furthermore, step S130 includes: when the tilt angle is within a preset range, the rotation speed of the direction wheel 220 is higher than the preset speed, and the frequency of the pulse signal is higher than the preset threshold, the cleaning equipment is triggered to start.

[0179] Specifically, the controller receives tilt angle data transmitted by the IMU chip on the machine body 100 and pulse signals transmitted by the sensor on the floor brush body 210 in real time, and compares and judges the two sets of data simultaneously: on the one hand, it judges whether the tilt angle of the machine body 100 is within the preset range (i.e., the 5°~90° tilt angle required for the floor scrubber to start), and confirms that the machine body 100 is in the posture state that the user intends to start.

[0180] At the same time, the controller can analyze the frequency of the pulse signal output by the sensor and determine whether it is higher than the preset threshold. If the pulse signal frequency is higher than the preset threshold, it indicates that the rotation speed of the steering wheel 220 is higher than the preset speed. Therefore, it can be determined that the brush body 210 has made effective contact with the surface to be cleaned and the contact state meets the preset conditions.

[0181] It is understandable that the controller will only trigger the cleaning equipment to start when the above two judgment conditions are met at the same time, and control the main motor, the drive motor on the floor brush body 210, the water pump and other load equipment to run synchronously and enter the floor washing mode.

[0182] This embodiment utilizes a sensor to output a pulse signal, resulting in more stable signal transmission and improved anti-interference capabilities during transmission. This helps avoid interference from environmental dust, oil, and other factors, enhancing the accuracy of contact status judgment and further improving the response speed of the cleaning equipment's start-up control. Simultaneously, the simple pulse signal analysis process reduces the controller's computational load, further improving start-up control response speed and balancing control accuracy with equipment operating efficiency.

[0183] In some embodiments, step 130 further includes: when the tilt angle is within a preset range, determining whether the frequency of the pulse signal is higher than a preset threshold.

[0184] Specifically, when the controller executes step 130, the controller first determines whether the tilt angle of the machine body 100 is within the preset range (i.e., the 5°~90° tilt angle required for the floor scrubber to start), and confirms that the machine body 100 is in the posture state intended by the user to start; if the tilt angle of the machine body 100 is not within the preset range, there is no need to judge the subsequent pulse signal frequency, and it is directly determined that the start-up conditions are not met.

[0185] If the tilt angle of the body 100 is within the preset range, the frequency of the pulse signal output by the sensor is analyzed to determine whether it is higher than the preset threshold. If the pulse signal frequency is higher than the preset threshold, it indicates that the rotation speed of the steering wheel 220 is higher than the preset speed. Therefore, it can be determined that the brush body 210 has made effective contact with the surface to be cleaned, and the contact state meets the preset conditions.

[0186] Only when the above two judgment conditions are met in sequence will the controller trigger the cleaning equipment to start, control the load equipment to run synchronously, and enter the floor washing mode.

[0187] This embodiment first determines the tilt angle of the fuselage 100. When the tilt angle is within a preset range, it then determines whether the frequency of the pulse signal is higher than a preset threshold. This can preferentially filter out scenarios where the attitude of the fuselage 100 does not meet the startup requirements, thus avoiding invalid parsing of pulse signals in invalid scenarios by the controller. This helps to reduce the computing load of the controller and improve the response efficiency of startup control.

[0188] In some embodiments, after the cleaning equipment is started, the start-up control method further includes controlling the operation of the load in the cleaning equipment. The load includes at least one of the main motor, floor brush motor, and water pump motor of the cleaning equipment. Through the coordinated operation of the load, the core cleaning functions of the cleaning equipment, such as floor washing and water absorption, are realized, ensuring that the cleaning operation is carried out in an orderly manner.

[0189] The detection logic for the contact state between the floor brush body 210 and the surface to be cleaned has been optimized. By adding auxiliary detection, the accuracy of contact state judgment is further improved, ensuring the precision of the cleaning equipment's start-up control. Auxiliary detection includes detecting changes in light intensity below the floor brush body 210 and detecting the contact pressure distribution between the floor brush body 210 and the surface to be cleaned.

[0190] The following description, in conjunction with specific examples, provides further details.

[0191] In some embodiments, the step of detecting the contact state between the bottom of the floor brush body 210 in the cleaning device and the surface to be cleaned further includes the following steps:

[0192] The light intensity change below the brush body 210 is detected, and this change in light intensity is used to assist the signal output by the sensor in determining the contact state. The detection of light intensity change below the brush body 210 can be achieved using an optical sensor, which can be installed at the bottom of the brush body 210 with its detection direction facing the surface to be cleaned, ensuring that light intensity data below the brush can be collected.

[0193] When the brush body 210 is not in contact with the surface to be cleaned, a certain gap is formed between the bottom of the brush body 210 and the surface to be cleaned. Ambient light (such as indoor lighting or natural light) can directly penetrate this gap and illuminate the detection surface of the ambient light sensor. When the bottom of the brush body 210 is in effective contact with the surface to be cleaned, the bottom shell of the brush body 210 and the surface to be cleaned form a relatively closed space. The detection surface of the ambient light sensor is blocked by the surface to be cleaned, and ambient light cannot illuminate the detection surface.

[0194] It is understandable that the light intensity detected when the brush body 210 is not in contact with the surface to be cleaned is significantly greater than the light intensity when the bottom of the brush body 210 is in effective contact with the surface to be cleaned. When the brush body 210 changes from a state of not being in contact with the surface to a state of contact with the surface to be cleaned, the light intensity detected by the optical sensor will drop abruptly. The controller can obtain auxiliary judgment criteria for the contact state by recognizing this abrupt change in light intensity.

[0195] In this way, by detecting the change in light intensity below the brush body 210, this embodiment can determine the change in the contact state between the brush body 210 and the surface to be cleaned. This helps to combine the rotation state of the steering wheel 220, further improving the accuracy and robustness of the contact state determination, thereby helping to improve the precision of the cleaning equipment control startup.

[0196] In some embodiments, the step of detecting the contact state between the bottom of the floor brush body 210 in the cleaning device and the surface to be cleaned further includes the following step: detecting the contact pressure distribution between the floor brush body 210 and the surface to be cleaned, wherein the contact pressure distribution is used to assist the signal output by the sensor to determine the contact state.

[0197] Detecting the contact pressure distribution between the brush body 210 and the surface to be cleaned can help determine whether the brush body 210 is not adhering to the surface in some areas due to unevenness of the ground. Specifically, a pressure sensor array can be installed at the bottom of the brush body 210, enabling it to collect pressure distribution data between the brush body 210 and the surface to be cleaned, and to detect instances of localized pressure loss.

[0198] It should be noted that the pressure sensor array is electrically connected to the controller of the cleaning equipment. Each miniature pressure sensor can collect the contact pressure signal at the corresponding position in real time, convert the analog pressure signal into a digital electrical signal and transmit it synchronously to the controller. The controller integrates and analyzes the pressure signals to obtain the overall contact pressure distribution between the brush body 210 and the surface to be cleaned, and focuses on determining whether there is any abnormal pressure loss in some areas, thereby determining whether the brush body 210 is not in contact with some areas due to uneven ground.

[0199] It is understandable that the signal output by the sensor on the steering wheel 220 remains the primary basis for determining the contact state, while contact pressure distribution and changes in light intensity can both serve as auxiliary detection dimensions. Therefore, the coordinated signals from the state of the steering wheel 220, contact pressure distribution, and changes in light intensity help the controller accurately identify the overall contact state between the floor brush and the ground, and specifically troubleshoot localized non-adhesion issues caused by uneven ground, thereby helping to avoid false starts caused by poor localized contact between the floor brush body 210 and the surface to be cleaned.

[0200] In some embodiments, after the cleaning equipment is started and enters the cleaning state, the start-up control method further includes:

[0201] Continuously monitor the contact status between the bottom of the floor brush body 210 in the cleaning equipment and the surface to be cleaned.

[0202] When the tilt angle is within the preset range and the brush body 210 is not in contact with the surface to be cleaned, the cleaning equipment is turned off.

[0203] The contact state between the bottom of the brush body 210 and the surface to be cleaned is continuously monitored. The aforementioned detection logic can be continued, that is, the controller can acquire the pulse signal, light intensity change signal and contact pressure distribution signal output by the steering wheel 220 sensor in real time, so as to continuously determine whether the contact state between the brush body 210 and the surface to be cleaned remains effective.

[0204] It should be noted that after the cleaning equipment is started and enters the cleaning state, the tilt angle of the machine body 100 must still be maintained within the preset range. While the controller continuously detects the contact status, it will simultaneously acquire the detected tilt angle data to determine whether the attitude of the machine body 100 is maintained within the preset range. This ensures that the user is still in the cleaning operation posture and that the floor brush is always in effective contact with the ground, avoiding abnormal operation caused by single-dimensional monitoring.

[0205] If the main body of the floor brush 210 detaches from or partially detaches from the surface to be cleaned during the cleaning operation, the frequency of the pulse signal output by the sensor is lower than the preset threshold. The controller can immediately trigger a shutdown command to stop the load of the cleaning equipment and cut off the relevant power output to complete the shutdown operation of the cleaning equipment. This avoids equipment wear caused by the floor brush motor running dry or the water pump running without water, and also reduces energy waste.

[0206] It is understandable that when the brush body 210 is not in contact with the surface to be cleaned, the controller can issue prompts based on the sound device and the screen display device. For example, the controller can control the sound device to emit a warning sound, or give prompts by flashing the display screen of the control panel.

[0207] Furthermore, the frequency of the pulse signal output by the sensor is lower than the preset threshold, which can be one of the core criteria for determining whether the contact state does not meet the preset conditions. It forms a collaborative verification with the light intensity signal and pressure distribution signal to ensure the accurate triggering of the shutdown command and avoid false shutdown caused by a single abnormal signal.

[0208] For example, if the steering wheel 220 slips briefly due to localized slippage on the ground, causing the pulse signal frequency to momentarily drop below the preset threshold, but the light intensity signal remains within the preset low range and the pressure distribution signal is uniform and normal, the controller determines this as transient interference and does not trigger a shutdown command. If the pulse signal frequency remains below the preset threshold, and at least one of the light intensity or pressure distribution signals verifies contact failure, then an abnormal contact state is confirmed, and shutdown is immediately triggered. Thus, by using the above judgment conditions, both the accuracy and anti-interference capabilities of controlling the opening and closing of the cleaning equipment are considered.

[0209] In some embodiments, after the cleaning equipment is started and enters the cleaning state, the start-up control method further includes:

[0210] The movement status of the floor brush body 210 is detected. The movement status includes forward or backward movement, and the movement status is determined based on the signal output by the sensor.

[0211] The signal output by the sensor can have different characterization signals depending on the rotation direction of the steering wheel 220. By identifying the characterization signal of forward rotation and the characterization signal of reverse rotation, the rotation direction of the steering wheel 220 can be determined, and thus the direction of the brush body 210 can be determined to be in a forward or backward state.

[0212] For example, if the sensor is a Hall sensor, when the steering wheel 220 rotates in the forward direction, the pulse signal output by the Hall sensor has a positive phase characteristic. After the controller analyzes this characteristic, it determines that the brush body 210 is in the forward state; when the steering wheel 220 rotates in the reverse direction, the pulse signal has a reverse phase characteristic, and the controller determines that the brush body 210 is in the reverse state.

[0213] When the moving state is forward, the scraper 240 on the front side of the roller brush 230 of the floor brush body 210 is raised, and at the same time, the rotation speed of the roller 250 on the floor brush body 210 can also be controlled.

[0214] It should be noted that the scraper 240 is mounted on the mounting base of the floor brush body 210 in a height-adjustable manner relative to the roller brush 230.

[0215] When the cleaning equipment is pushed forward, the controller can raise the scraper 240 relative to the mounting base of the floor brush body 210, disengaging it from the surface to be cleaned to maintain a certain gap. This reduces friction between the scraper 240 and the surface, lowering forward resistance and wear on the scraper 240.

[0216] When the cleaning equipment is pulled back, the scraper 240 can be controlled to descend relative to the mounting base and contact the surface to be cleaned. The scraper 240, located on the front side of the cleaning part, contacts the surface to be cleaned, scraping the water stains in the area on the front side of the cleaning part towards the cleaning part, causing the water stains to flow and collect at the cleaning part, thereby improving the cleaning effect of the cleaning equipment.

[0217] As an auxiliary power component, the roller 250's rotation speed can be adaptively adjusted according to the forward speed of the brush body 210. When the brush body 210 is in the forward state, the roller 250 is controlled to output forward assist speed to help the user push the cleaning equipment forward, reducing the user's operating effort and improving operating comfort. If the brush body 210 is subsequently switched to the reverse state, the roller 250's rotation speed can be adjusted synchronously to output backward assist, ensuring good convenience in both forward and reverse operations.

[0218] Therefore, by controlling the rotation speed of the roller 250, the roller 250 can be assisted forward or backward, thereby adapting to the cleaning operation needs in the forward state and improving the user's ease of operation.

[0219] The embodiments or implementation methods in this application are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0220] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0221] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, display structure, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or device.

[0222] The term "and / or" used in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0223] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0224] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling the start-up of a cleaning device, characterized in that, The cleaning equipment includes: The fuselage (100) is provided with a detection element, which is capable of detecting at least the tilt angle of the fuselage (100) in a first direction; A floor brush assembly (200) includes a floor brush body (210) and rollers (250). The floor brush body (210) is pivotally connected to the body (100) and can move on the surface to be cleaned. Along the forward direction of the floor brush body (210), the rollers (250) are located in the rear area of ​​the floor brush body (210) to support the floor brush body (210). A sensor is provided on the floor brush body (210) to detect the contact state between the floor brush body (210) and the surface to be cleaned. The startup control method includes: In response to the start command of the cleaning equipment Obtain the tilt angle of the fuselage (100) in the first direction; Obtain the contact state between the bottom of the floor brush body (210) in the cleaning device and the surface to be cleaned. If the tilt angle is within a preset range and the brush body (210) is in contact with the surface to be cleaned, the cleaning device is controlled to start cleaning. If the tilt angle is not within the preset range, or if the brush body (210) is not in contact with the surface to be cleaned, the cleaning device is controlled not to perform cleaning work.

2. The start-up control method according to claim 1, characterized in that, The preset range is , When the body (100) is locked to the floor brush body (210), the tilt angle of the body (100) in the first direction; The tilt angle of the body (100) in the first direction when the body (100) is in a flat position relative to the brush body (210).

3. The start-up control method according to claim 1, characterized in that, The bottom of the brush body (210) also has a steering wheel (220). The sensor is used to detect the rotation state of the steering wheel (220) and output a signal, the rotation state including the rotation speed of the steering wheel (220); the signal output by the sensor is used to determine the contact state between the floor brush body (210) and the surface to be cleaned.

4. The start-up control method according to claim 3, characterized in that, The sensor outputs a pulse signal. When the rotation speed of the steering wheel (220) is higher than the preset speed, the frequency of the pulse signal is higher than the preset threshold. The step of controlling the cleaning equipment to start cleaning when the tilt angle is within a preset range and the brush body (210) is in contact with the surface to be cleaned includes: If the tilt angle is within the preset range and the frequency of the pulse signal is higher than the preset threshold, the cleaning equipment is controlled to start cleaning.

5. The start-up control method according to claim 4, characterized in that, The step of controlling the cleaning equipment to start cleaning when the tilt angle is within a preset range and the brush body (210) is in contact with the surface to be cleaned further includes: If the tilt angle is within the preset range, then it is determined whether the frequency of the pulse signal is higher than the preset threshold.

6. The start-up control method according to claim 1, characterized in that, After the cleaning equipment starts cleaning, the start-up control method further includes: Control the operation of the load in the cleaning equipment, the load including at least one of the main motor, floor brush motor and water pump motor of the cleaning equipment.

7. The start-up control method according to any one of claims 1-6, characterized in that, Also includes: Detect the change in light intensity below the floor brush assembly (200), and / or detect the contact pressure distribution between the floor brush assembly (200) and the surface to be cleaned; The changes in light intensity and the distribution of contact pressure are used to assist the signal output by the sensor in determining the contact state between the brush body (210) and the surface to be cleaned.

8. The start-up control method according to any one of claims 1-6, characterized in that, After the cleaning equipment starts cleaning, the start-up control method further includes: The contact status between the bottom of the floor brush assembly (200) in the cleaning equipment and the surface to be cleaned is continuously monitored; When the tilt angle is within the preset range and the brush body (210) is in a non-contact state with the surface to be cleaned, the cleaning device is controlled to shut down or issue a prompt.

9. The start-up control method according to any one of claims 1-6, characterized in that, The floor brush body (210) also includes a roller brush (230) and a scraper (240). Along the forward direction of the floor brush body (210), at least part of the scraper (240) is located on the front side of the roller brush (230) and can be raised and lowered relative to the roller brush (230). After the cleaning equipment starts cleaning, the start-up control method further includes: The movement state of the floor brush body (210) is detected, including a forward or backward state, and the movement state is determined based on the signal output by the sensor. When the movement state is the backward state, the scraper (240) is controlled to descend, and / or the rotation speed of the roller (250) is controlled.

10. A cleaning device, characterized in that, include: A fuselage (100) on which a detection element is mounted, the detection element being used to detect the tilt angle of the fuselage (100) in a first direction; A floor brush assembly (200) includes a floor brush body (210) and rollers (250). The floor brush body (210) is pivotally connected to the body (100) and can move on the surface to be cleaned. Along the forward direction of the floor brush body (210), the rollers (250) are located in the rear area of ​​the floor brush body (210) to support the floor brush body (210). A sensor is provided on the floor brush body (210) to detect the contact state between the floor brush body (210) and the surface to be cleaned. The controller is connected to the detection element and the sensor, and is configured to control the cleaning equipment to start cleaning when the tilt angle is within a preset range and the floor brush body (210) is in contact with the surface to be cleaned; The controller is also configured to control the cleaning device not to perform cleaning work when the tilt angle is not within a preset range, or when the floor brush body (210) is in a non-contact state with the surface to be cleaned.

11. The cleaning equipment according to claim 10, characterized in that, After the cleaning equipment is started, the controller is also configured to control the cleaning equipment to shut down or issue a prompt when the tilt angle is within the preset range and the floor brush body (210) is in a non-contact state with the surface to be cleaned.

12. The cleaning equipment according to claim 10, characterized in that, The bottom of the brush body (210) also has a steering wheel (220), and the sensor is used to detect the rotation state of the steering wheel (220) and output a signal; the rotation state includes the rotation speed of the steering wheel (220); The controller is configured to determine the contact state between the floor brush body (210) and the surface to be cleaned based on the signal output by the sensor.

13. The cleaning equipment according to claim 12, characterized in that, The sensor includes a Hall sensor, and the steering wheel (220) has a magnetic element.

14. The cleaning equipment according to any one of claims 10-13, characterized in that, It also includes an optical detection element, which is mounted on the brush body (210) to detect changes in light intensity below the brush body (210).

15. The cleaning equipment according to any one of claims 10-13, characterized in that, It also includes a pressure detection element, which is installed on the brush body (210) to detect changes in the contact pressure distribution below the brush body (210).

16. The cleaning equipment according to any one of claims 10-13, characterized in that, The floor brush body (210) also includes a roller brush (230) and a scraper (240). Along the forward direction of the floor brush body (210), at least part of the scraper (240) is located on the front side of the roller brush (230) and can be raised and lowered relative to the roller brush (230). The controller is configured to determine the movement state of the brush assembly (200) based on the signal output by the sensor, and to control the scraper (240) to descend when the movement state is a backward state.

17. The cleaning equipment according to any one of claims 10-13, characterized in that, The controller is configured to control the rotational speed of the roller (250) as the brush body (210) moves forward.

18. A cleaning system, characterized in that, include: Base station; The cleaning device as described in any one of claims 10-17, wherein the base station is used to charge the cleaning device.

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