Control methods, devices and cleaning equipment

Abstract

This application provides a control method, apparatus, and cleaning equipment for cleaning equipment, relating to the field of cleaning equipment technology. The method includes: during the operation of the cleaning equipment, using distance detection modules located on the left and right sides of the floor brush assembly to acquire distance information between the assembly and the target obstacle, and determining the speed difference between the left and right assist wheels based on the distance information; when the floor brush assembly is detected to be moving away from the target obstacle, adjusting the speed of the left and right assist wheels to correct the travel trajectory and maintain edge cleaning. Thus, addressing the edge-keeping control requirements of the cleaning equipment when performing cleaning tasks along the edges of target obstacles such as walls, pillars, and corners, the assist travel status on both sides of the equipment is coordinated and controlled based on the relative distance change between the equipment and the target obstacle. This allows the equipment to adaptively adjust to edge position deviations during travel, not only correcting the equipment's own movement trajectory deviation but also improving trajectory stability and edge coverage during edge cleaning.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a control method, apparatus and cleaning equipment for cleaning equipment. Background Technology

[0002] Floor scrubbers, as efficient cleaning equipment that integrates vacuuming, mopping, and washing, are widely used in commercial venues such as shopping malls, hospitals, and office buildings, as well as in home environments for cleaning surfaces. In actual use, users often need to clean along the edges of obstacles such as walls, pillars, or furniture to ensure complete coverage of stains and avoid creating unsanitary corners.

[0003] In existing technologies, floor scrubbers mostly rely on a push-pull wheel structure to reduce the user's pushing and pulling resistance, making it easier for the user to operate when pushing the floor scrubber along the wall for cleaning.

[0004] When using a handheld floor scrubber for cleaning, especially along walls, users typically push and pull in a straight line. However, since this relies on manual control, maintaining a perfectly straight path requires high precision. Furthermore, the machine itself may experience unpredictable shifts in its center of gravity due to assembly issues or wear and tear. Slight fluctuations in the user's handheld angle or pushing / pulling force, or minor deviations in the machine's trajectory, can cause the brush components to detach from the surface of walls or other obstacles, creating cleaning gaps or residual dirt near the intended straight path, thus affecting the overall cleaning effect. Summary of the Invention

[0005] This application provides a control method, device, and cleaning equipment for cleaning equipment. It addresses the edge-fitting control requirements of cleaning equipment when performing cleaning tasks along the edges of target obstacles such as walls, columns, and corners. Based on the relative distance changes between the cleaning equipment and the target obstacle, it coordinates and controls the assist movement states on both sides of the cleaning equipment. This enables the cleaning equipment to adaptively adjust to edge position deviations during movement, which not only corrects the deviation of the equipment's own movement trajectory but also improves the trajectory stability and edge coverage capability during edge-fitting cleaning.

[0006] In a first aspect, this application provides a control method for a cleaning device, the cleaning device including a main body;

[0007] A handle, which is rotatably connected to one end of the main body;

[0008] The floor brush assembly is rotatably connected to the other end of the main unit.

[0009] The floor brush assembly includes: a floor brush housing;

[0010] The roller brush is rotatably connected to the floor brush housing and is located in front of the cleaning equipment in the direction of travel.

[0011] The assist device is located on the side of the floor brush housing away from the roller brush; the assist device includes at least a first assist wheel and a second assist wheel, which are respectively located on the left and right sides of the main body.

[0012] A distance detection module is positioned on the left and right sides of the brush assembly's travel direction to detect the distance between the brush assembly and target obstacles; the method includes:

[0013] During the cleaning process, the speed difference between the first and second assist wheels is determined based on distance information.

[0014] In response to the brush assembly moving away from the target obstacle, the rotation speed of the first and second assist wheels is adjusted based on the speed difference to clean the edge of the target obstacle.

[0015] Based on the above analysis, this application automatically corrects the overall travel direction of the main body and the brush assembly according to the distance deviation direction by performing differential speed adjustment of the left and right assist wheels in response to the brush assembly moving away from the target obstacle. This allows the brush to re-approach the edge of the target obstacle and continue to act on the edge area to be cleaned. The above control process directly relies on the distance information output by the distance detection module and the speed difference determined therefrom, enabling the cleaning equipment to form a real-time closed loop in the continuous process of traveling, deviating, correcting, and restoring contact with the edge. Therefore, it can maintain the continuity of the cleaning trajectory in edge areas such as walls, pillars, and corners.

[0016] Compared to existing floor scrubbers that suffer from issues such as easy deviation during edge cleaning, inability to adaptively correct deviation, and poor consistency in edge cleaning, this application provides a control method for cleaning equipment. Based on real-time distance information between the floor brush assembly and the target obstacle detected by distance detection modules located on both sides of the brush assembly, the method adaptively determines the speed difference between the left and right auxiliary wheels, forming a differentiated differential speed control logic. Furthermore, by adjusting the speed distribution of the first and second auxiliary wheels, the device's trajectory is altered, ensuring the brush remains consistently close to the edge of the target obstacle at its front working position. This achieves automatic deviation correction and continuous edge coverage control during edge cleaning. Therefore, the user does not need to manually adjust the operating angle and pushing / pulling force of the cleaning equipment; the brush assembly is constrained to move smoothly and closely along the edge obstacle, thereby improving trajectory stability and edge coverage during edge cleaning, significantly enhancing the cleaning effect and efficiency of the target obstacle's edge.

[0017] Optionally, the speed difference is determined by the difference in speed between the first and second assist wheels and / or the direction of speed.

[0018] Adjusting the speed of the first and second booster wheels based on the speed difference includes:

[0019] Differential speed control is achieved by adjusting the rotational speed between the first and second booster wheels.

[0020] And / or, by controlling the first and second booster wheels to output opposite rotational directions, the relative speed state between the first and second booster wheels can be changed.

[0021] Therefore, when the brush assembly is far away from the target obstacle, the left and right assist wheels can be adjusted differentially based on the speed difference, or the rotational direction of the left and right assist wheels can be adjusted in the opposite direction, so that the trajectory of the cleaning equipment can be deflected in time and re-close to the edge area, thereby ensuring that the roller brush maintains continuous coverage of the edge area and improving the flexibility of differential control.

[0022] Furthermore, since the differential control of the power-assisted wheel is no longer limited to simple numerical adjustment, but is compatible with direction switching control, the cleaning equipment can select the appropriate correction method according to the deviation state, thereby improving the posture correction capability and edge coverage continuity during edge cleaning.

[0023] Optionally, the speed difference is determined by the difference in speed between the first and second assist wheels; based on distance information, determining the speed difference between the first and second assist wheels includes:

[0024] If the distance information is determined to be greater than a first preset threshold and less than or equal to a second preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and the second rotation speed of the second assist wheel is determined to remain unchanged.

[0025] In this way, by using the aforementioned speed difference control method, the speed of the first assist wheel on the side closest to the target obstacle is reduced, while the speed of the other assist wheel remains constant. This allows the cleaning equipment to form a stable steering correction trend when the distance is within the intermediate deviation range, thereby driving the floor brush assembly to approach the target obstacle and maintain the edge cleaning trajectory. Since the speed difference between the assist wheels mainly depends on the difference in speed rather than a reversal of steering, the overall machine posture changes relatively smoothly, making it easier to maintain the continuity of edge coverage during continuous cleaning.

[0026] Therefore, after adopting the above control method, the cleaning equipment can automatically establish the speed difference between the left and right wheels when the distance information is between the first preset threshold and the second preset threshold, thereby correcting the direction of travel of the floor brush component, making it easier to maintain a stable edge cleaning state and reducing the discontinuity of coverage caused by deviation from the edge.

[0027] It should be noted that the above control method only requires speed reduction control on one side of the power steering wheel. The control logic is clear and easy to implement in conjunction with existing power steering structures.

[0028] Optionally, the speed difference is determined by the difference in speed between the first and second assist wheels; based on distance information, determining the speed difference between the first and second assist wheels includes:

[0029] If the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to decrease to the first rotation speed, and the rotation speed of the second assist wheel is determined to increase to the third rotation speed.

[0030] In this way, after adopting the above method, the speed difference is directly formed by the difference in the speed of the two auxiliary wheels. When the distance between the brush assembly and the target obstacle increases further, the speed difference is expanded by the two auxiliary wheels rising and falling, making the correction response of the cleaning equipment clearer, the edge coverage continuity more stable, and reducing the frequency of manual adjustment of the handle posture.

[0031] Optionally, the speed difference is determined by the rotational direction between the first and second assist wheels; based on distance information, the speed difference between the first and second assist wheels is determined, including:

[0032] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the first assist wheel is determined to output a driving torque opposite to the direction of travel in the pulled-back state to the first assist wheel, and the second assist wheel is determined to output a driving torque in the same direction of travel in the pulled-back state to the second assist wheel, so that the first assist wheel and the second assist wheel generate rotational speeds in opposite directions.

[0033] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the first assist wheel is determined to output a driving torque in the same direction as the forward-pushing state to the side closest to the target obstacle, and the second assist wheel is determined to output a driving torque in the opposite direction to the forward-pushing state to the second assist wheel, so that the first assist wheel and the second assist wheel generate rotational speeds in opposite directions.

[0034] Thus, through the aforementioned control method, when the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, a differential traction torque is established by changing the rotational direction of the two assist wheels. This causes the cleaning equipment to generate an attitude correction component towards the target obstacle during the pulling or pushing process, thereby cooperating with the floor brush assembly to re-approach the target edge. Since the wheel speed direction is jointly limited by the travel state and the distance threshold, the cleaning equipment can obtain a consistent correction response under different pushing and pulling directions, thereby making the cleaning trajectory in the edge area more continuous and improving the consistency and stability of the cleaning equipment along the edge.

[0035] Optionally, the speed difference is determined by the difference in speed magnitude and direction between the first and second assist wheels; based on distance information, the speed difference between the first and second assist wheels is determined, including:

[0036] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and a driving torque opposite to the direction of travel in the pulled-back state is output to the first assist wheel. The rotation speed of the second assist wheel is determined to be increased to the third rotation speed, and a driving torque in the same direction as the direction of travel in the pulled-back state is output to the second assist wheel.

[0037] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and the driving torque is output to the first assist wheel in the same direction as the forward-pushing state. The rotation speed of the second assist wheel is determined to be increased to the third rotation speed, and the driving torque is output to the second assist wheel in the opposite direction to the forward-pushing state.

[0038] In this way, by simultaneously introducing control methods based on the difference in rotational speed and rotational direction, differential speed correction can be applied to the two auxiliary wheels when the cleaning equipment moves away from the target obstacle. This allows the floor brush assembly to achieve more stable deflection control during the pulling or pushing process, thereby causing the cleaning equipment to converge back towards the target obstacle. Furthermore, this control method enables a more continuous edge-following trajectory, reduces offset caused by uneven force on the left and right sides, and improves the consistency of edge cleaning coverage.

[0039] Optionally, the speed difference is determined by the difference in speed magnitude and direction between the first and second assist wheels; based on distance information, the speed difference between the first and second assist wheels is determined, including:

[0040] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and a driving torque opposite to the direction of travel in the pulled-back state is output to the first assist wheel, and the second rotation speed of the second assist wheel is determined to remain unchanged, and a driving torque in the same direction of travel in the pulled-back state is output to the second assist wheel.

[0041] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and a driving torque in the same direction as the forward-pushing state is output to the first assist wheel. The second rotation speed of the second assist wheel is determined to remain unchanged, and a driving torque in the opposite direction to the forward-pushing state is output to the second assist wheel.

[0042] In this way, by keeping the base speed of the second assist wheel constant and only controlling the deceleration and directional torque of the first assist wheel, a stable left-right speed and directional difference can be formed when the brush assembly moves away from the target obstacle. This allows the cleaning equipment to generate a controlled lateral correction trend during the pulling or pushing process, thereby enabling the brush assembly to move closer to the side of the target obstacle. Dynamic differential speed compensation of the assist wheels through the above control method allows for more continuous attitude correction during edge cleaning, and torque distribution can be completed using the same judgment logic under different travel states, thereby improving the coverage continuity and travel stability of the cleaning equipment along the edge.

[0043] Optionally, the assist device also includes an assist motor, determining that the rotational speed of the first assist wheel on the side closest to the target obstacle is reduced to a first rotational speed, including:

[0044] Determine that the drive parameters of the assist motor are reduced to the target value so that the rotational speed of the first assist wheel on the side closest to the target obstacle is reduced to the first rotational speed;

[0045] The driving parameters include at least one of the following: output voltage, output current, pulse width modulation (PWM) duty cycle, or output frequency.

[0046] Based on the above analysis, this application, by providing a variety of selectable drive parameters to reduce the speed of the assist wheel, can adapt to different motor types, allowing the cleaning equipment to use DC motors, AC motors, or stepper motors as the assist motor. Furthermore, by supporting multiple drive parameters such as output current, output voltage, PWM duty cycle, and output frequency, it not only flexibly adapts to different types of motors, improving versatility, but also allows the cleaning equipment to select appropriate parameters according to actual needs, achieving more precise speed reduction control. For example, PWM duty cycle is suitable for scenarios requiring fast response and high precision; output current adjustment can directly control torque, suitable for scenarios requiring precise torque control.

[0047] It should also be noted that when the control method of a certain driving parameter malfunctions or is limited, the cleaning equipment can switch to other driving parameters for speed reduction control, which improves the fault tolerance and reliability of the cleaning equipment.

[0048] Furthermore, after adopting the above implementation method, the rotational speed of the first assist wheel can be precisely set by the motor drive parameters, and the control response is directly applied to the motor output end, thereby making the correspondence between parameter adjustment and wheel speed change clear, which facilitates stable deceleration control in edge cleaning scenarios and improves the edge-fitting consistency of the cleaning equipment to the edge of the target obstacle.

[0049] Optionally, the distance detection module includes a transmitter and a receiver. The transmitter is used to emit signals towards the target obstacle, and the receiver is used to receive signals reflected from the target obstacle. The distance information is determined in the following way:

[0050] The distances between the ground brush assembly and the target obstacle are calculated using the signals transmitted from the transmitter and the receiver.

[0051] Distance information is determined based on multiple distances, where the distance information is the minimum value among these multiple distances.

[0052] In this way, by using the minimum distance as distance information, the nearest contact trend between the floor brush component and irregular walls, column edges or corners can be preferentially characterized, so that the subsequent differential control of the first and second assist wheels is more closely based on the actual edge position.

[0053] Therefore, by using the signals emitted by the transmitter and the reflected signals received by the receiver to form multiple distances, and then taking the minimum value as the distance information, the closest distance between the brush assembly and the target obstacle can be reflected. Based on this distance information, it can be determined whether the brush assembly is far from the target obstacle, and the speed difference of the assist wheel can be adjusted accordingly. This allows for smooth and stable steering control while ensuring the cleaning equipment safely avoids obstacles.

[0054] Optionally, the method also includes

[0055] Acquire the lateral force signal of the handle;

[0056] Based on distance information and lateral force signals, the offset trend information of the ground brush component is determined;

[0057] Based on the offset trend information, the speed difference between the first and second booster wheels is determined.

[0058] In this way, by incorporating both distance changes and lateral force on the handle into the offset trend judgment, precise edge-fitting limits are achieved by relying on distance information, while the force perception of the handle conforms to the user's operating habits. This allows the differential control results to better match the user's pushing intention and the actual offset state of the cleaning equipment, realizing the dual linkage of the cleaning equipment's autonomous correction and the human intention prediction. This not only makes edge-fitting cleaning more responsive and faster, further preventing the floor brush component from deviating, improving the smoothness of edge-fitting cleaning and the operating experience, but also improves the continuity and consistency of the power steering wheel adjustment.

[0059] Optionally, based on the offset trend information, the speed difference between the first and second booster wheels is determined, including:

[0060] If the first assist wheel is determined to be offset away from the target obstacle based on the offset trend information, and the distance information is greater than the first preset threshold and less than or equal to the second preset threshold, the rotational speed difference between the first assist wheel and the second assist wheel is determined to be the first difference value.

[0061] If the first assist wheel is determined to be offset away from the target obstacle based on the offset trend information, and the distance information is greater than the second preset threshold and less than or equal to the third preset threshold, the rotational speed difference between the first assist wheel and the second assist wheel is determined to be the second difference value.

[0062] The first difference is smaller than the second difference.

[0063] In this way, during the operation of the cleaning equipment, after the distance detection module continuously collects the distance changes and lateral force signals between the floor brush assembly and the target obstacle to determine the offset trend information, the cleaning equipment selects the corresponding speed difference and drives the first and second assist wheels to run at different speeds, thereby enabling the floor brush assembly to resume its close-to-the-edge movement towards the target obstacle. This control method uses a smaller correction amount for slight deviations and a larger correction amount for larger deviations, ensuring that the differential speed control of the assist wheels matches the actual degree of offset.

[0064] Furthermore, by adopting the above control method, the cleaning equipment can set the speed difference of the assist wheel in a graded manner according to the offset trend information and distance information, so that the correction control during edge cleaning is more in line with the current deviation state, improves the consistency of the brush assembly in following the edge of the target obstacle, and enhances the continuity and stability of the cleaning equipment in edge cleaning.

[0065] Optionally, the method also includes:

[0066] In response to the edge detection signal, the distance detection module is activated to detect distance information.

[0067] In this way, by setting the edge detection signal to be woken up on demand, the distance detection module only operates when edge sensing is needed, and continuously outputs distance information after activation, thus keeping edge sensing and edge control synchronized. Since the distance detection module is in a turned-off or low-power state when not in edge sensing, the detection resources of the whole machine are centrally utilized, and the cleaning equipment can adjust the edge status of the floor brush component in a timely manner based on real-time distance information.

[0068] In addition, by dynamically starting and stopping edge detection in response to edge detection signals, the edge-holding auxiliary function is intelligently triggered on demand, thereby effectively improving the intelligence level and operational efficiency of the equipment while accurately meeting users' personalized cleaning needs.

[0069] Moreover, by adopting the above method, the working time of the distance detection module can be matched with the edge cleaning task. It can obtain distance information in a timely manner when entering the edge area and provide a stable input for subsequent differential control. This makes the perception response of the cleaning equipment more coherent in the areas along the wall, column or corner, and improves the continuity and control accuracy of edge cleaning.

[0070] Secondly, this application provides a control device for a cleaning device, the cleaning device including a main body;

[0071] A handle, which is rotatably connected to one end of the main body;

[0072] The floor brush assembly is rotatably connected to the other end of the main unit.

[0073] The floor brush assembly includes: a floor brush housing;

[0074] The roller brush is rotatably connected to the floor brush housing and is located in front of the cleaning equipment in the direction of travel.

[0075] The assist device is located on the side of the floor brush housing away from the roller brush; the assist device includes at least a first assist wheel and a second assist wheel, which are respectively located on the left and right sides of the main body.

[0076] A distance detection module, positioned on the left and right sides of the brush assembly's travel direction, is used to detect the distance information between the brush assembly and target obstacles; the device includes:

[0077] The determination module is used to determine the speed difference between the first and second assist wheels based on distance information during the cleaning process of the cleaning equipment.

[0078] The control module is used to adjust the rotation speed of the first and second assist wheels based on the rotation speed difference in response to the ground brush assembly moving away from the target obstacle, so as to clean the edge of the target obstacle.

[0079] Thirdly, this application provides a cleaning device, which includes a main body;

[0080] A handle, which is rotatably connected to one end of the main body;

[0081] The floor brush assembly is rotatably connected to the other end of the main unit.

[0082] The floor brush assembly includes: a floor brush housing;

[0083] The roller brush is rotatably connected to the floor brush housing and is located in front of the cleaning equipment in the direction of travel.

[0084] The assist device is located on the side of the floor brush housing away from the roller brush; the assist device includes at least a first assist wheel and a second assist wheel, which are respectively located on the left and right sides of the main body.

[0085] The distance detection module is set on the left and right sides of the direction of travel of the ground brush assembly, and is used to detect the distance information between the ground brush assembly and the target obstacle;

[0086] The cleaning equipment is used to perform the methods described above.

[0087] It should be noted that the second and third aspects of this application have similar beneficial effects to the corresponding technical solutions in the first aspect of this application, and the corresponding feasible implementation methods will not be repeated here.

[0088] The control method, apparatus, and cleaning equipment provided in this application acquire distance information between the cleaning equipment and the target obstacle using distance detection modules located on both sides of the floor brush assembly during operation. Based on this distance information, the rotational speed difference between the left and right assist wheels is determined. When the floor brush assembly is detected to be moving away from the target obstacle, the rotational speed of the left and right assist wheels is adjusted to correct the trajectory and maintain edge cleaning. In this way, through dynamic differential speed compensation of the two assist wheels, the trajectory of the cleaning equipment is continuously and automatically corrected to clean the edges of the target obstacle, greatly improving the edge cleaning coverage and stability of the cleaning equipment, reducing the frequency of manual adjustments and labor intensity, and enhancing the user experience. Attached Figure Description

[0089] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0090] Figure 1 This is a partial structural schematic diagram of a cleaning device provided in an embodiment of this application;

[0091] Figure 2 This is a schematic diagram of the overall structure of a cleaning device provided in an embodiment of this application;

[0092] Figure 3 This is a schematic diagram of the structure of a floor brush assembly provided in an embodiment of this application;

[0093] Figure 4 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0094] Figure 5 A flowchart illustrating a control method for a cleaning device provided in an embodiment of this application;

[0095] Figure 6 A control logic block diagram for edge differential speed correction of a floor scrubber main control system provided in this application embodiment;

[0096] Figure 7 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application;

[0097] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0098] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0099] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0100] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first assist wheel and the second assist wheel are merely used to distinguish different assist wheels and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0101] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0102] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0103] Floor scrubbers can be used for cleaning surfaces in commercial spaces, hospitals, office buildings, factories, and public facilities. When cleaning edges such as walls, columns, and corners, external force is needed to help correct the deviation in order to ensure that the brush components fit snugly against the edges and thus guarantee the cleaning coverage of dirt on the edges.

[0104] In existing technologies, floor scrubbers mostly rely on a push-pull wheel structure to reduce the user's pushing and pulling resistance, making it easier for the user to operate when pushing the floor scrubber along the wall for cleaning.

[0105] However, the existing power-assisted wheel structure can only achieve power-assisted drive in a single forward and backward direction, without adaptive edge correction control logic. If the user's hand operation angle or pushing and pulling force fluctuates slightly, or if the body's trajectory deviates slightly, the floor brush component used for cleaning may detach from the side surface of the wall or other edge obstacles, forming a cleaning gap or residual stains near the expected straight pushing and pulling path, affecting the overall cleaning effect.

[0106] Furthermore, the assist function of existing floor scrubbers only applies to linear movement in the forward and backward direction. They cannot adaptively adjust their movement based on the real-time distance between the machine and edge obstacles, relying entirely on manual correction by the user. This limitation forces users to frequently manually adjust the cleaning equipment's direction to maintain edge cleaning, increasing operational complexity and easily leading to decreased cleaning quality and poor cleaning consistency due to operator fatigue or distraction, making it difficult to meet users' cleaning needs.

[0107] It should also be noted that the machine itself may have an uncertain center of gravity shift due to assembly problems, wear and tear, etc. For example, the floor brush assembly may shift due to long-term use, which may lead to a decrease in cleaning efficiency, or even cause the machine to run off course and the roller brush to shift position, seriously affecting the overall cleaning effect.

[0108] To address the aforementioned issues, this application provides a control method for a cleaning device. During operation, distance detection modules located on both sides of the floor brush assembly acquire distance information between the brush assembly and the target obstacle. Based on this distance information, the rotational speed difference between the left and right assist wheels is determined. When the floor brush assembly is detected to be moving away from the target obstacle, the rotational speeds of the left and right assist wheels are adjusted to correct the trajectory and maintain edge cleaning. In this way, through dynamic differential compensation of the dual assist wheels, the trajectory of the cleaning device is continuously and automatically corrected to clean the edges of the target obstacle, significantly improving the edge cleaning coverage and stability of the cleaning device, reducing the frequency and intensity of manual adjustments, and enhancing the user experience.

[0109] It should be noted that the control method for cleaning equipment provided in this application is applied to cleaning equipment, for example... Figure 1 This is a partial structural diagram of a cleaning device provided in an embodiment of this application, as shown below. Figure 1 As shown, the cleaning device 100 includes a main body 101;

[0110] Handle 102 is rotatably connected to one end of the main body 101;

[0111] The floor brush assembly 103 is rotatably connected to the other end of the main body 101.

[0112] The floor brush assembly 103 includes: a floor brush housing 11;

[0113] The roller brush 12 is rotatably connected to the floor brush housing 11, and the roller brush 12 is located in front of the cleaning equipment 100 in the direction of travel.

[0114] The assist device 13 is located on the side of the floor brush housing 11 away from the roller brush 12; the assist device 13 includes at least a first assist wheel 131 and a second assist wheel 132, which are respectively arranged on the left and right sides of the main body 101.

[0115] The distance detection module 14 is set on the left and right sides of the travel direction of the ground brush assembly 103 and is used to detect the distance information between the ground brush assembly 103 and the target obstacle.

[0116] For example, Figure 2 This is a schematic diagram of the overall structure of a cleaning device provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of a floor brush assembly provided in an embodiment of this application, as shown below. Figure 2 and Figure 3 As shown, the cleaning equipment 100 mainly includes a main body 101, a handle 102 and a floor brush assembly 103. The floor brush assembly 103 includes: a floor brush housing 11, a roller brush 12, an assist device 12 and a distance detection module 14.

[0117] The main body 101 serves as the main load-bearing structure of the entire machine, forming a control connection with the handle 102 and a motion connection with the floor brush assembly 103. The handle 102 is rotatably connected to one end of the main body 101, allowing the user to push or pull the device back.

[0118] Optionally, a force sensor can be installed on the handle 102 to collect lateral force signals from the user's left and right pushing and pulling and lateral force application in real time. In response to the user's pushing or pulling force on the handle 102 to the left or right, the sensor can identify the user's intention to keep the edge clean.

[0119] In addition, in practical applications, the lateral force signal can also be collected by strain gauges or pressure sensing modules located at the rotation axis of the handle 102. This application embodiment does not specifically limit the type of sensor or device for collecting the lateral force signal.

[0120] The floor brush assembly 103 is rotatably connected to the other end of the main body 101. It is a component in the cleaning device 100 that is rotatably connected to the main body 101 and is used to perform the cleaning task on the surface to be cleaned. The floor brush assembly 103 can rotate at a certain angle relative to the main body 101, so that the floor brush assembly 103 can adjust its posture relative to the main body 101 during the edge-to-edge movement.

[0121] The floor brush housing 11 is the outer shell structure of the floor brush assembly 103, used to house and protect the internal cleaning components. Therefore, the floor brush housing 11 provides a mounting base for the roller brush 12, the assist device 13, the distance detection module 14, etc.

[0122] The roller brush 12 is rotatably connected to the floor brush housing 11 and is located at the front of the cleaning device 100 in the direction of travel. When the cleaning device 100 moves along the edge of the target obstacle, the leading edge of the roller brush 12 corresponds to the area of ​​dirt on the edge. Optionally, the roller brush 12 can also provide appropriate power to the cleaning device 100.

[0123] The assist device 13 is installed at the rear of the floor brush housing 11 (opposite to the roller brush 12) and mainly undertakes the driving function. Its rotational motion provides the driving power for the cleaning equipment 100 and assists the cleaning equipment 100 in moving.

[0124] The assist device 13 includes at least a first assist wheel 131 and a second assist wheel 132 respectively disposed on the left and right sides of the main body 101. The first assist wheel 131 and the second assist wheel 132 are rotated under control. These two assist wheels can rotate independently, and their rotation direction can be used to determine the movement state of the cleaning equipment 100.

[0125] It should be noted that the first assist wheel 131 and the second assist wheel 132 are the left and right wheels in the assist device 13. They are respectively set on the left and right sides of the main body 101. They form a drive assembly through the motor, the reduction mechanism and the wheels. The cleaning device 100 outputs speed control commands to the corresponding motor, which can change the speed relationship between the two wheels.

[0126] Distance detection modules 14 are positioned on the left and right sides of the floor brush assembly 103 in the direction of travel, and are used to detect the distance information between the floor brush assembly 103 and the target obstacle. Optionally, the target obstacle can be a wall, column, side wall of a step, or other obstacle that requires edge cleaning. This application embodiment does not specifically limit the type of obstacle corresponding to the target obstacle.

[0127] Optionally, the distance detection module 14 includes a transmitter and a receiver. The transmitter is used to transmit signals to the target obstacle, and the receiver is used to receive signals reflected by the target obstacle.

[0128] The transmitter and receiver can be integrated into the same distance detection module 14 housing. The transmitter is used to send detection signals to target obstacles on the left and right sides of the travel direction of the ground brush assembly 103, and the receiver is used to receive the echo signals reflected back by the target obstacles.

[0129] Optionally, the detection signal can be infrared light, ultrasonic wave or millimeter wave signal, and an isolated installation structure can be used between the transmitter and receiver to reduce mutual interference.

[0130] Optionally, the distance detection module 14 can be any one or more combinations of a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared ranging sensor, a visual ranging module, and a laser ranging unit to collect the distance information between the floor brush assembly 103 and the wall, column, and other sidewalls to be cleaned in real time throughout the process, continuously obtain high-precision edge-fitting distance information, and provide effective signal support for subsequent correction control.

[0131] Optionally, the assist device 13 may also include an assist motor (not shown in the figure).

[0132] In practical applications, the assist motor can also be a brushed DC motor, a brushless DC motor, or a stepper motor, and this application does not make any specific restrictions on this.

[0133] It should be noted that the assist motor can provide driving force to the first assist wheel 131 and the second assist wheel 132 respectively. In this scenario, the two assist wheels are symmetrically arranged at the bottom of the floor brush assembly 103, and each assist wheel is equipped with an independent assist motor, which can realize independent speed control and provide a hardware basis for differential correction.

[0134] Optionally, the assist motor can also provide driving force to either the first assist wheel 131 or the second assist wheel 132 independently. In this scenario, by providing driving force to a single assist motor, when performing differential speed control of the assist wheels, the machine body offset can be compensated by reducing the speed of the assist wheel closer to the target obstacle or increasing the speed of the assist wheel farther from the target obstacle, thereby achieving edge cleaning. This application embodiment does not specifically limit this aspect.

[0135] It should be noted that the embodiments of this application do not limit the specific types of the above-mentioned components or parts, and can refer to the description of the prior art.

[0136] For example, Figure 4 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 4 As shown, taking a home setting as an example, the cleaning device 100 can be a floor scrubber. For example, a user holds the floor scrubber and pushes it forward on the living room floor to clean.

[0137] As the user pushes the floor scrubber to clean the wall, the scrubber's distance detection module continuously collects the real-time edge distance between the machine body and the side wall, and transmits this distance information to the main control system in real time. Because the main control system has built-in adaptive differential speed calculation logic, it can dynamically calculate the speed difference between the left and right assist wheels based on the real-time distance information collected.

[0138] Furthermore, in response to the brush assembly moving away from the target obstacle, the main control system can output control commands to the two independent drive motors to perform differentiated speed control based on the speed difference, adjusting the speed of the left and right assist wheels to clean the wall edges.

[0139] For example, the booster wheel on the side closer to the wall reduces its operating speed, while the booster wheel on the side farther from the wall increases its operating speed. Through dynamic differential compensation of the two booster wheels, the machine's trajectory is continuously corrected and calibrated automatically.

[0140] Optionally, during the cleaning of wall edges, the cleaning trajectory of the floor scrubber can be continuously corrected and calibrated in real time to maintain the distance between the brush assembly and the wall within the standard cleaning range, effectively preventing the problem of deviation along the edge and missed cleaning areas, greatly improving the cleaning coverage and uniformity of the wall edges, while reducing the difficulty of operation for users and optimizing the overall user experience.

[0141] It should be noted that the cleaning device 100 can be a floor scrubber or any smart handheld mobile device with cleaning function. This application embodiment does not specifically limit the type of cleaning device 100.

[0142] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0143] For example, Figure 5 This is a flowchart illustrating a control method for a cleaning device provided in an embodiment of this application. The control method for the cleaning device is applied to... Figures 1-3 The cleaning equipment shown, such as Figure 5 As shown, the control method for this cleaning equipment includes the following steps:

[0144] S501. During the cleaning process, the speed difference between the first and second assist wheels is determined based on distance information.

[0145] In this embodiment, distance information may refer to the amount of distance between the side of the brush assembly and the outer surface of the target obstacle. The rotational speed difference may represent the target rotational speed difference between the first and second assist wheels, used to form a turning trend toward or away from the target obstacle.

[0146] For example, during the cleaning process, the controller of the cleaning equipment enables the distance detection module to continuously detect the distance measurements on the left and right sides to meet the real-time control requirements of the equipment during its movement. Furthermore, the controller determines the effective distance information for correction calculations based on the distribution relationship between the current cleaning side and the target obstacle. For instance, when the equipment cleans along the left wall edge, the left distance measurement is used as the current edge distance information; when cleaning along the right target obstacle edge, the right distance measurement is used as the current edge distance information.

[0147] Optionally, the controller can also preprocess the acquired distance information to reduce the impact of surface bumps, housing vibrations, and reflection fluctuations on the measurement results.

[0148] After determining the distance information, the controller compares it with a preset target distance. The preset target distance corresponds to the working gap between the outer edge of the brush and the edge of the target obstacle. When the distance is less than the preset target distance, it is determined that the brush assembly is too close to the target obstacle. When the distance is greater than the preset target distance, it is determined that the brush assembly is moving away from the target obstacle.

[0149] Based on the above determination, the controller can calculate the distance deviation value Δd, which is equal to the distance information minus the preset target distance, and generate the rotational speed difference value Δv accordingly. For example, the rotational speed difference value can be determined according to the distance deviation so that the device can form a corresponding trajectory correction when the distance changes. This application embodiment does not specifically limit the method of calculating the rotational speed difference value.

[0150] Optionally, the controller can also set a distance tolerance range. When the distance information falls within the tolerance range, the brush assembly is determined to be in a stable edge-hugging state. At this time, the speed difference between the first and second assist wheels is set to zero or maintains the smaller speed difference from the previous control cycle to keep the device on its current trajectory. When the distance information exceeds the tolerance range and manifests as an increase in distance, the brush assembly is determined to be moving away from the target obstacle. In one possible embodiment, the controller of the cleaning device not only determines the speed difference based on the distance deviation value at the current moment, but can also correct the speed difference by combining the distance changes over multiple consecutive sampling cycles. When the distance deviation continues to increase, it indicates that the device is deviating from the target obstacle, and the controller can compensate based on the basic speed difference value. When the distance deviation exceeds the preset target distance but the change tends to be gradual, the controller can output a small correction amount to suppress over-steering.

[0151] In this way, through the above processing, not only is the speed difference between the first and second assist wheels established, but also the side information (which side the target obstacle is located on) and deviation direction information required for subsequent control are simultaneously generated, providing clear control input for the next step of differential drive. Based on the above analysis, it can be seen that the above steps, by directly converting the distance detection results into the differential control quantity between the left and right assist wheels, enable the relative position change between the brush assembly and the target obstacle to be mapped into a trajectory correction command in real time, thereby solving the problem of unstable edge distance caused by relying solely on manual posture correction during edge cleaning.

[0152] S502, In response to the brush assembly moving away from the target obstacle, adjust the rotation speed of the first and second assist wheels based on the rotation speed difference to clean the edge of the target obstacle.

[0153] It should be noted that when the floor brush component is far away from the target obstacle, it means that the distance information output by the distance detection module is greater than the preset target distance and exceeds the corresponding tolerance range, and the current cleaning side has been determined, that is, whether the target obstacle is located on the left or right side of the cleaning device.

[0154] In response to the brush assembly moving away from the target obstacle, the controller of the cleaning equipment applies corresponding speed adjustments to the first and second assist wheels based on a determined speed difference and depending on whether the target obstacle is located on the left or right side of the cleaning equipment.

[0155] It is understandable that cleaning the edge of the target obstacle involves controlling the movement trajectory so that the roller brush continuously approaches and moves along the edge of the target obstacle. Since the roller brush is located in front of the direction of travel of the cleaning equipment, it cleans the area to be cleaned on the edge under the trajectory close to the edge.

[0156] For example, when the target obstacle is located on the left side of the cleaning device and the floor brush assembly is moving away from the left-side target obstacle, the controller of the cleaning device adjusts the relative rotational speed relationship between the first and second assist wheels according to the target rotational speed difference, causing the cleaning device to deflect to the left, thereby causing the floor brush assembly to move closer to the left-side target obstacle. Correspondingly, when the target obstacle is located on the right side and the floor brush assembly is moving away from the right-side target obstacle, the controller adjusts the relative rotational speed relationship between the first and second assist wheels according to the target rotational speed difference, causing the cleaning device to deflect to the right.

[0157] Optionally, to ensure that the adjustment process is consistent with the actual mechanical response, the controller can gradually change the wheel speed according to a preset control strategy after outputting the target speed, so as to make the motor output smooth and avoid the brush assembly from swaying due to excessive torque changes.

[0158] Optionally, the controller of the cleaning equipment continuously reads the distance information detected by the distance detection module during speed regulation and recalculates the current distance deviation in each control cycle. When the distance deviation decreases but is still greater than the upper limit of the distance tolerance range, the differential speed control in the current direction is maintained and the speed difference is gradually reduced; when the distance deviation falls back to the distance tolerance range, the controller restores the first and second assist wheels to the same speed or close to the same synchronous speed, so that the cleaning equipment continues to move along the corrected edge-following trajectory.

[0159] Understandably, when the distance deviation is detected to change from a positive value beyond the preset target distance to a negative value, that is, when the brush assembly is too close to the target obstacle, the controller can also reverse the differential relationship to make the cleaning equipment slightly move away from the target obstacle in order to restore the working interval.

[0160] In one possible embodiment, when the distance information indicates a large deviation between the brush assembly and the target obstacle, the controller of the cleaning equipment can appropriately increase the speed difference between the first and second assist wheels to shorten the distance required for re-alignment. Correspondingly, when the cleaning equipment is in the outer arc of the column or in a corner turning area, the distance information output by the distance detection module changes rapidly. The controller continuously updates the speed difference based on this change, so that the left and right assist wheels form a continuous differential speed within multiple control cycles, thereby driving the brush assembly to turn along the contour of the target obstacle.

[0161] Based on the above analysis, this application automatically corrects the overall travel direction of the main body and the brush assembly according to the distance deviation direction by performing differential speed adjustment of the left and right assist wheels in response to the brush assembly moving away from the target obstacle. This allows the brush to re-approach the edge of the target obstacle and continue to act on the edge area to be cleaned. The above control process directly relies on the distance information output by the distance detection module and the speed difference determined therefrom, enabling the cleaning equipment to form a real-time closed loop in the continuous process of traveling, deviating, correcting, and restoring contact with the edge. Therefore, it can maintain the continuity of the cleaning trajectory in edge areas such as walls, pillars, and corners.

[0162] Compared to existing floor scrubbers that suffer from issues such as easy deviation during edge cleaning, inability to adaptively correct deviation, and poor consistency in edge cleaning, this application provides a control method for cleaning equipment. Based on real-time distance information between the floor brush assembly and the target obstacle detected by distance detection modules located on both sides of the brush assembly, the method adaptively determines the speed difference between the left and right auxiliary wheels, forming a differentiated differential speed control logic. Furthermore, by adjusting the speed distribution of the first and second auxiliary wheels, the device's trajectory is altered, ensuring the brush remains consistently close to the edge of the target obstacle at its front working position. This achieves automatic deviation correction and continuous edge coverage control during edge cleaning. Therefore, the user does not need to manually adjust the operating angle and pushing / pulling force of the cleaning equipment; the brush assembly is constrained to move smoothly and closely along the edge obstacle, thereby improving trajectory stability and edge coverage during edge cleaning, significantly enhancing the cleaning effect and efficiency of the target obstacle's edge.

[0163] Optionally, the speed difference is determined by the difference in speed magnitude and / or direction between the first and second assist wheels; adjusting the speeds of the first and second assist wheels based on the speed difference includes:

[0164] Differential speed control is achieved by adjusting the rotational speed between the first and second booster wheels; and / or by controlling the first and second booster wheels to rotate in opposite directions to change their relative rotational speed.

[0165] In this scheme, differential control corresponds to changing the rotational speed of the left and right assist wheels to create a speed difference between the two wheels that can be used for correction; the relative speed state corresponds to the switching state between the two wheels rotating in the same direction or in opposite directions.

[0166] Optionally, when the controller of the cleaning equipment determines that the brush assembly is deviating from the target obstacle based on distance information, it can apply different torque commands to the two assist motors to change the speed or direction of the assist wheel.

[0167] It should be noted that when differential control is required, the controller of the cleaning equipment increases the speed of the assist wheel on the side away from the target obstacle, or decreases the speed of the assist wheel on the side closer to the target obstacle, so that the main body tends to deflect toward the target obstacle.

[0168] When it is necessary to change the relative rotation speed, the controller of the cleaning equipment can output torque in opposite directions to the drive motors corresponding to the first and second assist wheels, so that the two wheels rotate in opposite directions, thereby driving the floor brush assembly to achieve posture correction during edge cleaning.

[0169] It should be noted that the controller of the cleaning equipment used in this application embodiment can be a microcontroller unit, which facilitates real-time closed-loop adjustment of speed and direction. In practical applications, other models of the controller can also be selected, and this application does not make specific limitations on this.

[0170] Therefore, when the brush assembly is far away from the target obstacle, the left and right assist wheels can be adjusted differentially based on the speed difference, or the rotational direction of the left and right assist wheels can be adjusted in the opposite direction, so that the trajectory of the cleaning equipment can be deflected in time and re-close to the edge area, thereby ensuring that the roller brush maintains continuous coverage of the edge area and improving the flexibility of differential control.

[0171] Furthermore, since the differential control of the power-assisted wheel is no longer limited to simple numerical adjustment, but is compatible with direction switching control, the cleaning equipment can select the appropriate correction method according to the deviation state, thereby improving the posture correction capability and edge coverage continuity during edge cleaning.

[0172] Optionally, the speed difference is determined by the difference in speed between the first and second assist wheels; based on distance information, determining the speed difference between the first and second assist wheels includes:

[0173] If the distance information is determined to be greater than a first preset threshold and less than or equal to a second preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and the second rotation speed of the second assist wheel is determined to remain unchanged.

[0174] The first preset threshold and the second preset threshold correspond to two distance demarcation points during the edge cleaning process, respectively, and are used to characterize the degree of deviation of the brush assembly relative to the target obstacle. This application embodiment does not specifically limit the magnitude of the first preset threshold and the second preset threshold.

[0175] In this embodiment, the first rotational speed may refer to a preset rotational speed value that needs to be reduced. It can be pre-written into the control parameter table of the controller and matched with the current travel speed of the cleaning equipment, the load of the floor brush component, and the requirements of the edge cleaning task. The first rotational speed may also be a value calculated in real time based on the rotational speed difference. This embodiment does not specifically limit this.

[0176] The second speed can refer to the reference output value within the current control cycle. In practical applications, the first and second speeds can also be adapted according to the motor model, wheel diameter, and overall weight; this application does not impose specific limitations on this.

[0177] For example, after receiving the distance information output by the distance detection module, the controller of the cleaning equipment compares the distance information with a first preset threshold and a second preset threshold. When the distance information is between the two, the controller outputs a deceleration command to the drive unit corresponding to the first booster wheel, so that the speed of the first booster wheel is adjusted to the first speed, while keeping the drive unit corresponding to the second booster wheel running at the current reference speed, so that the second speed remains unchanged.

[0178] It should be noted that the distance information in this application may refer to the distance between the target obstacle and the brush assembly on the side closest to the target obstacle.

[0179] In this way, by using the aforementioned speed difference control method, the speed of the first assist wheel on the side closest to the target obstacle is reduced, while the speed of the other assist wheel remains constant. This allows the cleaning equipment to form a stable steering correction trend when the distance is within the intermediate deviation range, thereby driving the floor brush assembly to approach the target obstacle and maintain the edge cleaning trajectory. Since the speed difference between the assist wheels mainly depends on the difference in speed rather than a reversal of steering, the overall machine posture changes relatively smoothly, making it easier to maintain the continuity of edge coverage during continuous cleaning.

[0180] Therefore, after adopting the above control method, the cleaning equipment can automatically establish the speed difference between the left and right wheels when the distance information is between the first preset threshold and the second preset threshold, thereby correcting the direction of travel of the floor brush component, making it easier to maintain a stable edge cleaning state and reducing the discontinuity of coverage caused by deviation from the edge.

[0181] It should be noted that the above control method only requires speed reduction control on one side of the power steering wheel. The control logic is clear and easy to implement in conjunction with existing power steering structures.

[0182] Optionally, the speed difference is determined by the difference in speed between the first and second assist wheels; based on distance information, determining the speed difference between the first and second assist wheels includes:

[0183] If the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to decrease to the first rotation speed, and the rotation speed of the second assist wheel is determined to increase to the third rotation speed.

[0184] The second and third preset thresholds correspond to two distance boundary points in the edge cleaning process, forming a distance segmentation control interval. If the distance information falls within this interval, it indicates that the distance between the brush assembly and the target obstacle is relatively large, but it is still applicable to edge cleaning scenarios. This application does not specifically limit the magnitude of the second and third preset thresholds in its embodiments.

[0185] It should be noted that if the distance information is greater than the third preset threshold, it indicates that the distance between the brush component and the target obstacle is very far. In this case, it is not suitable for edge cleaning scenarios.

[0186] Optionally, if the distance information is determined to be greater than the third preset threshold, there is no need to adjust the rotation speed of the first and second assist wheels, and cleaning can continue according to the existing cleaning strategy or cleaning path.

[0187] The second and third preset thresholds, these two distance demarcation points, are also used to characterize the degree of deviation of the brush assembly relative to the target obstacle. However, the deviation at this point is greater than the deviation corresponding to the distance information falling between the first and second preset thresholds as described in the above embodiment. Therefore, the corresponding rotational speed differences are different, with the larger difference occurring between the second and third preset thresholds.

[0188] Optionally, the second and third preset thresholds are used to distinguish between large deviations, while the first and second preset thresholds are used to distinguish between slight deviations. The preset threshold values ​​can be set according to the width of the floor brush assembly, the spacing between the assist wheels, and the cleaning scenario.

[0189] In this embodiment, the third rotation speed can refer to a preset required rotation speed value, which can be pre-written into the controller's control parameter table and matched with the current travel speed of the cleaning equipment, the load of the floor brush assembly, and the requirements of the edge cleaning task. The third rotation speed can also be a value calculated in real time based on the rotation speed difference. This embodiment does not specifically limit this.

[0190] For example, when the cleaning equipment is running along the edge, the distance detection module continuously sends distance information to the controller of the cleaning equipment. After the controller determines that the distance information falls between a second preset threshold and a third preset threshold, it generates a corresponding differential control signal, which is applied to the two assist wheels respectively. Since the rotational speed of the first assist wheel is reduced to a first rotational speed, while the rotational speed of the second assist wheel is increased to a third rotational speed, the cleaning equipment will generate a corrective tendency towards the target obstacle during its movement, thereby enabling the floor brush assembly to re-approach the edge area and maintain the edge trajectory.

[0191] In this way, after adopting the above method, the speed difference is directly formed by the difference in the speed of the two auxiliary wheels. When the distance between the brush assembly and the target obstacle increases further, the speed difference is expanded by the two auxiliary wheels rising and falling, making the correction response of the cleaning equipment clearer, the edge coverage continuity more stable, and reducing the frequency of manual adjustment of the handle posture.

[0192] Optionally, the speed difference is determined by the rotational direction between the first and second assist wheels; based on distance information, the speed difference between the first and second assist wheels is determined, including:

[0193] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the first assist wheel is determined to output a driving torque opposite to the direction of travel in the pulled-back state to the first assist wheel, and the second assist wheel is determined to output a driving torque in the same direction of travel in the pulled-back state to the second assist wheel, so that the first assist wheel and the second assist wheel generate rotational speeds in opposite directions.

[0194] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the first assist wheel is determined to output a driving torque in the same direction as the forward-pushing state to the side closest to the target obstacle, and the second assist wheel is determined to output a driving torque in the opposite direction to the forward-pushing state to the second assist wheel, so that the first assist wheel and the second assist wheel generate rotational speeds in opposite directions.

[0195] In this embodiment of the application, the backward pull state can refer to the cleaning equipment generating a backward movement tendency toward the user under the action of a backward pulling force applied by the user, or being in a continuous deceleration movement state such as backward movement, backward deceleration and backward stopping.

[0196] The forward-pushing state can refer to the cleaning equipment's tendency to move forward away from the user's direction when the user applies a forward thrust, or it can be in a state of continuous deceleration, such as moving forward, decelerating forward, or coming to a stop.

[0197] It should be noted that when the user pulls the cleaning device backward, the inner assist wheel (closer to the target obstacle) needs to output a reverse (forward) driving torque, so that the surface to be cleaned exerts a backward frictional force on the wheel. The outer assist wheel (away from the target obstacle) needs to output a forward (backward) driving torque, so that the surface to be cleaned exerts a forward frictional force on the wheel. In this way, the inner assist wheel pulls backward and the outer assist wheel pushes forward, creating a rotational torque toward the target obstacle, achieving edge-keeping and correction.

[0198] Similarly, when the user pushes the cleaning device forward, the inner assist wheel (closer to the target obstacle) needs to output a forward (reverse) driving torque, causing the surface to be cleaned to exert a forward frictional force on the wheel. The outer assist wheel (away from the target obstacle) needs to output a reverse (forward) driving torque, causing the surface to be cleaned to exert a backward frictional force on the wheel. In this way, the inner assist wheel pushes forward and the outer assist wheel pulls backward, also generating a rotational torque towards the target obstacle, achieving edge-keeping and correction.

[0199] For example, the controller of the cleaning equipment can determine which side the target obstacle is located on based on the left and right distance information output by the distance detection module, and identify the wheel on the side closer to the target obstacle as the first assist wheel and the wheel on the other side as the second assist wheel. When the controller detects that the cleaning equipment is in a pulled-back state, if the distance information is greater than a second preset threshold and less than or equal to a third preset threshold, it outputs a reverse driving torque to the first assist wheel and a same-direction driving torque to the second assist wheel, so that the two wheels form a positive and negative steering difference.

[0200] Similarly, when it is detected that the cleaning equipment is in a forward-pushing state, and the distance information is greater than the second preset threshold and less than or equal to the third preset threshold, the driving torque direction is switched to the opposite combination corresponding to the forward-pushing direction, so as to keep the two wheels turning in opposite directions.

[0201] Thus, through the aforementioned control method, when the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, a differential traction torque is established by changing the rotational direction of the two assist wheels. This causes the cleaning equipment to generate an attitude correction component towards the target obstacle during the pulling or pushing process, thereby cooperating with the floor brush assembly to re-approach the target edge. Since the wheel speed direction is jointly limited by the travel state and the distance threshold, the cleaning equipment can obtain a consistent correction response under different pushing and pulling directions, thereby making the cleaning trajectory in the edge area more continuous and improving the consistency and stability of the cleaning equipment along the edge.

[0202] Optionally, the speed difference is determined by the difference in speed magnitude and direction between the first and second assist wheels; based on distance information, the speed difference between the first and second assist wheels is determined, including:

[0203] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and a driving torque opposite to the direction of travel in the pulled-back state is output to the first assist wheel. The rotation speed of the second assist wheel is determined to be increased to the third rotation speed, and a driving torque in the same direction as the direction of travel in the pulled-back state is output to the second assist wheel.

[0204] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and the driving torque is output to the first assist wheel in the same direction as the forward-pushing state. The rotation speed of the second assist wheel is determined to be increased to the third rotation speed, and the driving torque is output to the second assist wheel in the opposite direction to the forward-pushing state.

[0205] The first and third rotational speeds correspond to the target rotational speed values ​​after reducing and increasing the rotational speed, respectively. Optionally, the first and third rotational speeds can be determined based on distance information and equipment attitude, so that the assist wheel closer to the target obstacle outputs a smaller propulsive or braking force, while the assist wheel farther from the target obstacle outputs a larger propulsive force. This application embodiment does not limit the specific values ​​corresponding to the first and third rotational speeds; they can be determined based on the actual application scenario.

[0206] For example, when it is determined that the cleaning equipment is in a pulled-back state and the distance information is greater than a second preset threshold and less than or equal to a third preset threshold, the controller of the cleaning equipment determines that the current direction of travel of the equipment is backward. At this time, a driving torque opposite to the backward direction is applied to the first assist wheel on the side closer to the target obstacle, so that the first assist wheel forms a reverse rotation trend. At the same time, the speed of the second assist wheel is increased to the third speed and a driving torque of the same backward direction is applied, so that the second assist wheel forms a same rotation trend.

[0207] Similarly, when it is determined that the cleaning equipment is in the forward-pushing state and the distance information is greater than the second preset threshold and less than or equal to the third preset threshold, the travel direction is switched to the forward direction, the same driving torque as the forward direction is applied to the first assist wheel, and the opposite driving torque is applied to the second assist wheel, so that the two assist wheels simultaneously form a difference in speed and rotation direction.

[0208] It should be noted that the above control method can be implemented by the motor drive module in the controller. The motor drive module controls the speed and direction of the motors of the two auxiliary wheels respectively through the pulse width modulation (PWM) signal and the H-bridge drive circuit. This application does not make specific limitations on this.

[0209] In this way, by simultaneously introducing control methods based on the difference in rotational speed and rotational direction, differential speed correction can be applied to the two auxiliary wheels when the cleaning equipment moves away from the target obstacle. This allows the floor brush assembly to achieve more stable deflection control during the pulling or pushing process, thereby causing the cleaning equipment to converge back towards the target obstacle. Furthermore, this control method enables a more continuous edge-following trajectory, reduces offset caused by uneven force on the left and right sides, and improves the consistency of edge cleaning coverage.

[0210] Optionally, the speed difference is determined by the difference in speed magnitude and direction between the first and second assist wheels; based on distance information, the speed difference between the first and second assist wheels is determined, including:

[0211] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and a driving torque opposite to the direction of travel in the pulled-back state is output to the first assist wheel, and the second rotation speed of the second assist wheel is determined to remain unchanged, and a driving torque in the same direction of travel in the pulled-back state is output to the second assist wheel.

[0212] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and a driving torque in the same direction as the forward-pushing state is output to the first assist wheel, and the second rotation speed of the second assist wheel is determined to remain unchanged, and a driving torque in the opposite direction to the forward-pushing state is output to the second assist wheel.

[0213] The first rotational speed is used to characterize the reduced rotational speed of the assist wheel on the side closer to the target obstacle, and the second rotational speed is used to characterize the reference rotational speed maintained by the other assist wheel during the correction control.

[0214] For example, after receiving the distance information output by the distance detection module, the controller of the cleaning equipment compares the distance information on the left and right sides to determine the first assist wheel closer to the target obstacle, and uses the current travel status and distance information together as the control basis. When it is determined that the cleaning equipment is in a backward state and the distance information is greater than a second preset threshold and less than or equal to a third preset threshold, the controller outputs a reverse drive torque to the motor corresponding to the first assist wheel, reducing its speed to a first speed, while maintaining the speed of the second assist wheel at a second speed, and outputs a drive torque in the same direction as the backward pull to the assist motor corresponding to the second assist wheel.

[0215] Accordingly, when it is determined that the cleaning equipment is in a forward-pushing state and the distance information is greater than the second preset threshold and less than or equal to the third preset threshold, a driving torque in the same direction as the forward-pushing is applied to the first assist wheel to achieve controlled deceleration, while keeping the second rotation speed of the second assist wheel unchanged and applying a driving torque in the opposite direction to the forward-pushing.

[0216] Optionally, the above control method can be implemented by the motor drive module based on pulse width modulation signal or current closed-loop signal, and the first speed and the second speed can be set by the controller according to the preset calibration table. This application does not make specific limitations on this.

[0217] In this way, by keeping the base speed of the second assist wheel constant and only controlling the deceleration and directional torque of the first assist wheel, a stable left-right speed and directional difference can be formed when the brush assembly moves away from the target obstacle. This allows the cleaning equipment to generate a controlled lateral correction trend during the pulling or pushing process, thereby enabling the brush assembly to move closer to the side of the target obstacle. Dynamic differential speed compensation of the assist wheels through the above control method allows for more continuous attitude correction during edge cleaning, and torque distribution can be completed using the same judgment logic under different travel states, thereby improving the coverage continuity and travel stability of the cleaning equipment along the edge.

[0218] Optionally, determining that the rotational speed of the first assist wheel on the side closest to the target obstacle is reduced to a first rotational speed includes:

[0219] Determine that the drive parameters of the assist motor are reduced to the target value so that the rotational speed of the first assist wheel on the side closest to the target obstacle is reduced to the first rotational speed;

[0220] The driving parameters include at least one of the following: output voltage, output current, pulse width modulation (PWM) duty cycle, or output frequency.

[0221] In this embodiment, the target value may refer to a preset low value to which the drive parameters of the assist motor are reduced, so that the assist wheel is in a deceleration state. The target value can be set to a low value, with the aim of decelerating the assist wheel as quickly as possible for edge cleaning. This embodiment does not limit the specific numerical value corresponding to the target value.

[0222] Drive parameters refer to the electrical or control parameters that control the output power or torque of the power steering motor, directly affecting the driving torque and speed of the power steering wheel. Optionally, drive parameters can be one or more of the following: output voltage, output current, PWM duty cycle, and output frequency.

[0223] The output current refers to the current value output by the motor driver (or power supply) to the auxiliary motor, usually the current at the output terminal of the driver, and is measured in amperes (A). For DC motors, the output current is directly proportional to the motor output torque (torque constant × current), so controlling the current can directly control the driving torque of the motor.

[0224] It should be noted that increasing the output current increases the driving force of the booster wheel, while decreasing the output current reduces the driving force. Therefore, by reducing the output current, the driving force between the booster wheel and the surface to be cleaned can be reduced, resulting in a lower rotational speed of the booster wheel.

[0225] Output voltage refers to the voltage value output by the motor driver (or power supply) to the motor, usually the voltage at the driver's output terminal. Output voltage is one of the key electrical parameters controlling the motor's speed and output torque. For DC motors or brushless DC motors, the magnitude of the output voltage directly determines the motor's speed (under a constant load).

[0226] It should be noted that the higher the output voltage, the faster the booster motor rotates, and the greater the driving torque received by the booster wheel; conversely, the lower the output voltage, the slower the booster motor rotates, and the smaller the driving torque. Therefore, by reducing the output voltage, the driving force of the booster wheel can be actively reduced, causing its rotation speed to decrease.

[0227] PWM duty cycle refers to the ratio of the high-level duration to the total cycle time within a PWM cycle, usually expressed as a percentage (0%-100%). For DC motors, the PWM duty cycle determines the average voltage applied to the motor (average voltage = supply voltage × duty cycle). For DC motors, the PWM duty cycle determines the average voltage; a higher duty cycle results in a higher motor speed.

[0228] It's important to note that PWM duty cycle is a common method for adjusting motor speed and torque. A higher PWM duty cycle results in a higher average voltage and a faster motor speed; conversely, a lower duty cycle results in a lower average voltage and a slower motor speed. Reducing the PWM duty cycle decreases the speed and driving force of the power steering wheel.

[0229] Output frequency refers to the frequency of the drive signal applied to an AC motor or stepper motor, measured in Hertz (Hz). For AC motors, the output frequency determines the synchronous speed (speed = 60 × frequency / number of pole pairs); for stepper motors, the output frequency determines the stepping speed.

[0230] It should be noted that reducing the output frequency can reduce the speed of the assist motor, thereby reducing the driving force of the assist wheel. Lowering the output frequency is mainly applicable to cleaning equipment that uses AC motors or stepper motors as the assist motor.

[0231] Optionally, the drive parameters of the assist motor can be reduced to the target value. One or more of the following drive parameters can be reduced to the corresponding target value to make the first assist wheel form a deceleration state corresponding to the target obstacle:

[0232] Reduce the output current to the target current value: reduce the motor torque, causing the booster wheel to slow down.

[0233] Reduce the output voltage to the target voltage value: reduce the motor torque, causing the booster wheel to slow down.

[0234] Reduce the PWM duty cycle to the target duty cycle value: the average motor voltage decreases, the speed drops, and the booster wheel decelerates.

[0235] Reduce the output frequency to the first frequency value: the synchronous speed of the power assist motor decreases, and the power assist wheel decelerates.

[0236] By reducing any one or a combination of the above drive parameters, the output power of the assist motor is reduced, allowing the assist wheel to decelerate rapidly to the first speed. Different drive parameters have varying control precision and response speeds; therefore, the selection of different drive parameters can be flexibly determined based on motor type, control precision, and cost.

[0237] For example, after receiving distance information, the controller of the cleaning equipment determines the target value according to a preset mapping relationship and outputs control commands to the drive module, causing the output voltage, output current, PWM duty cycle, or output frequency of the assist motor to decrease to the corresponding set value. Furthermore, this allows the first assist wheel to stably decrease to a first rotational speed. Since the first assist wheel corresponds to the left and right positions of the main body, as the drive parameters decrease, the traction force at the wheel end closer to the target obstacle decreases synchronously, thereby creating the required speed difference.

[0238] Optionally, the drive module may include a motor drive chip, a power MOSFET (Metal-Oxide-Semiconductor) and a sampling circuit. The sampling circuit is used to detect whether the actual output has reached the target value and return the feedback signal to the controller so as to perform closed-loop correction of the drive parameters.

[0239] Optionally, the cleaning equipment can switch different drive parameters according to the distance change, so that the first assist wheel can maintain a low speed operation state adapted to the target obstacle during the edge cleaning process, while the second assist wheel can still maintain the predetermined output or adjust synchronously as needed.

[0240] Based on the above analysis, this application, by providing a variety of selectable drive parameters to reduce the speed of the assist wheel, can adapt to different motor types, allowing the cleaning equipment to use DC motors, AC motors, or stepper motors as the assist motor. Furthermore, by supporting multiple drive parameters such as output current, output voltage, PWM duty cycle, and output frequency, it not only flexibly adapts to different types of motors, improving versatility, but also allows the cleaning equipment to select appropriate parameters according to actual needs, achieving more precise speed reduction control. For example, PWM duty cycle is suitable for scenarios requiring fast response and high precision; output current adjustment can directly control torque, suitable for scenarios requiring precise torque control.

[0241] It should also be noted that when the control method of a certain driving parameter malfunctions or is limited, the cleaning equipment can switch to other driving parameters for speed reduction control, which improves the fault tolerance and reliability of the cleaning equipment.

[0242] Furthermore, after adopting the above implementation method, the rotational speed of the first assist wheel can be precisely set by the motor drive parameters, and the control response is directly applied to the motor output end, thereby making the correspondence between parameter adjustment and wheel speed change clear, which facilitates stable deceleration control in edge cleaning scenarios and improves the edge-fitting consistency of the cleaning equipment to the edge of the target obstacle.

[0243] Optionally, distance information can be determined in the following ways:

[0244] The distances between the ground brush assembly and the target obstacle are calculated using the signals transmitted from the transmitter and the receiver.

[0245] Distance information is determined based on multiple distances, where the distance information is the minimum value among these multiple distances.

[0246] It is understandable that multiple distances can be formed by the ranging results of the distance detection module at different detection positions, different reflection paths, or different sampling times. In this way, after reading each ranging result, the minimum value is selected as the distance information.

[0247] For example, in practical operation, the distance detection module can continuously output multiple distance measurement results. Furthermore, the controller of the cleaning equipment calculates each distance value based on the round-trip time, phase difference, or echo intensity of the transmitted signal, and then compares these distance values ​​to obtain the closest distance information to the target obstacle. For instance, when the target obstacle is irregularly shaped or has no straight boundaries, the closest distance between multiple boundary points corresponding to the target obstacle and the floor brush assembly can be calculated to determine the distance information.

[0248] In this way, by using the minimum distance as distance information, the nearest contact trend between the floor brush component and irregular walls, column edges or corners can be preferentially characterized, so that the subsequent differential control of the first and second assist wheels is more closely based on the actual edge position.

[0249] Therefore, by using the signals emitted by the transmitter and the reflected signals received by the receiver to form multiple distances, and then taking the minimum value as the distance information, the closest distance between the brush assembly and the target obstacle can be reflected. Based on this distance information, it can be determined whether the brush assembly is far from the target obstacle, and the speed difference of the assist wheel can be adjusted accordingly. This allows for smooth and stable steering control while ensuring the cleaning equipment safely avoids obstacles.

[0250] Optionally, the method also includes:

[0251] Acquire the lateral force signal of the handle;

[0252] Based on distance information and lateral force signals, the offset trend information of the ground brush component is determined;

[0253] Based on the offset trend information, the speed difference between the first and second booster wheels is determined.

[0254] In this embodiment of the application, the lateral force signal may refer to the force signal of the user pushing or pulling left or right, or applying lateral force.

[0255] Offset trend information refers to the movement trend of the brush assembly deviating from the predetermined direction of travel, which is derived from the analysis of the brush assembly's motion information (such as speed, deceleration, etc.). It is used to characterize the upcoming skew state of the brush assembly.

[0256] Optionally, the offset trend information includes the offset direction and the magnitude of the offset distance.

[0257] In this application, a force sensor at the handle can also be used for coordinated control. That is, by using a force sensor at the handle, the lateral force signal of the user can be collected in real time, and the cleaning device can respond to the user's pushing or pulling force on the handle to the left or right, and identify the user's intention to keep the edge clean.

[0258] For example, the controller of the cleaning equipment uses a TOF sensor to detect the distance between the wall and the floor brush assembly in real time, and at the same time obtains the lateral force signal of the user's handle, quickly predicts the trend of travel deviation, and thus determines the deviation trend information of the brush assembly. Furthermore, based on the deviation trend information, the differential speed adjustment of the two assist wheels is performed in advance.

[0259] In this way, by incorporating both distance changes and lateral force on the handle into the offset trend judgment, precise edge-fitting limits are achieved by relying on distance information, while the force perception of the handle conforms to the user's operating habits. This allows the differential control results to better match the user's pushing intention and the actual offset state of the cleaning equipment, realizing the dual linkage of the cleaning equipment's autonomous correction and the human intention prediction. This not only makes edge-fitting cleaning more responsive and faster, further preventing the floor brush component from deviating, improving the smoothness of edge-fitting cleaning and the operating experience, but also improves the continuity and consistency of the power steering wheel adjustment.

[0260] Optionally, based on the offset trend information, the speed difference between the first and second booster wheels is determined, including:

[0261] If the first assist wheel is determined to be offset away from the target obstacle based on the offset trend information, and the distance information is greater than the first preset threshold and less than or equal to the second preset threshold, the rotational speed difference between the first assist wheel and the second assist wheel is determined to be the first difference value.

[0262] If the first assist wheel is determined to be offset away from the target obstacle based on the offset trend information, and the distance information is greater than the second preset threshold and less than or equal to the third preset threshold, the rotational speed difference between the first assist wheel and the second assist wheel is determined to be the second difference value.

[0263] The first difference is smaller than the second difference.

[0264] In this application, the setting that the first difference is less than the second difference enables the cleaning equipment to adjust the driving intensity in stages according to the degree of deviation, so that the matching speed difference between the left and right assist wheels can be dynamically calculated based on the deviation trend information.

[0265] For example, after receiving the offset trend information, the controller of the cleaning equipment first determines whether the first assist wheel is offset to the side away from the target obstacle, and then matches it with the distance information and a preset threshold.

[0266] For example, when the distance information is determined to be greater than the first preset threshold and less than or equal to the second preset threshold, the controller outputs a small speed difference, i.e., the first difference, so that the two assist wheels form a gentler differential compensation; when the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the controller outputs a larger speed difference, i.e., the second difference, so that the two assist wheels form a more obvious differential compensation.

[0267] It should be noted that the method for determining the speed difference between the first and second assist wheels can refer to the description of the above embodiment, and will not be repeated here. That is, the speed difference can be determined by the difference in speed between the first and second assist wheels and / or the direction of speed.

[0268] In this way, during the operation of the cleaning equipment, after the distance detection module continuously collects the distance changes and lateral force signals between the floor brush assembly and the target obstacle to determine the offset trend information, the cleaning equipment selects the corresponding speed difference and drives the first and second assist wheels to run at different speeds, thereby enabling the floor brush assembly to resume its close-to-the-edge movement towards the target obstacle. This control method uses a smaller correction amount for slight deviations and a larger correction amount for larger deviations, ensuring that the differential speed control of the assist wheels matches the actual degree of offset.

[0269] Furthermore, by adopting the above control method, the cleaning equipment can set the speed difference of the assist wheel in a graded manner according to the offset trend information and distance information, so that the correction control during edge cleaning is more in line with the current deviation state, improves the consistency of the brush assembly in following the edge of the target obstacle, and enhances the continuity and stability of the cleaning equipment in edge cleaning.

[0270] Optionally, the method also includes:

[0271] In response to the edge detection signal, the distance detection module is activated to detect distance information.

[0272] Among them, the edge detection signal is used to characterize the state of the cleaning equipment entering edge cleaning or needing to perform edge sensing control. The edge detection signal can be generated by the cleaning equipment in combination with the handle posture, the overall movement status, the cleaning mode command or the preset trigger conditions. This application embodiment does not make specific limitations on this.

[0273] For example, in response to a user's selection operation on a button on the handle or a touch operation on the display screen of the cleaning device, an edge detection signal is generated to perform the edge detection logic described in the above embodiments.

[0274] For example, after receiving the edge detection signal, the controller of the cleaning equipment outputs an enable command to the distance detection module, switching it from standby to operating state, and begins sampling the relative distance between the floor brush assembly and the target obstacle. Then, based on the determined distance information, adaptive edge-following differential speed correction control is performed.

[0275] In this way, by setting the edge detection signal to be woken up on demand, the distance detection module only operates when edge sensing is needed, and continuously outputs distance information after activation, thus keeping edge sensing and edge control synchronized. Since the distance detection module is in a turned-off or low-power state when not in edge sensing, the detection resources of the whole machine are centrally utilized, and the cleaning equipment can adjust the edge status of the floor brush component in a timely manner based on real-time distance information.

[0276] In addition, by dynamically starting and stopping edge detection in response to edge detection signals, the edge-holding auxiliary function is intelligently triggered on demand, thereby effectively improving the intelligence level and operational efficiency of the equipment while accurately meeting users' personalized cleaning needs.

[0277] Moreover, by adopting the above method, the working time of the distance detection module can be matched with the edge cleaning task. It can obtain distance information in a timely manner when entering the edge area and provide a stable input for subsequent differential control. This makes the perception response of the cleaning equipment more coherent in the areas along the wall, column or corner, and improves the continuity and control accuracy of edge cleaning.

[0278] In conjunction with the above embodiments, Figure 6 This application provides a control logic block diagram for edge-following differential speed correction in the main control system of a floor scrubber, as shown in the embodiment. Figure 6 As shown, this control logic is applied to a cleaning device with dual-sided assist wheels, and the control logic includes the following steps:

[0279] Step A: The cleaning equipment starts the edge cleaning mode, generates an edge detection signal, and then controls the distance detection module to turn on.

[0280] Step B: The distance detection module collects the wall distance in real time and transmits the collected wall distance information to the main control system (controller).

[0281] Step C: The main control system has built-in adaptive differential calculation logic, which uses distance information to calculate the deviation of the contact distance, and then adaptively and dynamically calculates the speed difference of the two-sided booster wheels based on the deviation of the contact distance.

[0282] Specifically, the distance deviation is used to determine whether the edge-fitting distance is too small or too close to the wall, or too large or too far from the wall. When it is detected that the machine body is too close to the wall and the edge-fitting distance is too small, the speed of the assist wheel on the side closer to the wall is reduced, while the speed of the assist wheel on the side farther from the wall remains unchanged. When it is detected that the machine body is too far from the wall and the edge-fitting distance is too large, the speed difference between the two assist wheels is adaptively fine-tuned to compensate for the machine body offset. For details, please refer to the description of the above embodiment, which will not be repeated here.

[0283] Step D: Based on the determined speed difference, control the dual independent motors to perform differential drive. That is, the main control system outputs control commands to the dual independent drive motors to perform differentiated speed control, so as to calibrate the body's trajectory and maintain the standard edge spacing. And continuously execute step B.

[0284] In this way, through the above-mentioned dynamic differential compensation method, it is possible to achieve fully automatic edge correction without preset fixed speed parameters and fixed distance thresholds, so that the floor brush component can more stably clean the edge of the wall, thereby improving the cleaning coverage of the edge area and solving the problem of easy deviation when cleaning the edge of the traditional power-assisted wheel type and reliance on manual calibration.

[0285] In the foregoing embodiments, the control method for the cleaning equipment provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the cleaning equipment, as the executing entity, may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0286] For example, Figure 7 This is a schematic diagram of the structure of a control device for a cleaning equipment provided in an embodiment of this application. The cleaning equipment includes a main body.

[0287] A handle, which is rotatably connected to one end of the main body;

[0288] The floor brush assembly is rotatably connected to the other end of the main unit.

[0289] The floor brush assembly includes: a floor brush housing;

[0290] The roller brush is rotatably connected to the floor brush housing and is located in front of the cleaning equipment in the direction of travel.

[0291] The assist device is located on the side of the floor brush housing away from the roller brush; the assist device includes at least a first assist wheel and a second assist wheel, which are respectively located on the left and right sides of the main body.

[0292] The distance detection module is located on the left and right sides of the brush assembly's travel direction and is used to detect the distance information between the brush assembly and target obstacles; for example... Figure 7 As shown, the control device 700 for the cleaning equipment includes:

[0293] The determining module 701 is used to determine the speed difference between the first assist wheel and the second assist wheel based on distance information during the cleaning process of the cleaning equipment performing a cleaning task;

[0294] The control module 702 is used to adjust the rotation speed of the first and second assist wheels based on the rotation speed difference in response to the ground brush assembly moving away from the target obstacle, so as to clean the edge of the target obstacle.

[0295] Optionally, the speed difference is determined by the difference in speed between the first and second assist wheels and / or the direction of speed.

[0296] Control module 702 is specifically used for:

[0297] Differential speed control is achieved by adjusting the rotational speed between the first and second booster wheels.

[0298] And / or, by controlling the first and second booster wheels to output opposite rotational directions, the relative speed state between the first and second booster wheels can be changed.

[0299] Optionally, the speed difference is determined by the speed difference between the first and second assist wheels; the control module 702 is specifically used for:

[0300] If the distance information is determined to be greater than a first preset threshold and less than or equal to a second preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and the second rotation speed of the second assist wheel is determined to remain unchanged.

[0301] Optionally, the speed difference is determined by the speed difference between the first and second assist wheels; the control module 702 is specifically used for:

[0302] If the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to decrease to the first rotation speed, and the rotation speed of the second assist wheel is determined to increase to the third rotation speed.

[0303] Optionally, the speed difference is determined by the speed direction between the first and second assist wheels; control module 702 is specifically used for:

[0304] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the first assist wheel is determined to output a driving torque opposite to the direction of travel in the pulled-back state to the first assist wheel, and the second assist wheel is determined to output a driving torque in the same direction of travel in the pulled-back state to the second assist wheel, so that the first assist wheel and the second assist wheel generate rotational speeds in opposite directions.

[0305] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the first assist wheel is determined to output a driving torque in the same direction as the forward-pushing state to the side closest to the target obstacle, and the second assist wheel is determined to output a driving torque in the opposite direction to the forward-pushing state to the second assist wheel, so that the first assist wheel and the second assist wheel generate rotational speeds in opposite directions.

[0306] Optionally, the speed difference is determined by the difference in speed between the first and second assist wheels and the direction of speed; control module 702 is specifically used for:

[0307] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and a driving torque opposite to the direction of travel in the pulled-back state is output to the first assist wheel. The rotation speed of the second assist wheel is determined to be increased to the third rotation speed, and a driving torque in the same direction as the direction of travel in the pulled-back state is output to the second assist wheel.

[0308] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and the driving torque is output to the first assist wheel in the same direction as the forward-pushing state. The rotation speed of the second assist wheel is determined to be increased to the third rotation speed, and the driving torque is output to the second assist wheel in the opposite direction to the forward-pushing state.

[0309] Optionally, the speed difference is determined by the difference in speed between the first and second assist wheels and the direction of speed; control module 702 is specifically used for:

[0310] When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than the second preset threshold and less than or equal to the third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to the first rotation speed, and a driving torque opposite to the direction of travel in the pulled-back state is output to the first assist wheel, and the second rotation speed of the second assist wheel is determined to remain unchanged, and a driving torque in the same direction of travel in the pulled-back state is output to the second assist wheel.

[0311] When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and a driving torque in the same direction as the forward-pushing state is output to the first assist wheel. The second rotation speed of the second assist wheel is determined to remain unchanged, and a driving torque in the opposite direction to the forward-pushing state is output to the second assist wheel.

[0312] Optionally, the assist device may also include an assist motor, and the control module 702 includes a determining unit for:

[0313] Determine that the drive parameters of the assist motor are reduced to the target value so that the rotational speed of the first assist wheel on the side closest to the target obstacle is reduced to the first rotational speed;

[0314] The driving parameters include at least one of the following: output voltage, output current, pulse width modulation (PWM) duty cycle, or output frequency.

[0315] Optionally, the distance detection module includes a transmitter and a receiver. The transmitter is used to emit signals towards the target obstacle, and the receiver is used to receive signals reflected from the target obstacle. The distance information is determined in the following way:

[0316] The distances between the ground brush assembly and the target obstacle are calculated using the signals transmitted from the transmitter and the receiver.

[0317] Distance information is determined based on multiple distances, where the distance information is the minimum value among these multiple distances.

[0318] Optionally, the control device 700 of the cleaning equipment further includes a determining module, which is used for:

[0319] Acquire the lateral force signal of the handle;

[0320] Based on distance information and lateral force signals, the offset trend information of the ground brush component is determined;

[0321] Based on the offset trend information, the speed difference between the first and second booster wheels is determined.

[0322] Optional, determine the module, specifically used for:

[0323] If the first assist wheel is determined to be offset away from the target obstacle based on the offset trend information, and the distance information is greater than the first preset threshold and less than or equal to the second preset threshold, the rotational speed difference between the first assist wheel and the second assist wheel is determined to be the first difference value.

[0324] If the first assist wheel is determined to be offset away from the target obstacle based on the offset trend information, and the distance information is greater than the second preset threshold and less than or equal to the third preset threshold, the rotational speed difference between the first assist wheel and the second assist wheel is determined to be the second difference value.

[0325] The first difference is smaller than the second difference.

[0326] Optionally, the control device 700 of the cleaning equipment also includes a detection module, which is used for:

[0327] In response to the edge detection signal, the distance detection module is activated to detect distance information.

[0328] It should be noted that the specific implementation principle and effect of the control device 700 of the above-mentioned cleaning equipment can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0329] This application also provides an electronic device. Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 8 As shown, the electronic device may include: a processor 801 and a memory 802 communicatively connected to the processor 801; the memory 802 stores a computer program; the processor 801 executes the computer program stored in the memory 802, causing the processor 801 to perform the method described in any of the above embodiments.

[0330] The memory 802 and the processor 801 can be connected via bus 803.

[0331] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0332] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0333] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0334] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0335] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0336] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0337] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0338] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0339] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0340] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0341] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0342] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0343] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0344] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0345] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0346] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0347] The above are merely specific implementations of the embodiments of this application, but the protection scope of the embodiments of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of this application should be covered within the protection scope of the embodiments of this application.

Claims

1. A control method for cleaning equipment, characterized in that, The cleaning equipment includes a main body; A handle, which is rotatably connected to one end of the main body; A floor brush assembly, which is rotatably connected to the other end of the main body; The floor brush assembly includes: a floor brush housing; A roller brush, which is rotatably connected to the floor brush housing and is located at the front of the cleaning device in the direction of travel; An assist device is located on the side of the floor brush housing away from the roller brush; the assist device includes at least a first assist wheel and a second assist wheel, which are respectively disposed on the left and right sides of the main body; A distance detection module, wherein the distance detection module is disposed on the left and right sides of the travel direction of the ground brush assembly, and is used to detect the distance information between the ground brush assembly and the target obstacle; the method includes: During the cleaning process, the difference in rotational speed between the first assist wheel and the second assist wheel is determined based on the distance information. In response to the brush assembly moving away from the target obstacle, the rotational speeds of the first and second assist wheels are adjusted based on the speed difference to clean the edge of the target obstacle.

2. The method according to claim 1, characterized in that, The speed difference is determined by the difference in speed magnitude and / or the direction of speed between the first assist wheel and the second assist wheel; The adjustment of the rotational speeds of the first and second assist wheels based on the rotational speed difference includes: Differential speed control is achieved by adjusting the rotational speed between the first and second booster wheels. And / or, by controlling the first and second booster wheels to output opposite rotational directions, the relative rotational speed between the first and second booster wheels can be changed.

3. The method according to claim 2, characterized in that, The speed difference is determined by the difference in speed between the first and second assist wheels; determining the speed difference between the first and second assist wheels based on the distance information includes: If the distance information is determined to be greater than a first preset threshold and less than or equal to a second preset threshold, the rotational speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotational speed, and the second rotational speed of the second assist wheel is determined to remain unchanged.

4. The method according to claim 2, characterized in that, The speed difference is determined by the difference in speed between the first and second assist wheels; determining the speed difference between the first and second assist wheels based on the distance information includes: If the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the rotational speed of the first assist wheel on the side closer to the target obstacle is determined to decrease to a first rotational speed, and the rotational speed of the second assist wheel is determined to increase to a third rotational speed.

5. The method according to claim 2, characterized in that, The speed difference is determined by the rotational direction between the first and second assist wheels; determining the speed difference between the first and second assist wheels based on the distance information includes: When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the first assist wheel is determined to output a driving torque opposite to the direction of travel in the pulled-back state to the first assist wheel on the side closer to the target obstacle, and the second assist wheel is determined to output a driving torque in the same direction of travel in the pulled-back state to the second assist wheel, so that the first assist wheel and the second assist wheel generate rotational speeds in opposite directions. When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the first assist wheel closest to the target obstacle is given a driving torque in the same direction as the forward-pushing state, and the second assist wheel is given a driving torque opposite to the forward-pushing state, so that the first assist wheel and the second assist wheel rotate in opposite directions.

6. The method according to claim 2, characterized in that, The speed difference is determined by the difference in speed magnitude and direction between the first and second assist wheels; determining the speed difference between the first and second assist wheels based on the distance information includes: When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and a driving torque opposite to the direction of travel in the pulled-back state is output to the first assist wheel. The rotation speed of the second assist wheel is determined to be increased to a third rotation speed, and a driving torque in the same direction as the direction of travel in the pulled-back state is output to the second assist wheel. When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and a driving torque in the same direction as the forward-pushing state is output to the first assist wheel. The rotation speed of the second assist wheel is determined to be increased to a third rotation speed, and a driving torque in the opposite direction to the forward-pushing state is output to the second assist wheel.

7. The method according to claim 2, characterized in that, The speed difference is determined by the difference in speed magnitude and direction between the first and second assist wheels; determining the speed difference between the first and second assist wheels based on the distance information includes: When the cleaning device is detected to be in a pulled-back state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and a driving torque opposite to the direction of travel in the pulled-back state is output to the first assist wheel, and the second rotation speed of the second assist wheel is determined to remain unchanged, and a driving torque in the same direction of travel in the pulled-back state is output to the second assist wheel. When the cleaning device is detected to be in a forward-pushing state, and the distance information is determined to be greater than a second preset threshold and less than or equal to a third preset threshold, the rotation speed of the first assist wheel on the side closer to the target obstacle is determined to be reduced to a first rotation speed, and a driving torque in the same direction as the forward-pushing state is output to the first assist wheel. The second rotation speed of the second assist wheel is determined to remain unchanged, and a driving torque in the opposite direction to the forward-pushing state is output to the second assist wheel.

8. The method according to claim 3, 4, 6 or 7, characterized in that, The assist device further includes an assist motor, wherein the rotational speed of the first assist wheel closest to the target obstacle is reduced to a first rotational speed, including: The drive parameters of the assist motor are determined to be reduced to a target value so that the rotational speed of the first assist wheel on the side closest to the target obstacle is reduced to the first rotational speed; The driving parameters include at least one of output voltage, output current, pulse width modulation (PWM) duty cycle, or output frequency.

9. The method according to claim 1, characterized in that, The distance detection module includes a transmitter and a receiver. The transmitter is used to transmit a signal to the target obstacle, and the receiver is used to receive the signal reflected by the target obstacle. The distance information is determined in the following way: The distances between the ground brush assembly and the target obstacle are calculated using the signals transmitted by the transmitter and the receiver. The distance information is determined based on the plurality of distances, wherein the distance information is the minimum value among the plurality of distances.

10. The method according to claim 1, characterized in that, The method also includes Collect the lateral force signal of the handle; Based on the distance information and the lateral force signal, the offset trend information of the floor brush assembly is determined; Based on the offset trend information, the speed difference between the first booster wheel and the second booster wheel is determined.

11. The method according to claim 10, characterized in that, Determining the speed difference between the first and second assist wheels based on the offset trend information includes: If, based on the offset trend information, it is determined that the first assist wheel is offset to the side away from the target obstacle, and the distance information is greater than a first preset threshold and less than or equal to a second preset threshold, the rotational speed difference between the first assist wheel and the second assist wheel is determined to be the first difference. If, based on the offset trend information, it is determined that the first assist wheel is offset to the side away from the target obstacle, and the distance information is greater than a second preset threshold and less than or equal to a third preset threshold, the rotational speed difference between the first assist wheel and the second assist wheel is determined to be the second difference. Wherein, the first difference is less than the second difference.

12. The method according to claim 1, characterized in that, The method further includes: In response to the edge detection signal, the distance detection module is activated to detect the distance information.

13. A control device for cleaning equipment, characterized in that, The cleaning equipment includes a main body; A handle, which is rotatably connected to one end of the main body; A floor brush assembly, which is rotatably connected to the other end of the main body; The floor brush assembly includes: a floor brush housing; A roller brush, which is rotatably connected to the floor brush housing and is located at the front of the cleaning device in the direction of travel; An assist device is located on the side of the floor brush housing away from the roller brush; the assist device includes at least a first assist wheel and a second assist wheel, which are respectively disposed on the left and right sides of the main body; A distance detection module, wherein the distance detection module is disposed on the left and right sides of the travel direction of the ground brush assembly, and is used to detect the distance information between the ground brush assembly and the target obstacle; the device includes: The determining module is used to determine the speed difference between the first assist wheel and the second assist wheel based on the distance information during the cleaning process of the cleaning equipment performing the cleaning task; A control module is configured to adjust the rotational speeds of the first and second assist wheels based on the rotational speed difference in response to the brush assembly moving away from the target obstacle, so as to clean the edge of the target obstacle.

14. A cleaning device, characterized in that, The cleaning equipment includes a main body; A handle, which is rotatably connected to one end of the main body; A floor brush assembly, which is rotatably connected to the other end of the main body; The floor brush assembly includes: a floor brush housing; A roller brush, which is rotatably connected to the floor brush housing and is located at the front of the cleaning device in the direction of travel; An assist device is located on the side of the floor brush housing away from the roller brush; the assist device includes at least a first assist wheel and a second assist wheel, which are respectively disposed on the left and right sides of the main body; A distance detection module is disposed on the left and right sides of the travel direction of the ground brush assembly, and is used to detect the distance information between the ground brush assembly and the target obstacle; The cleaning equipment is used to perform the method as described in any one of claims 1-12.

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