Roller device and cleaning equipment

Abstract

The utility model provides a roller device and cleaning equipment. The roller device is used for the cleaning equipment and comprises a roller, the roller makes contact with a to-be-cleaned face in the operation process of the cleaning equipment, a mark set is arranged on the side face of the roller, and the mark set shows different change rules in the forward rotation process and the reverse rotation process of the roller; the detection device is used for monitoring the change rule of the mark group in the rotating process of the roller; the power-assisted motor is connected with the roller and used for being controlled to provide forward rotation or reverse rotation power for the roller; and the controller is electrically connected with the detection device and the power-assisted motor, and the controller is used for controlling the power-assisted motor according to the change rule of the mark group in the rotating process of the roller. Therefore, the current rotation direction of the roller can be accurately determined according to the change rule of the identification group detected by the detection device, and the roller is driven according to the change rule, so that the accuracy of roller direction control is guaranteed, power-assisted control in the use process of the cleaning equipment is realized, the operation difficulty of the cleaning equipment is reduced, and the user experience is improved.

Description

Technical Field

[0001] This utility model relates to the field of electrical technology, and in particular to a roller device and a cleaning equipment. Background Technology

[0002] With the continuous development of technology, mobile floor scrubbers, vacuum cleaners, and other cleaning equipment have gradually become widely used. These cleaning devices require users to continuously apply force to move them. In actual use, especially when the equipment itself is heavy, the surface to be cleaned has high friction, or it needs to be used continuously for extended periods, the equipment is quite laborious to use and difficult to operate, resulting in a poor user experience. Utility Model Content

[0003] This application provides a roller device and a cleaning device to enable assisted control during the use of the cleaning device, thereby reducing the difficulty of operating the cleaning device and improving the user experience.

[0004] This application provides a roller device for cleaning equipment. The roller device includes: a roller that contacts the surface to be cleaned during the operation of the cleaning equipment; a set of marks is provided on the side of the roller, and the marks exhibit different changing patterns during the forward and reverse rotation of the roller; a detection device for monitoring the changing patterns of the marks during the rotation of the roller; an assist motor connected to the roller for controlling the forward or reverse rotation of the roller; and a controller electrically connected to the detection device and the assist motor, which controls the assist motor according to the changing patterns of the marks during the rotation of the roller.

[0005] Optionally, the marking group includes marking elements; the detection device is an optical sensing device, including a transmitter and a receiver; the marking element is a reflector disposed on the side surface of the roller, and the transmitter and receiver are disposed on the same side of the side surface; or, the marking element is an opening formed on the side surface of the roller, and the transmitter and receiver are disposed at corresponding positions on the same side or different sides of the side surface.

[0006] Optionally, the marking group includes multiple markers within the monitoring range of the same detection device; on the projection plane perpendicular to the rotation axis of the roller, the positions of each marker are asymmetrical with respect to all straight lines passing through the center of the roller.

[0007] Optionally, the distance between two adjacent markers gradually increases or decreases in a clockwise direction.

[0008] Optionally, the marking group includes at least two groups, and each marking group includes marking elements; the number of detection devices corresponds to the number of marking groups, and the monitoring range of each detection device corresponds one-to-one with each marking group; on the projection plane perpendicular to the rotation axis of the roller, the positions of each marking element relative to all straight lines passing through the center of the roller are asymmetrical.

[0009] Optionally, the marking group includes two marking elements, which are reflective elements. The two reflective elements have different reflection effects, and the lines connecting the centers of the two reflective elements to the projection center of the roller are different straight lines.

[0010] Optionally, the marking group includes at least three marking elements, which are reflective elements, and at least some of the reflective elements have different reflective effects; on the projection plane perpendicular to the rotation axis of the roller, the position of each reflective element is symmetrical with respect to the position of at least one straight line passing through the center of the roller, and there are reflective elements with different reflective effects in symmetrical positions on both sides of any axis of symmetry.

[0011] Optionally, the reflective effects of each reflector may differ.

[0012] The roller device provided in this application has a set of markers on the side of the roller that exhibit different changing patterns during forward and reverse rotation, and a monitoring device for monitoring the changing patterns of these markers. During the use of the cleaning equipment, the roller rotates, and the controller can accurately determine the current rotation direction of the roller based on the changing patterns of the markers detected by the monitoring device. This allows for the control of the assist motor to drive the roller, ensuring accurate roller direction control and providing assisted control during the use of the cleaning equipment. This reduces the difficulty of operating the cleaning equipment and improves the user experience.

[0013] This application provides a roller device, comprising: a roller that contacts the surface to be cleaned during the operation of a cleaning device; a marking group is provided on the side of the roller, the marking group including multiple markers; the marking group exhibits the same changing pattern during the forward and reverse rotation of the roller; a first detection device and a second detection device for detecting the changing pattern of the same marking group; wherein, on a projection plane perpendicular to the rotation axis of the roller, there are N axes of symmetry passing through the center, the N axes of symmetry dividing the projection plane into 2N sub-regions; the circumferential distance between the projection points of the first detection device and the second detection device on the projection plane is not an integer multiple of the circumferential length of the sub-region; an assist motor connected to the roller for controlled forward or reverse rotation power for the roller; and a controller electrically connected to the first detection device, the second detection device, and the assist motor for controlling the assist motor according to the changing pattern of the marking group monitored by the first and second detection devices.

[0014] Optionally, all markers within a marker group are evenly distributed circumferentially.

[0015] This application provides a cleaning device, including the aforementioned roller device. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in one embodiment of this application;

[0017] Figure 2 This is a schematic diagram of the roller device provided in one embodiment of this application;

[0018] Figure 3-1 This is a schematic diagram showing the position of a roller device provided in one embodiment of this application;

[0019] Figure 3-2 This is a schematic diagram showing the position of the roller device provided in another embodiment of this application;

[0020] Figure 4 This is a schematic diagram of the distribution of identifier groups provided in one embodiment of this application;

[0021] Figure 5-1 This is a schematic diagram illustrating the changing pattern of the identifier group provided in one embodiment of this application;

[0022] Figure 5-2 This is a schematic diagram illustrating the variation pattern of the identifier group provided in another embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the distribution of identifier groups provided in another embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the distribution of identifier groups provided in another embodiment of this application;

[0025] Figure 8-1 This is a schematic diagram illustrating the variation pattern of the identifier group provided in another embodiment of this application;

[0026] Figure 8-2 This is a schematic diagram illustrating the variation pattern of the identifier group provided in another embodiment of this application;

[0027] Figure 9 This is a schematic diagram of the distribution of identifier groups provided in another embodiment of this application;

[0028] Figure 10-1 This is a schematic diagram illustrating the variation pattern of the identifier group provided in another embodiment of this application;

[0029] Figure 10-2 This is a schematic diagram illustrating the variation pattern of the identifier group provided in another embodiment of this application;

[0030] Figure 11 This is a schematic diagram of the distribution of identifier groups provided in another embodiment of this application;

[0031] Figure 12-1 This is a schematic diagram illustrating the variation pattern of the identifier group provided in another embodiment of this application;

[0032] Figure 12-2This is a schematic diagram illustrating the variation pattern of the identifier group provided in another embodiment of this application;

[0033] Figure 13 This is a schematic diagram of the roller device provided in another embodiment of this application;

[0034] Figure 14 This is a schematic diagram of the distribution of identifier groups provided in another embodiment of this application;

[0035] Figure 15-1 This is a schematic diagram illustrating the variation pattern of the identifier group provided in another embodiment of this application;

[0036] Figure 15-2 This is a schematic diagram illustrating the changing pattern of the identifier group provided in another embodiment of this application.

[0037] Figure Labels

[0038] 10: Roller; 20: Detection device; 201: Transmitter; 202: Receiver; 30: Assist motor; 40: Controller; 21: First detection device; 22: Second detection device. Detailed Implementation

[0039] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings.

[0040] Combination Figures 1 to 2 As shown in the figure, this application provides a cleaning device, which can be a floor scrubber, vacuum cleaner, carpet cleaner, mite remover, etc. The cleaning device includes a roller device.

[0041] This application provides a roller device, comprising: a roller 10, a detection device 20, an assist motor 30 connected to the roller 10, and a controller 40 electrically connected to the detection device 20 and the assist motor 30. The roller 10 contacts the surface to be cleaned during the operation of the cleaning equipment and can be controlled to rotate forward or in reverse. The surface to be cleaned is, for example, a floor, carpet, or bed surface. A set of markers is provided on the side of the roller 10, and the markers exhibit different changing patterns during the forward and reverse rotation of the roller 10. At least one detection device 20 is provided to monitor the changing patterns of the markers during the rotation of the roller 10. The assist motor 30 is used to controllably provide forward or reverse rotation power to the roller 10. The controller 40 controls the assist motor 30 according to the changing patterns of the markers during the rotation of the roller 10, thereby providing forward or reverse rotation power to the roller 10.

[0042] The roller device provided in this application embodiment has a set of markers on the side of the roller 10 that exhibit different changing patterns during forward and reverse rotation, and a detection device 20 for monitoring the changing patterns of these markers. During the use of the cleaning equipment, the roller 10 rotates, and the controller 40 accurately determines the current rotation direction of the roller 10 based on the changing patterns of the markers detected by the detection device 20. Controlling the assist motor 30 accordingly to drive the roller 10 helps ensure the accuracy of the roller 10's directional control, achieving assisted control during the use of the cleaning equipment, thereby reducing the operational difficulty of the cleaning equipment and improving the user experience.

[0043] The control of the assist motor 30 based on the changing pattern of the marker during the rotation of the roller 10 includes: determining the current rotation direction of the roller 10 based on the changing pattern of the marker during the rotation of the roller 10, and controlling the assist motor 30 to provide power to the roller 10 so as to drive the roller 10 to rotate in the same direction as the current rotation direction.

[0044] Specifically, in combination Figure 3-1 and Figure 3-2 As shown, the aforementioned detection device 20 is an optical sensing device, including a transmitter 201 and a receiver 202. The reflector is used to emit detection light, and the receiver 202 is used to receive the light. The detection device 20 also includes a fixing structure for the transmitter 201 and the receiver 202 to fix the transmitter 201 and the receiver 202 to the roller 10 and rotate synchronously.

[0045] The aforementioned group of markers includes marker elements.

[0046] In some embodiments, such as Figure 3-1 As shown, the marker is a reflector disposed on the side surface of the roller 10. The transmitter 201 and receiver 202 are disposed on the same side of this side surface, and there is no obstruction between the transmitter 201, receiver 202 and the side surface on which the transmitter is disposed. During the operation of the monitoring function of the detection device 20, the transmitter 201 emits detection light towards the side surface of the roller 10 on which the reflector is disposed. If the detection light shines on the reflector, it is reflected back to the transmitter 201, and the receiver 202 can receive the reflected light. If the detection light shines on an area of ​​the side surface of the roller 10 where no reflector is disposed, the detection light is scattered or refracted, and the receiver 202 receives less reflected light, which is different from the case where the detection light is reflected by the reflector. Based on the light reception of the receiver 202, it can be determined whether the detection light emitted by the transmitter 201 shines on the reflector. Based on the reception of the receiver 202 over a period of time, the current position arrangement of the reflector can be determined, that is, the change pattern of the marker group under the current rotation direction of the roller 10 can be determined.

[0047] In some embodiments, the reflector is a reflective light strip.

[0048] In some embodiments, reflectors are disposed on the inner surface of the roller 10. The roller 10 includes an inner surface and an outer surface, with the inner surface being the side furthest from the external environment. An optical sensor is disposed inside the roller 10. This approach, on the one hand, avoids the influence of the condition of the surface to be cleaned on the reflection determination, thus ensuring the accuracy of the reflection pattern; on the other hand, it helps to prevent damage to the reflectors and the optical sensor.

[0049] In some embodiments, the marker is an opening formed on the side surface of the roller 10, which allows light to pass through.

[0050] In some embodiments, such as Figure 3-1 As shown, the transmitter 201 and receiver 202 are disposed on the same side of the side surface. During the operation of the monitoring function of the detection device 20, the transmitter 201 emits detection light towards the side surface of the roller 10 with the opening. If the light shines on the opening, the detection light passes directly through the opening and is not reflected, and the receiver 202 cannot receive the light reflected back. If the detection light shines on the unopened position, part of the detection light is reflected, and the receiver 202 can receive part of the light reflected back. The two situations are different. Based on the light reception of the receiver 202, it can be determined whether the detection light emitted by the transmitter 201 shines on the opening. Based on the light reception of the receiver 202 over a period of time, the current position arrangement of the opening can be determined, that is, the change pattern of the marker group under the current rotation direction of the roller 10 can be determined. Further, in some embodiments, both the transmitter 201 and the receiver 202 are disposed inside the roller 10.

[0051] In some embodiments, such as Figure 3-2 As shown, the transmitter 201 and receiver 202 are positioned at corresponding locations on different sides of the surface. During the monitoring function of the detection device 20, the transmitter 201 emits detection light towards the side surface of the roller 10 with the opening. If the light shines on the opening, it passes directly through, and the receiver 202 receives a relatively complete beam. If the light shines on a non-opening location, the detection device 20 is blocked, and the receiver 202 cannot receive the light. The two situations are different. Based on the light reception of the receiver 202, it can be determined whether the detection light emitted by the transmitter 201 shines on the opening. Based on the light reception of the receiver 202 over a period of time, the current arrangement of the openings can be determined, i.e., the changing pattern of the marker group under the current rotation direction of the roller 10. It should be noted here that... Figure 3-2 The above is for illustrative purposes only and does not imply that the transmitter 201 must be located inside the roller 10 or the receiver 202 must be located outside the roller 10.

[0052] Combination Figure 4 As shown, this application provides an embodiment. The marking group includes multiple markings within the monitoring range of the same detection device 20; on a projection plane perpendicular to the rotation axis of the roller 10, the positions of each marking relative to all straight lines passing through the center of the roller 10 are asymmetrical. During the movement of the cleaning equipment, the roller 10 rotates continuously. The detection range of a fixed detection device 20 is an annular area, which can only detect changes in multiple markings at least approximately the same distance from the center. These markings are the multiple markings within the monitoring range of the same detection device 20. In this embodiment, multiple markings within the monitoring range of the same detection device 20 are provided on the side of the roller 10. Projecting these markings onto a projection plane perpendicular to the rotation axis of the roller 10, no straight line passing through the center can make the positions of the markings on both sides of the line completely symmetrical. This ensures that the marking group exhibits different changing patterns during the forward and reverse rotation of the roller 10. Figure 4 As an example, markers A1, A2, and A3 are all equidistant from the center of the circle and are within the monitoring range of the same detection device 20. However, the distances between adjacent markers in the circumferential direction are not equal.

[0053] For ease of explanation, a high-level signal is used to indicate that the detection device 20 has detected the tag, and a low-level signal is used to indicate that it has not detected the tag. Figure 4 Taking the configuration of the middle identifier group as an example, if the level change detected by the detection device 20 is as follows: Figure 5-1 As shown, the presence of multiple low-level change cycles with gradually increasing duration indicates that the current rotation direction of roller 10 is... Figure 4 The corresponding direction is clockwise; if the level change detected by the detection device 20 is as follows... Figure 5-2 As shown, there are multiple low-level change cycles with gradually decreasing durations, so the current rotation direction of roller 10 corresponds to... Figure 4 The counterclockwise direction.

[0054] Thus, during the forward and reverse rotation of the roller 10, the detection device 20 detects different patterns in the time interval between adjacent markers, and the current direction of the roller 10 can be accurately identified based on the pattern of the marker group's change.

[0055] It is understandable that if, during implementation, there are more than three markers within the monitoring range of the same detection device 20, the distances between adjacent markers are not necessarily unequal. The requirement is that the positions of each marker relative to all straight lines passing through the center of the circle of roller 10 are asymmetrical.

[0056] In some embodiments, the distance between two adjacent markers gradually increases or decreases in a clockwise direction. This further defines the positional distribution of the markers, setting the distribution pattern of multiple markers to increase or decrease sequentially in a clockwise direction during one rotation of the roller 10. Based on the change pattern of the marker group in a certain area, it is possible to distinguish whether the current process is forward or reverse, without being limited to the roller 10 completing one full clockwise or reverse rotation.

[0057] In some embodiments, combined with Figure 6 and Figure 7 As shown, the marking group includes at least two groups, and each marking group includes marking elements; the number of detection devices 20 corresponds to the number of marking groups, and the monitoring range of each detection device 20 corresponds one-to-one with each marking group; on the projection plane perpendicular to the rotation axis of the roller 10, the positions of each marking element relative to all straight lines passing through the center of the roller 10 are asymmetrical. In this way, the rotation direction of the roller 10 can be accurately determined by the monitoring of the detection devices 20.

[0058] It should be noted that the position of each marker relative to all straight lines passing through the center of the circle of roller 10 is asymmetrical. This applies to all markers within multiple marker groups. Each marker within the same marker group does not necessarily have to satisfy the condition that it is asymmetrical relative to all straight lines passing through the center of the circle of roller 10.

[0059] For example Figure 7 As shown, markers B1, B2, B3, and B4 belong to the same marker group; markers C1, C2, C3, and C4 belong to the same marker group. Although markers within the same group are indistinguishable during the forward and reverse rotation of roller 10, due to a certain deviation between the two marker groups, the changing patterns of the markers differ between the forward and reverse rotations of roller 10 after combining the signals obtained from the two detection devices 20. Specifically, combining... Figure 8-1 and Figure 8-2 As shown, markers B1, B2, B3, and B4 belong to marker group B, and markers C1, C2, C3, and C4 belong to marker group C. After the signals detected by the detection device 20 for monitoring the changing patterns of marker group B and the detection device 20 for monitoring the changing patterns of marker group C are synchronized in time, the phase difference between them can be determined. Even if the markers within both marker groups are evenly distributed, making it impossible to distinguish between clockwise and counterclockwise rotation, the current rotation direction of the roller 10 can be determined by the change in phase difference. If the level change detected by the detection device 20 is as follows... Figure 8-1As shown, this indicates that during the rotation of roller 10, marker C1 is detected first, followed by marker B1. Therefore, the current rotation direction of roller 10 is... Figure 7 The corresponding direction is clockwise; if the level change detected by the detection device 20 is as follows... Figure 8-2 As shown, this indicates that during the rotation of roller 10, marker B1 is detected first, followed by marker C1, and the current rotation direction of roller 10 is... Figure 7 The middle corresponds to counterclockwise.

[0060] The markers in the aforementioned embodiments can be either reflective elements or openings. Compared to openings, reflective elements can differ in their reflective effect, in addition to their location. The reflective elements in the aforementioned embodiments can be reflective elements with the same reflective effect or reflective elements with different reflective effects. The following is a further explanation of the placement method when the markers in the marker group are reflective elements.

[0061] Combination Figure 9 As shown, in some embodiments, the marker group includes two reflectors with different reflective effects, and the lines connecting the centers of the two reflectors to the projection center of the roller 10 are not straight lines. That is, when the marker group includes two reflectors with different reflective effects, the positions of the two reflectors only need to satisfy that they are not on the same straight line. It is understood that because the two reflectors are not on the same straight line, there are two different time intervals between the detection of adjacent reflectors during the rotation of the roller 10. Because the two reflectors have different reflective effects, the reflector currently detected by the detection device 20 can be identified, and the sequence of two reflectors with relatively short time intervals can reflect the current direction of rotation of the roller 10. For example... Figure 9 The indicated group of markers includes two reflectors, reflector D1 and reflector D2. If detected... Figure 10-1 As shown, if reflector D1 is detected before reflector D2 between two reflectors with a short time interval, then the current rotation direction of roller 10 corresponds to... Figure 9 The clockwise direction in the middle; if the detection results are as follows Figure 10-2 As shown, if reflector D2 is detected before reflector D1 between two reflectors with a short time interval, then the current rotation direction of roller 10 corresponds to... Figure 9 The direction is counterclockwise. This way, only two reflectors are needed to accurately determine whether the roller 10 is rotating clockwise or counterclockwise, which simplifies the structure.

[0062] Combination Figure 11As shown, in some embodiments, the marking group includes at least three reflectors, and at least some of the reflectors have different reflective effects. On a projection plane perpendicular to the rotation axis of the roller 10, the position of each reflector is symmetrical with respect to at least one straight line passing through the center of the roller 10, and there are reflectors with different reflective effects in symmetrical positions on both sides of any axis of symmetry.

[0063] For example Figure 11 The indicated group includes reflectors E1, E2, E3, and E4, with equal distances between adjacent reflectors. The axis of symmetry for each reflector is a straight line passing through the midpoint of the line connecting reflectors E2 and E3 and the center of the circle. This group of reflectors satisfies at least one of the following: reflectors E2 and E3 have different reflective effects, and reflectors E1 and E4 have different reflective effects. For example, if reflector E1 has one reflective effect, and reflectors E2, E3, and E4 have another reflective effect, then the detection device 20 can distinguish E1 from other reflectors. Combined with the time interval between adjacent reflectors, the current rotation of the roller 10 (clockwise or counterclockwise) can be determined. For example... Figure 12-1 In the process, among multiple reflectors with relatively close time intervals, the detection device 20 first detects other reflectors, and then detects reflector E1, indicating that the current rotation direction of the roller 10 corresponds to... Figure 11 Clockwise direction; Figure 12-2 In the process, among multiple reflectors with relatively close time intervals, the detection device 20 detects reflector E1 first, and then detects the other reflectors, indicating that the current rotation direction of the roller 10 corresponds to... Figure 11 The direction is counterclockwise. This ensures that the clockwise and counterclockwise rotation of the roller 10 can be identified based on the changing pattern of the marking group monitored by the detection device 20.

[0064] In some embodiments, the marker group includes at least three marker elements, each of which is reflective and has a different reflective effect. For example... Figure 11 The reflectors E1, E2, E3, and E4 shown all have different reflective effects. Therefore, each reflector can be distinguished based on the light detected by the detection device 20. If a pattern of reflector E4-E3-E2-E4 is detected within the marked group, the rotation direction of the current roller 10 is determined to be... Figure 11 Clockwise. If a change in the pattern of reflector E1-reflector E2-reflector E3-reflector E4 is detected within the identifier group, then the current rotation direction of roller 10 is determined to be clockwise. Figure 11 The rotation is counterclockwise. This allows for accurate differentiation between clockwise and counterclockwise rotation of the roller 10 based on the changes in the reflector's movement during rotation, which helps ensure the accuracy of subsequent power assist control.

[0065] Combination Figure 13 As shown, this application embodiment provides another roller device, which includes: a roller 10, a first detection device 21, a second detection device 22, an assist motor 30 connected to the roller 10, and a controller 40 electrically connected to the first detection device 21, the second detection device 22 and the assist motor 30.

[0066] The roller 10 contacts the surface to be cleaned during the operation of the cleaning equipment. A marking group, consisting of multiple markers, is provided on the side of the roller 10. This marking group exhibits the same changing pattern during both forward and reverse rotation of the roller 10. A first detection device 21 and a second detection device 22 monitor the changing pattern of the same marking group. An assist motor 30 is used to controllably provide forward or reverse rotation power to the roller 10. A controller 40 controls the assist motor 30 based on the changing pattern of the marking group monitored by the first and second detection devices 21 and 22, thereby providing forward or reverse rotation power to the roller 10. On a projection plane perpendicular to the rotation axis of the roller 10, there are N axes of symmetry passing through the center of the circle. These N axes of symmetry divide the projection plane into 2N sub-regions. The circumferential distance between the projection points of the first and second detection devices 21 and 22 on the projection plane is not an integer multiple of the circumferential length of the sub-region.

[0067] Understandably, in order for the first detection device 21 and the second detection device 22 to monitor the changing patterns of the same set of marks, on a projection plane perpendicular to the rotation axis of the roller 10, with the projection center of the roller 10 as the center, the projection points of the first detection device 21 and the second detection device 22 on the projection plane are on the same circumference. Here, the circumferential length of the sub-region is the circumferential length of the sub-region on that circle.

[0068] The roller device provided in this application embodiment has a marking group on the side of the roller 10. The changing pattern of this marking group can be monitored by both the first detection device 21 and the second detection device 22. However, since the first detection device 21 and the second detection device 22 are located in different positions, the time sequence in which the first detection device 21 and the second detection device 22 detect the same changing pattern differs under different rotation directions of the roller 10. Based on the changing pattern of the marking group monitored by the first detection device 21 and the second detection device 22, the current rotation direction of the roller 10 can be determined. Controlling the assist motor 30 to drive the roller 10 accordingly helps ensure the accuracy of the roller 10's directional control, achieving assisted control during the use of the cleaning equipment, thereby reducing the operational difficulty of the cleaning equipment and improving the user experience.

[0069] The process of controlling the assist motor 30 to provide forward or reverse rotation power to the roller 10 based on the changing pattern of the marker group monitored by the first detection device 21 and the second detection device 22 includes: determining the current rotation direction of the roller 10 based on the time distribution of the changing pattern of the marker group detected by the first detection device 21 and the second detection device 22 during the rotation of the roller 10, and controlling the assist motor 30 to provide power to the roller 10 so as to drive the roller 10 to rotate in the same direction as the current rotation direction.

[0070] Similar to the previous embodiments, both the first detection device 21 and the second detection device 22 here are optical sensing devices including a receiver 202 and a transmitter 201. In some embodiments, the marker is a reflector disposed on the side surface of the roller 10, and the transmitter 201 and the receiver 202 are disposed on the same side of the side surface, with no obstruction between the transmitter 201, the receiver 202 and the side surface on which the transmitter is disposed. In some embodiments, the marker is an opening formed in the side surface of the roller 10, allowing light to pass through. The transmitter 201 and the receiver 202 are disposed at corresponding positions on the same side or different sides of the side surface.

[0071] The placement of the first detection device 21 and the second detection device 22 will be further explained here. If the current marking group includes multiple marking elements and exhibits the same pattern of change during the forward and reverse rotation of the roller 10, then the current marking elements' positional distribution must be axially symmetrical. The number of axes of symmetry varies depending on the distribution of the marking elements; there may be multiple non-overlapping axes of symmetry passing through the center of the circle, resulting in complete symmetry on both sides. N represents the total number of non-overlapping axes of symmetry passing through the center of the circle, and these N axes of symmetry divide the projection plane into 2N regions.

[0072] like Figure 14 The marked group shown includes markers F1, F2, F3, and F4, with equal circumferential distances between adjacent markers. There are four non-overlapping axes of symmetry, dividing the projection plane into eight regions. It can be understood that, due to the uniform distribution of these markers, the marked group changes cyclically with a certain period during the rotation of the roller 10. If the first detection device 21 and the second detection device 22 detect exactly an integer multiple or half of the period, then the forward and reverse rotation of the roller 10 cannot be distinguished by comparing the two patterns of change.

[0073] like Figure 15-1 In the middle, if the position of the first detection device 21 is set to correspond to Figure 14 Position a in the middle, the second detection device 22 is set to correspond to Figure 14 If the position is b, then the change pattern of the identifier group detected by the first detection device 21 is as follows: Figure 15-1As shown in a1, if the change pattern of the marker group monitored by the second detection device 22 is as shown in b1, that is, it lags behind the first detection device 21 by a certain phase difference, it indicates that the rotation direction of the roller 10 corresponds to Figure 14 The clockwise direction. If the change pattern of the marker group detected by the second detection device 22 is as shown in b2, and leads the first detection device 21 by a certain phase difference, it indicates that the rotation direction of the roller 10 corresponds to the clockwise direction. Figure 14 The direction is counterclockwise. In this way, the direction of rotation of roller 10 can be identified.

[0074] And if the second detection device 22 is set in Figure 14 The position c in the diagram shows the change pattern of the identifier group monitored by the first detection device 21 as follows: Figure 15-2 When a2 is in the middle, regardless of the current rotation direction of the roller 10, it corresponds to Figure 14 In both clockwise and counterclockwise rotations, the change pattern of the marker group detected by the second detection device 22 is shown in c1, with a difference of half a cycle between the two, making it impossible to distinguish between the forward and reverse rotation processes of the roller 10. At this time, the circumferential distance between the projection points of the first detection device 21 and the second detection device 22 on the projection surface is equal to the circumferential length of the sub-region.

[0075] If the second detection device 22 is set in Figure 14 The position d in the diagram shows the change pattern of the identifier group monitored by the first detection device 21 as follows: Figure 15-2 When a2 is in the middle, regardless of the current rotation direction of the roller 10, it corresponds to Figure 14 In both clockwise and counterclockwise rotations, the change pattern of the marker group detected by the second detection device 22 is shown as d1. The two differ by the entire cycle and completely overlap, making it impossible to distinguish between the forward and reverse rotation processes of the roller 10. At this time, the circumferential distance between the projection points of the first detection device 21 and the second detection device 22 on the projection surface is equal to twice the circumferential length of the sub-region.

[0076] Based on this, it can be determined that the forward and reverse rotation of the roller 10 can only be accurately distinguished when the circumferential distance between the projection points of the first detection device 21 and the second detection device 22 on the projection surface is not equal to an integer multiple of the circumferential length of the sub-region.

[0077] In some embodiments, all markers within a marker group are evenly distributed circumferentially. That is, the spacing between all adjacent markers is equal. This helps to ensure uniform weight distribution and improves the stability of the roller 10 during rotation.

[0078] In the description of this disclosure, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A roller device for cleaning equipment, characterized in that, The roller assembly includes: The roller comes into contact with the surface to be cleaned during the operation of the cleaning equipment. The side of the roller is provided with a set of marks, which show different changing patterns during the forward and reverse rotation of the roller. A detection device is used to monitor the changing pattern of the mark group during the rotation of the roller; An auxiliary motor, connected to the roller, is used to controllably provide power for the roller to rotate forward or in reverse. The controller is electrically connected to the detection device and the assist motor. The controller is used to control the assist motor according to the changing pattern of the mark group during the rotation of the roller.

2. The roller device according to claim 1, characterized in that, The tag group includes tag elements; the detection device is an optical sensing device, including a transmitter and a receiver; The marker is a reflector disposed on the side surface of the roller, and the transmitter and the receiver are disposed on the same side of the side surface; or The marker is an opening formed on the side surface of the roller, and the transmitter and the receiver are disposed at corresponding positions on the same side or different sides of the side surface.

3. The roller device according to claim 1, characterized in that, The tag group includes multiple tags within the monitoring range of the same detection device; On a projection plane perpendicular to the rotation axis of the roller, the positions of each marker are asymmetrical with respect to all straight lines passing through the center of the roller.

4. The roller device according to claim 3, characterized in that, The distance between two adjacent markers gradually increases or decreases in a clockwise direction.

5. The roller device according to claim 1, characterized in that, The marking group includes at least two groups, and each marking group includes a marking element; the number of the detection devices corresponds to the number of the marking groups, and the monitoring range of each detection device corresponds one-to-one with each marking group. On a projection plane perpendicular to the axis of rotation of the roller, the positions of each marker relative to all straight lines passing through the center of the roller are asymmetrical.

6. The roller device according to claim 1, characterized in that, The marking group includes two marking elements, which are reflective elements. The two reflective elements have different reflection effects, and the lines connecting the centers of the two reflective elements to the projection center of the roller are different straight lines.

7. The roller device according to claim 1, characterized in that, The marking group includes at least three marking elements, which are reflective elements, and at least some of the reflective elements have different reflective effects; On a projection plane perpendicular to the rotation axis of the roller, the position of each reflector is symmetrical with respect to at least one straight line passing through the center of the roller, and there are reflectors on both sides of any axis of symmetry that are in symmetrical positions but have different reflection effects.

8. The roller device according to claim 7, characterized in that, The reflective effects of all the aforementioned reflectors are different.

9. A roller device for cleaning equipment, characterized in that, The roller assembly includes: The roller comes into contact with the surface to be cleaned during the operation of the cleaning equipment. The side of the roller is provided with a marking group, which includes multiple marking elements. The marking group exhibits the same changing pattern during the forward and reverse rotation of the roller. The first and second detection devices are used to detect the variation patterns of the same group of markers. In the projection plane perpendicular to the rotation axis of the roller, there are N axes of symmetry passing through the center of the circle. The N axes of symmetry divide the projection plane into 2N sub-regions. The circumferential distance between the projection points of the first detection device and the second detection device on the projection plane is not equal to an integer multiple of the circumferential length of the sub-region. An auxiliary motor, connected to the roller, is used to controllably provide power for the roller to rotate forward or in reverse. The controller is electrically connected to the first detection device, the second detection device, and the assist motor, and is used to control the assist motor according to the changing pattern of the mark group monitored by the first detection device and the second detection device.

10. The roller device according to claim 9, characterized in that, All markers within the marker group are evenly distributed circumferentially.

11. A cleaning device, characterized in that, Includes the roller device as described in any one of claims 1 to 10.

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