Power assist apparatus, cleaning device and control method therefor, and readable storage medium

Abstract

The present application provides a power assist apparatus, a cleaning device and a control method therefor, and a readable storage medium. The power assist device comprises: a body; a rotating member, rotatably connected to the body; a driving mechanism, arranged on the body, and used for driving the body to move along the travel direction; a detection assembly, comprising a magnetic member and a Hall element, wherein the magnetic member is arranged on the rotating member and can rotate along with the rotating member, the Hall element is arranged on the body, is located on one side of the magnetic member and can detect the magnetic field of the magnetic member, and the detection assembly detects motion parameters of the body on the basis of the Hall element and the magnetic member; and a control assembly, electrically connected to the detection assembly and the driving mechanism, wherein the control assembly is used for determining the motion trend of the body on the basis of the motion parameters and controlling on the basis of the motion trend the driving mechanism to work. According to the power assist apparatus provided by the present application, by means of cooperation of the magnetic member and the Hall element, the motion parameters of the body are detected, and then an assistive force is provided for motion of the body.

Description

Power assist device, cleaning equipment, control method thereof, and readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on January 2, 2024, with application number "202410003490.4" and invention name "Assisting device, cleaning equipment, control method thereof and readable storage medium", the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of household appliances, and in particular to a power assist device, a cleaning device, a control method thereof, and a readable storage medium. Background Art

[0003] At present, some household appliances are heavy and it is more laborious to move them. In the related art, a power-assisting device is provided for the household appliances. However, in the household appliances in the related art, when moving forward, the driving mechanism provides forward power to the power-assisting device, which saves the user labor. However, when pulling the household appliance backward, the force generated between the power-assisting device and the ground is opposite to the pulling force of the user, which makes the user more laborious.

[0004] Summary of the Invention

[0005] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0006] To this end, a first aspect of the present application provides a power assist device.

[0007] A second aspect of the present application provides a cleaning device.

[0008] The third aspect of the present application also provides a method for controlling a cleaning device.

[0009] The fourth aspect of the present application also provides a readable storage medium.

[0010] In view of this, the first aspect of the present application proposes a power assist device, comprising: a main body; a rotating part, rotatably connected to the main body; a driving mechanism, arranged on the main body, for driving the main body to move along the driving direction; a detection component, comprising a magnetic part and a Hall element, the magnetic part is arranged on the rotating part and can rotate with the rotating part, the Hall element is arranged on the main body, the Hall element is located on one side of the magnetic part and can detect the magnetic field of the magnetic part, the detection component detects the motion parameters of the main body based on the Hall element and the magnetic part; a control component, electrically connected to the detection component and the driving mechanism, the control component is used to determine the motion trend of the main body based on the motion parameters, and control the operation of the driving mechanism based on the motion trend.

[0011] The power-assisting device provided in the present application includes a main body, a rotating part, a driving mechanism, a detection component and a control component. The main body is moved by the rotating part. The detection component includes a Hall element and a magnetic part. The Hall element is arranged on the main body, and the magnetic part is arranged on the rotating part. During the rotation of the rotating part, the magnetic part can rotate with the rotating part, so that the magnetic part rotates relative to the Hall element. The Hall element generates a change in the electrical signal according to the change in the detected magnetic field, and then detects the motion parameters of the main body. The control component determines the motion trend of the main body according to the motion parameters of the main body, and then controls the operation of the driving mechanism according to the motion trend, providing power for the movement of the main body, so that the user can save more effort during the cleaning process. The power-assisting device proposed in the present application realizes the detection of the motion parameters of the main body through the cooperation of the magnetic part and the Hall element, and then provides power for the movement of the main body. The arrangement of the magnetic part and the Hall element has a simple structure and reduces the manufacturing cost. At the same time, the change in the magnetic field of the magnetic part is detected by the Hall element, which will not be affected by dirt and can achieve continuous detection, thereby improving the accuracy of the detection of the motion parameters of the main body.

[0012] According to a second aspect of the present application, a cleaning device is also proposed, comprising a power assisting device as proposed in any one of the first aspects.

[0013] The cleaning device proposed in the second aspect of the present application includes the power-assisting device proposed in any one of the first aspects, and therefore has all the beneficial effects of the power-assisting device.

[0014] According to the third aspect of the present application, a control method for a cleaning device is also proposed, which is used for a cleaning device such as any one of the second aspects. The control method includes: obtaining the motion parameters of the floor brush assembly; determining the motion trend of the floor brush assembly based on the motion parameters, and controlling the operation of the driving mechanism according to the motion trend to provide assistance to the floor brush assembly.

[0015] The control method of the cleaning equipment provided in the third aspect of the present application includes obtaining the motion parameters of the floor brush assembly, and determining the motion trend of the floor brush assembly based on the motion parameters, and then when the floor brush assembly has a tendency to move forward, controlling the driving mechanism to provide the roller brush with an assist in the corresponding direction, so that the roller brush provides a forward assist through friction with the ground; when the floor brush assembly has a tendency to move backward, controlling the driving mechanism to provide the roller brush with an assist in the corresponding direction, so that the roller brush provides a backward assist through friction with the ground, thereby saving the user effort when cleaning the floor.

[0016] According to the fourth aspect of the present application, a readable storage medium is also proposed, on which a program or instruction is stored. When the program or instruction is executed by a processor, the control method of the cleaning device as described in any one of the third aspects is executed.

[0017] Additional aspects and advantages of the present application will become apparent in the following description or may be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] FIG1 shows one of the structural schematic diagrams of a cleaning device according to an embodiment of the present application;

[0020] FIG2 shows a second structural schematic diagram of a cleaning device according to an embodiment of the present application;

[0021] FIG3 shows a third structural schematic diagram of a cleaning device according to an embodiment of the present application;

[0022] FIG4 shows one of the structural schematic diagrams of a detection component according to an embodiment of the present application;

[0023] FIG5 shows a second structural diagram of a detection component according to an embodiment of the present application;

[0024] FIG6 shows a third structural diagram of a detection component according to an embodiment of the present application;

[0025] FIG7 shows a fourth structural diagram of a detection component according to an embodiment of the present application;

[0026] FIG8 shows a fifth structural diagram of a detection component according to an embodiment of the present application;

[0027] FIG9 shows a waveform diagram obtained by the first Hall element and the second Hall element when the rotating member rotates clockwise according to an embodiment of the present application;

[0028] FIG10 shows a waveform diagram obtained by the first Hall element and the second Hall element when the rotating member rotates counterclockwise according to an embodiment of the present application;

[0029] FIG11 shows a schematic block diagram of a cleaning device according to an embodiment of the present application;

[0030] FIG12 shows a flow chart of a method for controlling a cleaning device according to an embodiment of the present application;

[0031] FIG13 shows a second flow chart of a method for controlling a cleaning device according to an embodiment of the present application;

[0032] FIG14 shows a schematic block diagram of a control device for a cleaning device according to an embodiment of the present application;

[0033] FIG15 shows a schematic block diagram of an electronic device according to an embodiment of the present application.

[0034] Among them, the correspondence between the figure marks and the component names in Figures 1 to 8 and Figure 11 is: 1 floor brush assembly, 10 main body, 100 mounting groove, 12 roller brush, 14 rotating part, 140 shaft hole, 2 driving mechanism, 3 detection assembly, 30 magnetic part, 300 first magnetic pole, 302 second magnetic pole, 31 Hall element, 310 first Hall element, 312 second Hall element, 32 circuit board, 33 fixed cover, 34 positioning part, 4 control assembly, 5 handle, 6 fuselage, 7 cleaning device. DETAILED DESCRIPTION

[0035] In order to more clearly understand the above-mentioned objects, features and advantages of the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other in the absence of conflict.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0037] The following describes a power assist device, a cleaning device, a control method thereof, and a readable storage medium according to some embodiments of the present application with reference to Figures 1 to 15.

[0038] As shown in FIG. 1 and FIG. 2 , according to an embodiment of the present application, the present application proposes a power assist device, including: a body 10 , a rotating member 14 , a driving mechanism 2 , a detection component 3 and a control component 4 .

[0039] Exemplarily, the rotating member 14 is rotationally connected to the main body 10; the driving mechanism 2 is provided on the main body 10, and is used to drive the main body 10 to move along the driving direction; the detection component 3 includes a magnetic member 30 and a Hall element 31, the magnetic member 30 is provided on the rotating member 14 and can rotate with the rotating member 14, the Hall element 31 is provided on the main body 10, the Hall element 31 is located on one side of the magnetic member 30 and can detect the magnetic field of the magnetic member 30, and the detection component 3 detects the motion parameters of the main body 10 based on the Hall element 31 and the magnetic member 30; the control component 4 is electrically connected to the detection component 3 and the driving mechanism 2, and the control component 4 is used to determine the motion trend of the main body 10 based on the motion parameters, and control the operation of the driving mechanism 2 based on the motion trend.

[0040] The power-assisting device provided in the present application includes a main body 10, a rotating member 14, a driving mechanism 2, a detection component 3 and a control component 4. The main body 10 is moved by the rotating member 14. The detection component 3 includes a Hall element 31 and a magnetic member 30. The Hall element 31 is arranged on the main body 10, and the magnetic member 30 is arranged on the rotating member 14. During the rotation of the rotating member 14, the magnetic member 30 can rotate with the rotating member 14, so that the magnetic member 30 rotates relative to the Hall element 31. The Hall element 31 generates a change in the electrical signal according to the change in the detected magnetic field, and then detects the motion parameters of the main body 10. The control component 4 determines the motion trend of the main body 10 according to the motion parameters of the main body 10, and then controls the operation of the driving mechanism 2 according to the motion trend, thereby providing power for the movement of the main body 10, making the user more labor-saving during the cleaning process. The power assist device proposed in this application realizes the detection of the motion parameters of the main body 10 through the cooperation of the magnetic part 30 and the Hall element 31, thereby providing assistance for the movement of the roller brush 12. The setting of the magnetic part 30 and the Hall element 31 has a simple structure and reduces the manufacturing cost. At the same time, the change of the magnetic field of the magnetic part 30 is detected by the Hall element 31, which will not be affected by dirt and can achieve continuous detection, thereby improving the accuracy of the detection of the motion parameters of the main body 10.

[0041] In a specific application, when the body 10 needs forward assistance, the driving mechanism 2 drives the body 10 to rotate forward; when the body 10 needs backward assistance, the driving mechanism 2 drives the body 10 to rotate backward. Optionally, the driving direction includes the movement direction of the body 10, such as the first direction or the third direction.

[0042] It can be understood that the Hall element 31 can generate a corresponding electrical signal by detecting the magnetic field.

[0043] It should be noted that the movement trend of the body 10 is forward movement (for example, the first direction) or backward movement (for example, the third direction).

[0044] Optionally, the driving mechanism 2 includes a motor.

[0045] As shown in Figures 4 to 8, according to some embodiments of the present application, optionally, the magnetic part 30 includes a plurality of first magnetic poles 300 and a plurality of second magnetic poles 302, and the plurality of first magnetic poles 300 and the plurality of second magnetic poles 302 are alternately arranged along the circumference of the rotating part 14, so that the first magnetic poles 300 and the second magnetic poles 302 can alternately pass through the Hall element 31, and the Hall element 31 generates changes in electrical signals according to the magnetic fields of the first magnetic poles 300 and the second magnetic poles 302, and the detection component 3 determines the motion parameters according to the electrical signals of the Hall element 31.

[0046] In this embodiment, the magnetic member 30 includes a plurality of first magnetic poles 300 and a plurality of second magnetic poles 302. The plurality of first magnetic poles 300 and the plurality of second magnetic poles 302 are alternately arranged along the circumference of the rotating member 14. During the rotation of the rotating member 14, the magnetic member 30 rotates with the rotating member 14, so that the plurality of first magnetic poles 300 and the plurality of second magnetic poles 302 alternately pass through the Hall element 31. The magnetic field generated by the first magnetic poles 300 and the magnetic field generated by the second magnetic poles 302 are different. Therefore, the Hall element 31 can generate different electrical signals according to the change in the magnetic field, and then the detection component 3 can detect the motion parameters of the main body 10 according to the different electrical signals, so as to assist the movement of the main body 10 according to the motion parameters. Among them, the plurality of first magnetic poles 300 and the plurality of second magnetic poles 302 are alternately arranged along the circumference of the rotating member 14, which can realize continuous detection of the circumferential direction signal of the rotating member 14, thereby improving the accuracy of the detection of the motion parameters of the main body 10.

[0047] It can be understood that the electrical signal includes a voltage value, and optionally, the electrical signal also includes a current value.

[0048] It is understood that the magnetic member 30 may include alternating first and second magnets, with the poles of the first and second magnets facing the Hall element 31 being the first pole 300 and the second pole 302, respectively. The magnetic member 30 may also be a single magnet, with the alternation of the first and second poles 300 and 302 achieved through magnetization.

[0049] According to some embodiments of the present application, optionally, the electrical signal includes a voltage value; in the process of the first magnetic pole 300 approaching the Hall element 31, the voltage value of the Hall element 31 gradually increases, and in the process of the second magnetic pole 302 approaching the Hall element 31, the voltage value of the Hall element 31 gradually decreases, and the detection component 3 determines the motion parameter according to the waveform period of the voltage value.

[0050] In this embodiment, the electrical signal includes a voltage value. The first magnetic pole 300 and the second magnetic pole 302 alternately pass through the Hall element 31 as the rotating part 14 rotates. In the process of the first magnetic pole 300 approaching the Hall element 31, the voltage value of the Hall element 31 gradually increases. In the process of the second magnetic pole 302 approaching the Hall element 31, the voltage value of the Hall element 31 gradually decreases. Therefore, in the process of rotation of the rotating part 14, the waveform period of the voltage value of the Hall element 31 will change accordingly, and the motion parameters can be determined based on the change in the waveform period of the voltage value.

[0051] In a specific application, as the first magnetic pole 300 approaches the Hall element 31, the voltage value of the Hall element 31 gradually increases to 5V. As the second magnetic pole 302 approaches the Hall element 31, the voltage value of the Hall element 31 gradually decreases to 0V. During the rotation of the rotating member 14, the voltage value varies between 0V and 5V, and the generated waveform also changes with the travel direction, movement speed, acceleration, and displacement of the floor brush assembly 1. Therefore, based on the waveform period of the Hall element 31, the travel direction, movement speed, acceleration, and displacement of the main body 10 can be detected, and the movement trend of the main body 10 can be determined, and the drive mechanism 2 can be controlled to provide assistance for the movement of the main body 10.

[0052] As shown in Figures 4, 5, 6, 7 and 8, according to some embodiments of the present application, optionally, the Hall element 31 includes a first Hall element 310 and a second Hall element 312, and the first Hall element 310 and the second Hall element 312 are arranged at circumferential intervals along the rotating part 14, and the difference between the first phase of the voltage value of the first Hall element 310 and the second phase of the voltage value of the second Hall element 312 is greater than 0° and less than 180°, wherein the motion parameter includes the driving direction, and the detection component 3 determines the driving direction based on the first phase and the second phase.

[0053] In this embodiment, the Hall element 31 includes a first Hall element 310 and a second Hall element 312. The first Hall element 310 and the second Hall element 312 are arranged at intervals along the circumference of the rotating part 14, and the difference between the first phase and the second phase is greater than 0° and less than 180°. When the rotating part 14 rotates forward and reverse, the phases of the first Hall element 310 and the second Hall element 312 are different. Therefore, the rotation direction of the rotating part 14 can be determined based on the relationship between the first phase of the voltage value of the first Hall element 310 and the second phase of the voltage value of the second Hall element 312.

[0054] It can be understood that when the main body 10 moves forward (for example, moves in the first direction), the rotating member 14 rotates counterclockwise (for example, rotates in the second direction), and when the main body 10 moves backward (for example, moves in the third direction), the rotating member 14 rotates clockwise (for example, rotates in the fourth direction).

[0055] For example, when the magnetic part 30 is magnetized with 12 pairs of poles, the position examples of the first Hall element 310 and the second Hall element 312 are shown in Figures 4 and 5; the Hall sensor at the bottom is the first Hall element 310, and the second Hall element 312 can be placed at a position corresponding to the center of any N / S pole.

[0056] FIG. 6 shows an embodiment of the arrangement positions of the first Hall element 310 and the second Hall element 312 when the magnetic member 30 has eight pairs of poles.

[0057] FIG. 7 shows an embodiment of the placement of the first Hall element 310 and the second Hall element 312 when the magnetic member 30 has one pair of poles.

[0058] FIG. 8 shows an embodiment of the arrangement positions of the first Hall element 310 and the second Hall element 312 when the magnetic member 30 has 24 pairs of poles.

[0059] According to some embodiments of the present application, optionally, the difference between the first phase and the second phase is equal to 90°.

[0060] In this embodiment, the difference between the first phase and the second phase is equal to 90°, which improves the accuracy of determining the rotation direction of the rotating member 14 .

[0061] According to some embodiments of the present application, optionally, one of the first magnetic pole 300 and the second magnetic pole 302 is an N pole, and the other is an S pole; and / or the number of the first magnetic poles 300 is the same as the number of the second magnetic poles 302 .

[0062] In this embodiment, one of the first magnetic pole 300 and the second magnetic pole 302 is an N pole, and the other is an S pole. As the N and S poles alternately pass through the Hall element 31, the voltage value of the Hall element 31 changes, thereby detecting motion parameters. The number of first magnetic poles 300 and second magnetic poles 302 is the same, which improves the stability of the magnetic field of the magnetic component 30.

[0063] In a specific application, the first magnetic pole 300 is an S pole, and the second magnetic pole 302 is an N pole. Optionally, as shown in FIG4 and FIG5 , the number of first magnetic poles 300 is 12, the number of second magnetic poles 302 is 12, the magnetic member 30 has 12 pairs of poles, and when the rotating member 14 rotates one circle, the waveform of the Hall element 31 goes through 12 cycles.

[0064] As shown in FIG. 2 , FIG. 4 to FIG. 6 and FIG. 8 , according to some embodiments of the present application, optionally, the magnetic member 30 is annular, and the axis of the magnetic member 30 coincides with the axis of the rotating member 14 .

[0065] In this embodiment, the magnetic part 30 is arranged in a ring shape. When the magnetic part 30 rotates with the rotating part 14, the Hall element 31 can continuously sense the magnetic field of the magnetic part 30, and then during the rotation of the rotating part 14, the detection data of each position can be obtained, thereby improving the detection accuracy and thus improving the reliability of the detection of the motion parameters of the main body 10.

[0066] As shown in Figure 1, according to some embodiments of the present application, optionally, the detection component 3 also includes: a fixed cover plate 33 and a circuit board 32, a mounting groove 100 is provided on the main body 10, the circuit board 32 is arranged in the mounting groove 100, the fixed cover plate 33 is covered in the mounting groove 100, the Hall element 31 is provided on the circuit board 32, and the circuit board 32 is electrically connected to the control component 4.

[0067] In this embodiment, the detection component 3 also includes a circuit board 32 and a fixed cover 33. The circuit board 32 is fixed to the body 10 through the fixed cover 33. The Hall element 31 is arranged on the circuit board 32 to realize the electrical connection between the Hall element 31 and the control component 4.

[0068] It can be understood that the mounting groove 100 has an open end, and the fixed cover plate 33 is covered on the open end.

[0069] In a specific application, the circuit board 32 is annular, and optionally, the fixed cover plate 33 is annular.

[0070] As shown in Figure 2, according to some embodiments of the present application, optionally, the power assist device also includes: a positioning member 34, the rotating member 14 includes an axial hole 140, the positioning member 34 is passed through the axial hole 140 and is connected to the main body 10, and the fixed cover plate 33 and the circuit board 32 surround the circumference of the positioning member 34.

[0071] In this design, the power assist device also includes a positioning member 34, which is passed through the axial hole 140 of the rotating member 14 and connected to the main body 10 to achieve the positioning of the rotating member 14 and the main body 10. At the same time, the fixed cover 33 and the circuit board 32 surround the peripheral side of the positioning member 34, so that the circuit board 32 corresponds to the magnetic member 30 on the rotating member 14, thereby realizing the detection of motion parameters.

[0072] Optionally, the positioning member 34 includes a positioning pin.

[0073] Optionally, the axis of the positioning member 34 coincides with the axis of the rotating member 14 and the axis of the magnetic member 30 when rotating with the rotating member 14 .

[0074] According to some embodiments of the present application, optionally, the detection component 3 further includes at least one of a magnetic sensor, a position sensor, an angle sensor, and an acceleration sensor for detecting motion parameters.

[0075] In this embodiment, the detection component 3 may further include one or more of a magnetic sensor, a position sensor, an angle sensor, and an acceleration sensor.

[0076] In a specific application, the Hall element 31 is a linear Hall element.

[0077] As shown in FIG. 1 and FIG. 3 , according to an embodiment of the present application, a cleaning device 7 is further proposed, comprising a power assisting device as proposed in any of the above embodiments.

[0078] The cleaning device 7 proposed in the present application includes any of the power-assisting devices proposed, and therefore has all the beneficial effects of the power-assisting device.

[0079] As shown in Figures 3 and 11, according to some embodiments of the present application, optionally, the cleaning device 7 also includes: a floor brush assembly 1, the floor brush assembly 1 includes a shell and a roller brush 12, the roller brush 12 is rotatably connected to the shell, wherein the shell includes a main body 10, the driving mechanism 2 is arranged in the shell, the rotating member 14 is rotatably connected to the shell, and the driving mechanism 2 is connected to the roller brush 12 for driving the roller brush 12 to rotate to drive the shell to move along the direction of travel.

[0080] In this embodiment, the cleaning device 7 also includes a floor brush assembly 1, which includes a housing and a roller brush 12. The housing includes a body 10, the roller brush 12 is rotatably connected to the housing, and the rotating member 14 is rotatably connected to the housing. A drive mechanism 2 is disposed within the housing and connected to the roller brush 12 for driving the roller brush 12 to rotate, thereby cleaning the floor to be cleaned. At the same time, a magnetic member 30 is disposed on the rotating member 14, and a Hall element 31 is disposed on the body 10, that is, the Hall element 31 is disposed on the housing. During the movement of the floor brush assembly 1, the relative position of the Hall element 31 and the magnetic member 30 changes. Through the cooperation of the magnetic member 30 and the Hall element 31, the motion parameters of the floor brush assembly 1 are detected. When the control component 4 determines the motion trend of the floor brush assembly 1, the drive mechanism 2 is controlled to operate so as to drive the roller brush 12 to rotate through the drive mechanism 2, thereby providing assistance to the movement of the floor brush assembly 1 through the friction between the roller brush 12 and the floor.

[0081] In a specific application, the control component 4 is used to determine the movement trend of the floor brush component 1 according to the movement parameters, and control the operation of the driving mechanism 2 according to the movement trend.

[0082] Optionally, the rotating member 14 includes a roller of the floor brush assembly 1. Exemplarily, the rotating member 14 is a rear wheel of the floor brush assembly 1.

[0083] It can be understood that when the user mops the floor, the handle 5 of the cleaning device is used to push and pull the floor brush assembly 1 back and forth to move the floor brush assembly 1 back and forth. When the floor brush assembly 1 needs forward assistance, the driving mechanism 2 drives the roller brush 12 to rotate forward, providing forward assistance through the friction with the ground; when the floor brush assembly 1 needs backward assistance, the driving mechanism 2 drives the roller brush 12 to rotate backward, providing backward assistance through the friction with the ground.

[0084] It should be noted that the movement trend of the floor brush assembly 1 is forward movement (for example, a first direction) or backward movement (for example, a third direction).

[0085] It can be understood that the power-assisting device is a part of the cleaning device 7 , and the body 10 of the power-assisting device is the shell of the floor brush assembly 1 .

[0086] According to one embodiment of the present application, a control method for a cleaning device is also proposed, which is used for the cleaning device proposed in any of the above embodiments.

[0087] As shown in FIG12 , a flow chart of a control method for a cleaning device according to an embodiment of the present application is shown. The control method includes:

[0088] Step 102: Obtain motion parameters of the floor brush assembly;

[0089] Step 104: Determine the movement trend of the floor brush assembly according to the movement parameters, and control the driving mechanism to operate according to the movement trend to provide assistance to the floor brush assembly.

[0090] The control method of the cleaning equipment provided in the present application includes obtaining the motion parameters of the floor brush assembly, and determining the motion trend of the floor brush assembly based on the motion parameters, and then when the floor brush assembly has a tendency to move forward, controlling the driving mechanism to provide the roller brush with an assist in the corresponding direction, so that the roller brush provides a forward assist through friction with the ground; when the floor brush assembly has a tendency to move backward, controlling the driving mechanism to provide the roller brush with an assist in the corresponding direction, so that the roller brush provides a backward assist through friction with the ground, thereby saving the user effort when cleaning the floor.

[0091] It can be understood that the driving mechanism is connected to the roller brush and is used to drive the roller brush to move, so as to provide assistance for the movement of the floor brush assembly.

[0092] It should be noted that when the roller brush rotates, there is friction with the ground. When the user pushes the cleaning device forward, the roller brush rotates forward, and the friction between the roller brush and the ground will help the cleaning device move forward, thereby realizing forward self-help force, making it easier for users to use. However, when the user wants to pull the cleaning device back, if the roller brush still keeps rotating forward, the friction between the roller brush and the ground becomes an obstacle, making it more difficult for users to use. Therefore, it is necessary to switch the direction of the roller brush to reverse at an appropriate time.

[0093] Optionally, the movement trend of the floor brush assembly is determined based on the movement parameters, that is, the appropriate timing is determined based on the movement parameters, and the driving direction of the roller brush is switched to a direction that can provide assistance.

[0094] According to some embodiments of the present application, optionally, the movement trend of the floor brush assembly is determined according to the movement parameters, and the step of controlling the operation of the driving mechanism according to the movement trend includes: determining the movement trend of the floor brush assembly according to the movement parameters; when the movement trend is a first direction, controlling the driving mechanism to drive the roller brush to rotate in a second direction, providing assistance to the floor brush assembly in the first direction; when the movement trend is a third direction, controlling the driving mechanism to drive the roller brush to rotate in a fourth direction, providing assistance to the floor brush assembly in the third direction; the first direction and the third direction are opposite, and one of the second direction and the fourth direction is forward rotation, and the other is reverse rotation.

[0095] In this embodiment, the movement trend of the floor brush assembly can be determined based on the movement parameters. When the movement trend is in the first direction, it indicates that the user is about to push the floor brush assembly to move in the first direction, and thus the driving mechanism is controlled to drive the roller brush to move in the second direction, thereby providing assistance to the floor brush assembly in the first direction. When the movement trend is in the third direction, it indicates that the user is about to push the floor brush assembly to move in the third direction, and thus the driving mechanism is controlled to drive the roller brush to move in the fourth direction, thereby providing assistance to the floor brush assembly in the third direction. When the roller brush rotates in the second direction, the friction with the ground provides assistance to the floor brush assembly in the first direction. When the roller brush rotates in the fourth direction, the friction with the ground provides assistance to the floor brush assembly in the third direction.

[0096] In a specific application, the first direction is forward movement, the third direction is backward movement, the second direction is forward rotation, and the fourth direction is reverse rotation.

[0097] According to some embodiments of the present application, optionally, the motion parameters include the driving direction, the displacement of the rotating part, the speed of the rotating part and the acceleration of the rotating part, and the driving direction is the first direction or the third direction. The step of determining the motion trend of the floor brush assembly according to the motion parameters includes: when the driving direction is the third direction, the speed is less than or equal to the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration is reduced, determining that the motion trend of the floor brush assembly is the first direction; when the driving direction is the first direction, the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration is reduced, determining that the motion trend of the floor brush assembly is the third direction.

[0098] In this embodiment, when it is detected that the traveling direction of the floor brush assembly is the third direction, and the speed is less than the first speed range, the displacement is greater than or equal to the first displacement range and the acceleration is reduced, it means that the distance the user pushes the floor brush assembly in the third direction reaches a threshold, and the speed and acceleration are both reduced, that is, there is no tendency to move in the third direction. Therefore, it is determined that the floor brush assembly is about to move in the first direction, that is, the floor brush assembly has a tendency to move in the first direction. Therefore, the driving mechanism is controlled to drive the roller brush to rotate in the second direction to provide the floor brush assembly with an assist in the first direction. When it is detected that the traveling direction of the floor brush assembly is the first direction, and the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range and the acceleration is reduced, it means that the distance the user pushes the floor brush assembly in the first direction reaches a threshold, and the speed and acceleration are reduced, that is, there is no tendency to move in the first direction. Therefore, it is determined that the floor brush assembly needs to move in the third direction, that is, the floor brush assembly has a tendency to move in the third direction. Therefore, the driving mechanism is controlled to drive the roller brush to rotate in the fourth direction to provide the floor brush assembly with an assist in moving in the third direction.

[0099] In a specific application, the first displacement range and the second displacement range can be set according to actual conditions. Optionally, the first displacement range is greater than or equal to 20 centimeters and less than or equal to 200 centimeters. The second displacement range is greater than or equal to 20 centimeters and less than or equal to 200 centimeters.

[0100] The first speed range and the second speed range can be set according to actual conditions. Optionally, the first speed range is greater than or equal to 0 cm / s and less than or equal to 10 cm / s. Optionally, the second speed range is greater than or equal to 0 cm / s and less than or equal to 10 cm / s.

[0101] In a specific application, the magnetic part rotates as the rotating part (such as the rear wheel) rolls. When the S pole of the magnetic part approaches the Hall element, the voltage value gradually increases to 5V, and when the N pole of the magnetic part approaches the Hall element, the voltage value gradually decreases to 0V. When the rear wheel rotates one circle, the waveform between the voltage value and the running time goes through 12 cycles. Based on the waveform cycle, the angular velocity of the rear wheel movement can be obtained, and then the speed, displacement and acceleration of the floor brush assembly can be calculated based on the radius of the rear wheel. The radius of the rear wheel can be set according to actual conditions.

[0102] According to some embodiments of the present application, optionally, the step of obtaining the motion parameters of the floor brush assembly includes: obtaining the voltage value of the Hall element and the running time of the rotating part, and determining the waveform period of the voltage value of the Hall element based on the voltage value and the running time; determining the displacement, velocity and acceleration based on the waveform period and the radius of the rotating part.

[0103] In this embodiment, the steps of obtaining displacement, velocity and acceleration specifically include: obtaining the voltage value of the Hall element and the running time of the rotating part, and determining the waveform period of the voltage value of the Hall element based on the voltage value and the running time, so that the movement speed, displacement and acceleration of the floor brush assembly can be calculated based on the waveform period and the radius of the rotating part.

[0104] Exemplarily, the speed is calculated as follows: the diameter of the rear wheel is set to d (for example, 58 mm); the number of waveform periods for the rear wheel to roll one circle is 12; that is, the current waveform period obtained according to the waveform is T; then the magnitude of the speed V is: V = (π×d) / (12×T); the method for determining the direction of the speed is the same as the method for determining the direction of travel of the floor brush assembly when the roller brush is rotating forward and reverse.

[0105] The displacement is calculated as follows: according to the waveform, the number of operating cycles is n; the displacement size is (n×π×d) / 12; and the displacement direction is the travel direction of the floor brush assembly.

[0106] The acceleration a is calculated as follows: the acceleration magnitude can be calculated according to a=(V1-V2) / t, where t is the duration, V1 and V2 are the initial velocity and final velocity within the duration t, respectively.

[0107] According to some embodiments of the present application, optionally, the Hall element includes a first Hall element and a second Hall element, and the step of obtaining the motion parameters of the floor brush assembly also includes: obtaining a first phase of the voltage value of the first Hall element and a second phase of the voltage value of the second Hall element; and determining the direction of travel based on the first phase and the second phase.

[0108] In this embodiment, the Hall element includes a first Hall element and a second Hall element, and the first Hall element and the second Hall element are arranged at intervals along the rotation circumference of the rotating part, so that the phase of the voltage value of the first Hall element is different from the phase of the voltage value of the second Hall element, and the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element when the rotating part rotates clockwise is different from the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element when the rotating part rotates counterclockwise. Therefore, at the same time, the travel direction of the rotating part can be determined according to the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element, so as to determine the movement trend of the floor brush assembly.

[0109] According to some embodiments of the present application, optionally, the step of determining the driving direction according to the first phase and the second phase includes: when the first phase is greater than the second phase, determining that the floor brush assembly moves along the first direction; when the first phase is less than the second phase, determining that the floor brush assembly moves along the third direction.

[0110] In this embodiment, when the first phase is greater than the second phase, the waveform of the voltage value of the first Hall element leads, and the rotating part rotates clockwise (for example, rotates in the fourth direction), determining that the floor brush assembly moves in the first direction; when the first phase is less than the second phase, the waveform of the voltage value of the first Hall element lags, and the rotating part rotates counterclockwise (for example, rotates in the second direction), determining that the floor brush assembly moves in the third direction.

[0111] In a specific application, the waveform of the voltage value of the first Hall element and the waveform of the voltage value of the second Hall element have a phase difference of 90°.

[0112] According to some embodiments of the present application, optionally, before the step of obtaining the motion parameters of the floor brush assembly, the method further includes: receiving an operation input to the cleaning device; and entering a power-assist mode in response to the operation input.

[0113] In this embodiment, before providing assistance, a choice can be made as to whether to enter the assistance mode. When receiving the user's operation input, the assistance mode is entered, and the motion parameters are obtained, and the driving direction of the driving mechanism is determined according to the motion parameters.

[0114] As shown in Figure 14, according to an embodiment of the present application, a control device 400 for a cleaning device is also proposed, which is used for a cleaning device as proposed in any of the above items. The control device includes: an acquisition unit 402, which acquires the motion parameters of the floor brush assembly; a control unit 404, which determines the motion trend of the floor brush assembly according to the motion parameters, and controls the operation of the driving mechanism according to the motion trend to provide assistance to the floor brush assembly.

[0115] The control device 400 of the cleaning equipment proposed in this application includes an acquisition unit 402 and a control unit 404. The acquisition unit 402 is used to acquire the motion parameters of the floor brush assembly, and the control unit 404 is used to determine the motion trend of the floor brush assembly based on the motion parameters, and then when the floor brush assembly has a tendency to move forward, the control driving mechanism is controlled to provide the roller brush with an assist in the corresponding direction, so that the roller brush provides a forward assist through friction with the ground; when the floor brush assembly has a tendency to move backward, the control driving mechanism is controlled to provide the roller brush with an assist in the corresponding direction, so that the roller brush provides a backward assist through friction with the ground, thereby saving the user effort when cleaning the floor.

[0116] It can be understood that the driving mechanism is connected to the roller brush and is used to drive the roller brush to move, so as to provide assistance for the movement of the floor brush assembly.

[0117] It should be noted that when the roller brush rotates, there is friction with the ground. When the user pushes the cleaning device forward, the roller brush rotates forward, and the friction between the roller brush and the ground will help the cleaning device move forward, thereby realizing forward self-help force, making it easier for users to use. However, when the user wants to pull the cleaning device back, if the roller brush still keeps rotating forward, the friction between the roller brush and the ground becomes an obstacle, making it more difficult for users to use. Therefore, it is necessary to switch the direction of the roller brush to reverse at an appropriate time.

[0118] Optionally, the movement trend of the floor brush assembly is determined based on the movement parameters, that is, the appropriate timing is determined based on the movement parameters, and the driving direction of the roller brush is switched to a direction that can provide assistance.

[0119] According to some embodiments of the present application, optionally, the control unit 404 determines the movement trend of the floor brush assembly according to the movement parameters, and the steps of controlling the operation of the driving mechanism according to the movement trend include: determining the movement trend of the floor brush assembly according to the movement parameters; when the movement trend is a first direction, controlling the driving mechanism to drive the roller brush to rotate in a second direction, providing assistance to the floor brush assembly in the first direction; when the movement trend is a third direction, controlling the driving mechanism to drive the roller brush to rotate in a fourth direction, providing assistance to the floor brush assembly in the third direction; the first direction and the third direction are opposite, and one of the second direction and the fourth direction is forward rotation, and the other is reverse rotation.

[0120] In this embodiment, the movement trend of the floor brush assembly can be determined based on the movement parameters. When the movement trend is in the first direction, it indicates that the user is about to push the floor brush assembly to move in the first direction, and thus the driving mechanism is controlled to drive the roller brush to move in the second direction, thereby providing assistance to the floor brush assembly in the first direction. When the movement trend is in the third direction, it indicates that the user is about to push the floor brush assembly to move in the third direction, and thus the driving mechanism is controlled to drive the roller brush to move in the fourth direction, thereby providing assistance to the floor brush assembly in the third direction. When the roller brush rotates in the second direction, the friction with the ground provides assistance to the floor brush assembly in the first direction. When the roller brush rotates in the fourth direction, the friction with the ground provides assistance to the floor brush assembly in the third direction.

[0121] In a specific application, the first direction is forward movement, the third direction is backward movement, the second direction is forward rotation, and the fourth direction is reverse rotation.

[0122] According to some embodiments of the present application, optionally, the motion parameters include the driving direction, the displacement of the rotating part, the speed of the rotating part and the acceleration of the rotating part, and the driving direction is the first direction or the third direction. The control unit 404 determines the step of the motion trend of the floor brush assembly according to the motion parameters, including: when the driving direction is the third direction, the speed is less than or equal to the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration is reduced, determining that the motion trend of the floor brush assembly is the first direction; when the driving direction is the first direction, the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration is reduced, determining that the motion trend of the floor brush assembly is the third direction.

[0123] In this embodiment, when it is detected that the traveling direction of the floor brush assembly is the third direction, and the speed is less than or equal to the first speed range, the displacement is greater than or equal to the first displacement range and the acceleration is reduced, it means that the distance the user pushes the floor brush assembly in the third direction reaches a threshold, and the speed and acceleration are both reduced, that is, there is no tendency to move in the third direction. Therefore, it is determined that the floor brush assembly is about to move in the first direction, that is, the floor brush assembly has a tendency to move in the first direction. Therefore, the driving mechanism is controlled to drive the roller brush to rotate in the second direction to provide the floor brush assembly with an assist in the first direction. When it is detected that the traveling direction of the floor brush assembly is the first direction, and the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range and the acceleration is reduced, it means that the distance the user pushes the floor brush assembly in the first direction reaches a threshold, and the speed and acceleration are reduced, that is, there is no tendency to move in the first direction. Therefore, it is determined that the floor brush assembly needs to move in the third direction, that is, the floor brush assembly has a tendency to move in the third direction. Therefore, the driving mechanism is controlled to drive the roller brush to rotate in the fourth direction to provide the floor brush assembly with an assist in moving in the third direction.

[0124] According to some embodiments of the present application, optionally, the step of obtaining the motion parameters of the floor brush assembly by the acquisition unit 402 includes: obtaining the voltage value of the Hall element and the running time of the rotating part, and determining the waveform period of the voltage value of the Hall element according to the voltage value and the running time; determining the displacement, velocity and acceleration according to the waveform period and the radius of the rotating part.

[0125] In this embodiment, the steps of obtaining displacement, velocity and acceleration specifically include: obtaining the voltage value of the Hall element and the running time of the rotating part, and determining the waveform period of the voltage value of the Hall element based on the voltage value and the running time, so that the movement speed, displacement and acceleration of the floor brush assembly can be calculated based on the waveform period and the radius of the rotating part.

[0126] Exemplarily, the speed is calculated as follows: the diameter of the rear wheel is set to d (for example, 58 mm); the number of waveform periods for the rear wheel to roll one circle is 12; that is, the current waveform period obtained according to the waveform is T; then the magnitude of the speed V is: V = (π×d) / (12×T); the method for determining the direction of the speed is the same as the method for determining the direction of travel of the floor brush assembly when the roller brush is rotating forward and reverse.

[0127] The displacement is calculated as follows: according to the waveform, the number of operating cycles is n; the displacement size is (n×π×d) / 12; and the displacement direction is the travel direction of the floor brush assembly.

[0128] The acceleration a is calculated as follows: the acceleration magnitude can be calculated according to a=(V1-V2) / t, where t is the duration, V1 and V2 are the initial velocity and final velocity within the duration t, respectively.

[0129] According to some embodiments of the present application, optionally, the Hall element includes a first Hall element and a second Hall element, and the step of the acquisition unit 402 acquiring the motion parameters of the floor brush assembly also includes: acquiring a first phase of the voltage value of the first Hall element, and a second phase of the voltage value of the second Hall element; and determining the direction of travel based on the first phase and the second phase.

[0130] In this embodiment, the Hall element includes a first Hall element and a second Hall element, and the first Hall element and the second Hall element are arranged at intervals along the rotation circumference of the rotating part, so that the phase of the voltage value of the first Hall element is different from the phase of the voltage value of the second Hall element, and the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element when the rotating part rotates clockwise is different from the relationship between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element when the rotating part rotates counterclockwise. Therefore, at the same time, the travel direction of the rotating part can be determined according to the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element, so as to determine the movement trend of the floor brush assembly.

[0131] According to some embodiments of the present application, optionally, the step of determining the driving direction according to the first phase and the second phase includes: when the first phase is greater than the second phase, determining that the floor brush assembly moves along the first direction; when the first phase is less than the second phase, determining that the floor brush assembly moves along the third direction.

[0132] In this embodiment, when the first phase is greater than the second phase, the waveform of the voltage value of the first Hall element leads, and the rotating part rotates clockwise (for example, rotates in the fourth direction), determining that the floor brush assembly moves in the first direction; when the first phase is less than the second phase, the waveform of the voltage value of the first Hall element lags, and the rotating part rotates counterclockwise (for example, rotates in the second direction), determining that the floor brush assembly moves in the third direction.

[0133] In a specific application, the waveform of the voltage value of the first Hall element and the waveform of the voltage value of the second Hall element have a phase difference of 90°.

[0134] According to some embodiments of the present application, optionally, the control device further includes a receiving unit and a responding unit. Before the step of obtaining the motion parameters of the floor brush assembly, the receiving unit is used to receive operation input to the cleaning device; the responding unit is used to enter the power-assist mode in response to the operation input.

[0135] In this embodiment, before providing assistance, a choice can be made as to whether to enter the assistance mode. When receiving the user's operation input, the assistance mode is entered, and the motion parameters are obtained, and the driving direction of the driving mechanism is determined according to the motion parameters.

[0136] As shown in FIG15 , according to one embodiment of the present application, an electronic device 500 is provided, comprising a processor 502 and a memory 504. The memory 504 stores programs or instructions executable on the processor 502. When executed by the processor 502, the programs or instructions implement the steps of any of the above-mentioned methods for controlling a cleaning device. Therefore, all the beneficial effects of the method for controlling a cleaning device are achieved, and further description is omitted.

[0137] According to one embodiment of the present application, a readable storage medium is further provided, on which a program or instruction is stored. When executed by a processor, the program or instruction performs any of the above-mentioned methods for controlling a cleaning device. Therefore, all the beneficial effects of the method for controlling a cleaning device are achieved, and further description is omitted here.

[0138] In a specific application, as shown in Figures 1 to 3, the cleaning device 7 includes a floor scrubber. The floor scrubber includes a handle 5, a body 6, a floor brush base (such as a body 10), a roller brush 12, a rear wheel (such as a rotating member 14), and a drive motor (such as a drive mechanism 2).

[0139] When mopping the floor, the user pushes and pulls the machine forward and backward through the handle 5 to move the floor brush base forward and backward.

[0140] The detection assembly 3 includes a Hall detection PCB (Printed Circuit Board) board (such as a circuit board 32 and a Hall element 31 ), a fixed cover 33 , an annular magnet (such as a magnetic member 30 ), and a positioning pin (such as a positioning member 34 ).

[0141] The annular magnet is fixed on the rear wheel and rotates simultaneously with the rear wheel. The Hall sensor (such as the Hall element 31) on the PCB board (such as the circuit board 32) obtains the signal to obtain the movement state of the rear wheel.

[0142] The principle of detecting the motion state of the rear wheels by using one or more linear Hall sensors is shown in FIG4 to FIG8 .

[0143] Optionally, as shown in Figures 4 and 5, the annular magnet has 12 pairs of poles, and the Hall sensor includes a Hall element a (for example, the first Hall element 310) and a Hall element b (for example, the second Hall element 312); the annular magnet is fixed on the rear wheel, and the Hall detection PCB board is fixed on the floor brush base; the annular magnet rotates as the rear wheel rolls, and when the S pole of the annular magnet approaches the Hall sensor, the voltage gradually increases to 5V, and when the N pole of the annular magnet approaches the Hall sensor, the voltage gradually decreases to 0V; the rear wheel rotates one circle, and the waveform goes through 12 cycles. According to the waveform cycle, the angular velocity of the rear wheel movement can be obtained, and thus according to the rear wheel radius, the speed, displacement and acceleration of the floor brush base can be calculated.

[0144] The waveforms obtained by Hall element a and Hall element b differ in phase by 90°. According to the different phases, the driving direction of the floor brush base can be obtained: as shown in Figures 9 and 10, the waveforms obtained by Hall element a and Hall element b when the rear wheel rotates clockwise and counterclockwise, respectively, where the horizontal axis is the running time (in seconds) and the vertical axis is the voltage value (in V).

[0145] Exemplarily, as shown in Figure 3, when forward assist is needed (for example, in the first direction), the roller brush 12 rotates forward (for example, in the second direction) and provides forward assist through friction with the ground; when backward assist is needed (for example, in the third direction), the roller brush 12 rotates backward and provides backward assist (for example, in the fourth direction) through friction with the ground.

[0146] As shown in Figure 13, the software-assisted algorithms include:

[0147] Step 202: Determine whether to enter the power-assist mode, if so, proceed to step 204;

[0148] Step 204: The roller brush rotates forward;

[0149] Step 206: Determine whether a user's backward pulling trend is detected. If so, proceed to step 208; otherwise, proceed to step 210.

[0150] Step 208: The roller brush rotates in reverse;

[0151] Step 210: The roller brush keeps rotating forward;

[0152] Step 212: Determine whether a user's forward pulling trend is detected. If so, proceed to step 214; otherwise, proceed to step 216.

[0153] Step 214: The roller brush rotates forward;

[0154] Step 216: The roller brush keeps rotating in reverse.

[0155] Exemplarily, 1) when the power is turned on, the default setting is that the roller brush 12 moves forward in the forward direction; 2) when it is detected that the distance the roller brush 12 moves forward is greater than a first threshold value (for example, the first displacement range), and the speed is lower than a second threshold value (for example, the first speed range), and the speed continues to decrease, it is determined that the user has pushed it to the farthest distance forward, has started to exert force backward, and has a tendency to pull backward; at this time, the floor brush is controlled to reverse and provide backward assistance; 3) when it is detected that the distance the roller brush 12 moves backward is greater than a third threshold value (for example, the second displacement range), and the speed is lower than a fourth threshold value (for example, the second speed range), and the speed continues to decrease, it is determined that the user has pulled it to the farthest distance backward, has started to exert force forward, and has a tendency to push forward; at this time, the floor brush is controlled to rotate forward and provide forward assistance.

[0156] The present application can obtain a complete motion state of the roller brush 12 and provide the user with a push-pull assist effect; the present application is lower in cost compared to the prior art.

[0157] Optionally, other types of sensors may be used to obtain the movement state of the roller brush 12 or the push-pull state of the user, including but not limited to magnetic sensors, position sensors, angle sensors, acceleration sensors, etc.

[0158] Optionally, the number and position of the Hall sensors, the number of magnetization pairs of the ring magnets, etc. used in this application can be varied, and different effects can be achieved according to actual needs.

[0159] The detection device (such as the detection component 3) proposed in this application can be one set or multiple sets, which can be installed on one or more rollers to improve the detection accuracy and reliability.

[0160] Optionally, the installation position is varied and is not limited to the roller of the floor brush.

[0161] It should be noted that the self-help force: when the roller brush 12 rotates, there is friction with the ground. When the user pushes the machine forward, the friction between the roller brush 12 and the ground will help the machine move forward, thereby realizing forward self-help force, making it easier for the user to use; but when the user wants to pull the machine back, if the roller brush 12 still keeps rotating forward, the friction between the roller brush 12 and the ground becomes an obstacle, making it more difficult for the user to use; therefore, it is necessary to switch the direction of travel of the roller brush 12 to reverse at an appropriate time. It should be noted that the roller brush 12 itself is a component controlled by a controller (such as the control component 4), and its rotation direction cannot reflect the direction of travel of the machine. The large wheel (such as the rotating part 14) equipped with a magnet in the example of this application is an auxiliary component installed on the floor brush, which does not have any driving force and can rotate freely. When the entire machine is placed on the ground, the gravity of the machine ensures that the large wheel is in contact with the ground; when the machine moves forward, the large wheel rotates forward due to the friction force; when the machine moves backward, the large wheel rotates backward due to the friction force; therefore, the rotation direction of the large wheel can reflect the driving direction of the machine, and detecting the rotation direction of the large wheel can detect the driving direction of the machine, so that the controller can control the roller brush 12 to rotate in the corresponding direction according to the driving direction of the machine, that is, to provide self-help force in the corresponding direction.

[0162] The large wheel in the application document is only an example, and the actual installation position and detection object of the detection component 3 can be varied, such as designing a separate roller on the floor brush component 1. This method is applicable to various installation positions and detection objects.

[0163] In this application, the term "plurality" refers to two or more, unless otherwise specified. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean fixed, removable, or integral; "connected" can mean directly or indirectly through an intermediary. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0164] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0165] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An assisting device, wherein, Comprising: A body; A rotating member rotatably connected to the body; A driving mechanism provided on the body for driving the body to move in the traveling direction; A detection assembly including a magnetic member and a Hall element. The magnetic member is provided on the rotating member and can rotate with the rotating member. The Hall element is provided on the body. The Hall element is located on one side of the magnetic member and can detect the magnetic field of the magnetic member. The detection assembly detects the motion parameters of the body according to the Hall element and the magnetic member; A control assembly electrically connected to the detection assembly and the driving mechanism. The control assembly is configured to determine the motion trend of the body according to the motion parameters and control the driving mechanism to operate according to the motion trend.

2. The assisting device according to claim 1, wherein, The magnetic member includes a plurality of first magnetic poles and a plurality of second magnetic poles. The plurality of first magnetic poles and the plurality of second magnetic poles are alternately arranged along the circumferential direction of the rotating member, so that the first magnetic poles and the second magnetic poles can alternately pass by the Hall element. The Hall element generates a change in the electrical signal according to the magnetic field of the first magnetic pole and the magnetic field of the second magnetic pole. The detection assembly determines the motion parameters according to the electrical signal of the Hall element.

3. The assisting device according to claim 2, wherein, The electrical signal includes a voltage value; During the process of the first magnetic pole approaching the Hall element, the voltage value of the Hall element gradually increases. During the process of the second magnetic pole approaching the Hall element, the voltage value of the Hall element gradually decreases. The detection assembly determines the motion parameters according to the waveform period of the voltage value.

4. The assisting device according to claim 3, wherein, The Hall element includes a first Hall element and a second Hall element. The first Hall element and the second Hall element are spaced apart along the circumferential direction of the rotating member. The difference between the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element is greater than 0° and less than 180°. Wherein, the motion parameters include the traveling direction, and the detection assembly determines the traveling direction according to the first phase and the second phase.

5. The boosting device according to claim 4, wherein, The difference between the first phase and the second phase is equal to 90°.

6. The assisting device according to claim 2, wherein, One of the first magnetic pole and the second magnetic pole is an N pole and the other is an S pole; and / or The number of the first magnetic poles is the same as the number of the second magnetic poles.

7. The assisting device according to any one of claims 1 to 6, wherein, The magnetic member is annular, and the axis of the magnetic member coincides with the axis of the rotating member.

8. The boosting device according to any one of claims 1 to 6, wherein, The detection assembly further includes: A fixed cover plate and a circuit board. An installation groove is provided on the body. The circuit board is provided in the installation groove. The fixed cover plate covers the installation groove. The Hall element is provided on the circuit board. The circuit board is electrically connected to the control assembly.

9. The assisting device according to claim 8, wherein, Further comprising: A positioning member. The rotating member includes a shaft hole. The positioning member passes through the shaft hole and is connected to the body. The fixed cover plate and the circuit board surround the circumference of the positioning member.

10. The power assist device according to any one of claims 1 to 6, wherein The detection assembly further includes at least one of a magnetic sensor, a position sensor, an angle sensor, and an acceleration sensor for detecting the motion parameters.

11. A cleaning device, wherein, Comprising: The boosting device according to any one of claims 1 to 10.

12. The cleaning device according to claim 11, wherein, Further comprising: Floor brush assembly, the floor brush assembly includes a housing and a rotary brush, the rotary brush is rotatably connected to the housing, wherein, the housing includes the body, the driving mechanism is arranged inside the housing, the rotating member is rotatably connected to the housing, the driving mechanism is connected to the rotary brush, and is used to drive the rotary brush to rotate to drive the housing to move along the traveling direction.

13. A control method for a cleaning device, for the cleaning device as described in claim 12, wherein, The control method includes: Obtaining the motion parameters of the floor brush assembly; Determining the motion trend of the floor brush assembly according to the motion parameters, and controlling the driving mechanism to work according to the motion trend to provide assistance for the floor brush assembly.

14. The control method of the cleaning device according to claim 13, wherein, The step of determining the motion trend of the floor brush assembly according to the motion parameters and controlling the driving mechanism to work according to the motion trend includes: Determining the motion trend of the floor brush assembly according to the motion parameters; When the motion trend is the first direction, controlling the driving mechanism to drive the rotary brush to rotate in the second direction to provide assistance for the floor brush assembly in the first direction; When the motion trend is the third direction, controlling the driving mechanism to drive the rotary brush to rotate in the fourth direction to provide assistance for the floor brush assembly in the third direction; The first direction and the third direction are opposite, and one of the second direction and the fourth direction is forward rotation and the other is reverse rotation.

15. The control method of the cleaning device according to claim 14, wherein, The motion parameters include the traveling direction, the displacement of the rotating member, the speed of the rotating member, and the acceleration of the rotating member. The traveling direction is the first direction or the third direction. The step of determining the motion trend of the floor brush assembly according to the motion parameters includes: When the traveling direction is the third direction, the speed is less than or equal to the first speed range, the displacement is greater than or equal to the first displacement range, and the acceleration decreases, determining that the motion trend of the floor brush assembly is the first direction; When the traveling direction is the first direction, the speed is less than or equal to the second speed range, the displacement is greater than or equal to the second displacement range, and the acceleration decreases, determining that the motion trend of the floor brush assembly is the third direction.

16. The control method of the cleaning device according to claim 15, wherein, The step of obtaining the motion parameters of the floor brush assembly includes: Obtaining the voltage value of the Hall element and the running duration of the rotating member, and determining the waveform period of the voltage value of the Hall element according to the voltage value and the running duration; Determining the displacement, the speed, and the acceleration according to the waveform period and the radius of the rotating member.

17. The control method of the cleaning device according to claim 16, wherein, The Hall element includes a first Hall element and a second Hall element. The step of obtaining the motion parameters of the floor brush assembly further includes: Obtaining the first phase of the voltage value of the first Hall element and the second phase of the voltage value of the second Hall element; Determining the traveling direction according to the first phase and the second phase.

18. The control method of the cleaning device according to claim 17, wherein, The step of determining the traveling direction according to the first phase and the second phase includes: When the first phase is greater than the second phase, determining that the floor brush assembly moves along the first direction; When the first phase is less than the second phase, determining that the floor brush assembly moves along the third direction.

19. The control method of the cleaning device according to any one of claims 13 to 18, wherein, Before the step of obtaining the motion parameters of the floor brush assembly, the control method further includes: Receiving an operation input to the cleaning device; Entering a boosting mode in response to the operation input.

20. A readable storage medium having a program or instructions stored thereon, wherein, When the program or the instruction is executed by a processor, it executes the control method of the cleaning device according to any one of claims 13 to 19.

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