CN113520210A

CN113520210A - Handheld dust collector and motion control method thereof

Info

Publication number: CN113520210A
Application number: CN202110711288.3A
Authority: CN
Inventors: 张森; 赵建湘; 许颖华; 阮涛
Original assignee: Midea Group Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd
Current assignee: Midea Group Co Ltd; Guangdong Midea White Goods Technology Innovation Center Co Ltd
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2021-10-22

Abstract

The application discloses a handheld dust collector and a motion control method thereof. This handheld dust catcher includes scrubbing brush subassembly, dust absorption subassembly and response piece, and the dust absorption subassembly is connected in scrubbing brush subassembly and the relative scrubbing brush subassembly swing, and the response piece sets up in scrubbing brush subassembly or dust absorption subassembly. The motion control method comprises the following steps: acquiring swing information of the dust collection assembly relative to the ground brush assembly through the sensing piece; the movement of the floor brush assembly is controlled based on the swing information so as to solve the technical problem that the existing handheld dust collector cannot control the movement direction of the handheld dust collector.

Description

Handheld dust collector and motion control method thereof

Technical Field

The application relates to the technical field of household appliances, in particular to a handheld dust collector and a motion control method thereof.

Background

The handheld dust collector is a good assistant for cleaning dust at home. The working principle of the handheld dust collector is that a motor arranged in a host drives a moving blade to rotate at a high speed, and then a suction pipe acts on a chassis to generate strong negative pressure, so that the chassis is in close contact with the ground, and the purpose of dust collection is achieved. In the long-term research and development process, the inventor of the present application finds that the existing handheld vacuum cleaner has certain limitations, for example, the existing handheld vacuum cleaner cannot control the self-movement direction.

Disclosure of Invention

The application provides a handheld dust collector and a motion control method thereof, which aim to solve the technical problem that the existing handheld dust collector cannot control the motion direction of the handheld dust collector by self.

In order to solve the technical problem, the application adopts a technical scheme that: a motion control method of a handheld dust collector comprises a floor brush component, a dust collection component and a sensing component, wherein the dust collection component is connected with the floor brush component and swings relative to the floor brush component; the motion control method comprises the following steps: acquiring swing information of the dust collection assembly relative to the ground brush assembly through the sensing piece; controlling the movement of the floor brush assembly based on the oscillation information.

According to one embodiment of the application, the floor brush assembly comprises a travelling mechanism, wherein the travelling mechanism can move towards a plurality of directions; controlling the movement of the floor brush assembly based on the oscillation information includes: and driving a traveling mechanism based on the swing information to move the floor brush assembly.

According to an embodiment of the application, the sensing member is arranged on the dust collection assembly and used for sensing the swinging of the dust collection assembly relative to the floor brush assembly so as to generate a rotating shaft angle; acquire the swing information of dust absorption subassembly relatively scrubbing brush subassembly through the response piece, include: determining the swinging direction of the dust collection assembly relative to the floor brush assembly according to the angle of the rotating shaft; controlling the movement of the floor brush assembly based on the oscillation information, comprising: the ground brush assembly is controlled to move in a direction opposite to the swinging direction.

According to one embodiment of the application, an angle threshold is set in the handheld dust collector; controlling the movement of the floor brush assembly based on the oscillation information, comprising: and determining that the absolute value of the angle of the rotating shaft is greater than the angle threshold value, controlling the floor brush assembly to move in the direction opposite to the swinging direction.

According to an embodiment of the present application, the rotation axis angle comprises a first rotation axis angle corresponding to a back and forth swing of the dust collection assembly with respect to the floor brush assembly, and the angle threshold comprises a front angle threshold and a rear angle threshold.

According to an embodiment of the present application, the front angle threshold is greater than the rear angle threshold.

According to an embodiment of the present application, the rotation axis angle includes a second rotation axis angle corresponding to the dust collection assembly swinging left and right with respect to the floor brush assembly, and the angle threshold includes a left angle threshold and a right angle threshold.

According to an embodiment of the application, the left angle threshold is greater than the right angle threshold.

According to an embodiment of this application, acquire the swing information of dust absorption subassembly relative scrubbing brush subassembly through the response piece, still include: recording two rotation axis angles separated by a preset time period, wherein at least one rotation axis angle is smaller than an angle threshold value; taking the ratio of the angle difference of the two rotation axis angles to a preset time period as swing information; the motion control method further includes: if the ratio is determined to be less than or equal to the change threshold, controlling the floor brush assembly to move at a preset speed; and if the ratio is determined to be larger than the change threshold, controlling the floor brush assembly to move at a calculated speed, wherein the calculated speed is the product of the ratio of the angle difference value to the change threshold and a preset speed.

According to an embodiment of this application, the response piece is micro-gap switch, sets up in a plurality of positions of scrubbing brush subassembly, obtains the swing information of the relative scrubbing brush subassembly of dust absorption subassembly through the response piece, includes: when the dust collection assembly swings relative to the floor brush assembly, acquiring the orientation information of the triggered microswitch as swing information; controlling the movement of the floor brush assembly based on the oscillation information, comprising: the floor brush assembly is controlled to move in a direction opposite to the oscillating information.

In order to solve the above technical problem, the present application adopts another technical solution: a hand-held cleaner, comprising: the floor brush assembly comprises a traveling mechanism; the dust collection component is connected with the floor brush component in a swinging manner; the sensing piece is arranged on the dust collection assembly and used for sensing the swinging information of the dust collection assembly relative to the floor brush assembly; and the controller is coupled to the sensing piece and used for acquiring the swinging information through the sensing piece so as to control the movement of the floor brush assembly according to the swinging information.

According to an embodiment of the application, the sensing element is a gyroscope disposed on the dust collection assembly, and the control board is configured to obtain an axial angle of the gyroscope as swing information to control the handheld dust collector to execute the control method.

According to an embodiment of the application, the induction part is a plurality of micro switches arranged on the floor brush assembly, the micro switches are located at different positions, and the micro switches can be triggered when the dust collection assembly swings relative to the floor brush assembly.

The beneficial effect of this application is: the handheld dust collector can acquire the swing information of the dust collection assembly relative to the floor brush assembly, and the movement direction of the floor brush assembly is determined and adjusted according to the swing information, so that the floor brush assembly is convenient to control, and the difficulty in moving the dust collector can be reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for controlling the movement of a hand-held cleaner according to the present disclosure;

FIG. 2 is a schematic view of the swing of the hand-held cleaner in the motion control method of the hand-held cleaner of the present application;

FIG. 3 is a schematic view of the structure of an embodiment of the hand-held cleaner of the present application;

FIG. 4 is a schematic view of another embodiment of the hand-held cleaner of the present application;

FIG. 5 is a schematic view of a further embodiment of the hand-held cleaner of the present application;

FIG. 6 is a perspective view of an embodiment of a floor brush assembly of the hand held cleaner of the present application;

FIG. 7 is a cross-sectional view of one embodiment of a floor brush assembly of the hand held cleaner of the present application;

FIG. 8 is an exploded view of an embodiment of a floor brush assembly in the hand held cleaner of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The application provides a motion control method of a handheld dust collector, which is used for controlling the motion of the handheld dust collector. At first handheld dust catcher includes scrubbing brush subassembly, dust absorption subassembly and response piece, and the dust absorption subassembly can be relatively the scrubbing brush subassembly swing, and when convenient handheld dust absorption, the nimble different dust absorption environment of coping, the response piece then can set up on dust absorption subassembly or scrubbing brush subassembly to the swing of the relative scrubbing brush subassembly of response dust absorption subassembly.

This application mainly acquires the swing information of dust absorption subassembly relative scrubbing brush subassembly through the response piece, then controls the motion of scrubbing brush subassembly according to this swing information, for example when the user actually carries out the dust absorption operation, handheld dust absorption subassembly, when making dust absorption subassembly relative scrubbing brush subassembly backward swing, the user expects that the scrubbing brush subassembly moves forward. Based on this use habit, utilize this application can the motion of automatic control scrubbing brush subassembly.

Furthermore, in order to realize the motion control of the handheld dust collector in multiple directions, the ground brush assembly comprises a travelling mechanism capable of moving towards multiple directions, and the motion control of the ground brush assembly is realized by driving the travelling mechanism.

Based on the above, as shown in fig. 1, the control method of the present application mainly includes two steps.

S110: the swinging information of the dust collection assembly relative to the ground brush assembly is obtained through the sensing piece.

S120: controlling the movement of the floor brush assembly based on the oscillation information.

For step S110, mainly obtaining the swing information, the sensing element may be in various forms, and may sense the swing of the dust collection assembly relative to the floor brush assembly to generate a rotation axis angle, such as a gyroscope; or a mechanical switch, which can be tripped when the cleaning assembly is swung relative to the floor brush assembly, such as a microswitch.

Taking the sensing element for generating the rotation axis angle as an example, the sensing element is a gyroscope, and the gyroscope may be disposed on the dust collection assembly, so as to determine the swing information of the dust collection assembly through the gyroscope. The dust collection assembly can comprise a main dust collection part and a connecting rod, the main dust collection part is connected to the ground brush assembly through the connecting rod, and particularly, the gyroscope can be arranged on the main dust collection part or the connecting rod, so that the swing information of the dust collection assembly can be determined through the gyroscope in a sensing mode.

After the sensing piece obtains the rotating shaft angle, the swinging direction of the dust collection assembly relative to the floor brush assembly can be determined according to the rotating shaft angle, and then the floor brush assembly can be driven to move towards the direction opposite to the swinging direction.

Further, in practical applications, if the user only slightly swings, the user does not need to drive the user to move the user, and only when the swing amplitude is large, the user intends to drive the user to move the user. Therefore, an angle threshold is set, but the rotation shaft angle is larger than the angle threshold, so that the ground brush assembly is controlled to move towards the direction opposite to the swinging direction.

In practical use, the operation of the user is not convenient in the state of large swing amplitude, so that in the embodiment, after the large swing, the dust collection assembly can be restored to the state of small swing, thereby facilitating the operation of the user.

In addition, the speed of movement of the floor brush assembly can also be controlled using the sensing member. The basic control logic in this embodiment is to record the change speed of the two swings, and if the change speed is high, control the floor brush assembly to move at a high speed; if the change speed is low, the floor brush assembly is controlled to move at the default speed.

Specifically, two rotation axis angles separated by a preset time period are recorded, wherein at least one rotation axis angle is smaller than an angle threshold value, namely, the driving is effective when the dust collection assembly is returned to a state of small swing. Then comparing the angle difference of the two rotation shaft angles with the ratio of the preset time period with a change threshold, and controlling the floor brush assembly to move at the preset speed when the ratio is less than or equal to the change threshold, namely the swing change speed is low; when the ratio is larger than the change threshold value, namely the swing change speed is large, the floor brush assembly is controlled to move at a calculated speed, and the calculated speed is the product of the ratio of the angle difference value to the change threshold value and a preset speed.

Specifically, in the embodiment using the gyroscope, the gyroscope may sense the swing angle and obtain the angles of the three rotating shafts, wherein the coordinate of the gyroscope may be set, so that the first rotating shaft angle (X-axis angle, i.e. Roll angle) of the gyroscope corresponds to the front-back swing angle of the dust collection assembly and the floor brush assembly, i.e. the included angle between the dust collection assembly and the X-Z plane in fig. 2; and the second rotation axis angle (Y axis angle, i.e. Pitch angle) of the gyroscope is corresponding to the left-right swing angle of the dust collection assembly relative to the ground brush assembly, i.e. the included angle between the dust collection assembly and the Y-Z plane in fig. 2.

And in the aspect of specific numerical value comparison and calculation, when the dust collection assembly swings backwards relative to the floor brush assembly, the first rotating shaft angle taken by the gyroscope is set to be a positive value, under the condition, the first rotating shaft angle is determined according to the rotating shaft angle, the swinging direction of the dust collection assembly relative to the floor brush assembly can be determined to be backward if the first rotating shaft angle is positive, and then the floor brush assembly is driven to move forwards.

In the back swing direction of the dust collection assembly relative to the ground brush assembly, a back angle threshold value can be defined, so that if the angle of the first rotating shaft of the gyroscope is larger than the back angle threshold value, the ground brush assembly is controlled to move forwards, namely, the handheld dust collector is controlled according to the use habit that the dust collection assembly can swing backwards relative to the ground brush assembly when a user wants the handheld dust collector to move forwards, so that the user can operate based on the habit, and the wrong switching of the movement direction of the handheld dust collector caused by the small-amplitude swing of the dust collection assembly can be avoided by setting the back angle threshold value.

When dust absorption assembly ground brush subassembly forward swing relatively, the first axis of rotation angle that the gyroscope was got sets up to the negative value, is first axis of rotation angle when obtaining the axis of rotation angle, and when being the negative value, can judge that the swing direction of dust absorption assembly ground brush subassembly relatively is forward, drives the ground brush subassembly and moves backward then.

In the front swing direction of the dust collection assembly relative to the ground brush assembly, a front angle threshold value can be defined, and the front angle threshold value is a positive value, so that if the absolute value of the angle of the first rotating shaft of the gyroscope is smaller than the front angle threshold value, the ground brush assembly is controlled to move backwards, namely, the handheld dust collector is controlled according to the use habit that a user can enable the dust collection assembly to swing forwards relative to the ground brush assembly when the user wants the handheld dust collector to move backwards, so that the user can operate the handheld dust collector based on the habit, and the mode of setting the front angle threshold value can avoid the error switching caused by the small-amplitude swing of the dust collection assembly.

When the dust absorption subassembly ground brush subassembly swung left relatively, the second axis of rotation angle that the gyroscope got is the negative value, and when obtaining the axis of rotation angle and be the second axis of rotation angle, and when being the negative value, can judge the swing direction of the relative ground brush subassembly of dust absorption subassembly left, then drive the ground brush subassembly and move right.

In the left swinging direction of the dust collection component relative to the floor brush component, a left angle threshold value can be defined, and the left angle threshold value is a positive value. Like this if the absolute value of the second axis of rotation angle of gyroscope is less than left angle threshold value, then control scrubbing brush subassembly right movement, can make the handheld dust catcher of use habit control of dust absorption subassembly relative scrubbing brush subassembly left swing when "wanting handheld dust catcher right movement" promptly according to the user operates based on the habit, can avoid the mistake that the small-amplitude swing of dust absorption subassembly leads to switching over moreover through the mode that sets up left angle threshold value.

When the dust absorption subassembly ground brush subassembly swings right relatively, the second axis of rotation angle that the gyroscope was got is positive value, and when obtaining the axis of rotation angle and be second axis of rotation angle, and when being positive value, can judge the swing direction of the relative ground brush subassembly of dust absorption subassembly right, then drive ground brush subassembly and move left.

In the right swing direction of the dust collection assembly relative to the ground brush assembly, a right angle threshold value can be defined, so that if the angle of the second rotating shaft of the gyroscope is larger than the right angle threshold value, the ground brush assembly is controlled to move leftwards, namely, the handheld dust collector is controlled according to the use habit that a user wants the handheld dust collector to swing rightwards relative to the ground brush assembly when moving leftwards, so that the user can operate based on the habit, and the error switching caused by small-amplitude swing of the dust collection assembly can be avoided by setting the right angle threshold value.

The front angle threshold, the rear angle threshold, the right angle threshold and the left angle threshold may be set according to actual conditions, and are not limited herein. For example, the front angle threshold may be 65 °. The back angle threshold may be less than the absolute value of the front angle threshold, for example the back angle threshold may be 50 °. For example, the right angle threshold may be 3 °. Since tilting to the right and moving to the left is more likely because of the typical right-handed cleaner for cleaning, the absolute value of the left angle threshold may be greater than the right angle threshold, for example the left angle threshold may be 10 °.

Taking the sensing piece as a microswitch as an example, the microswitch can be arranged on the floor brush assembly, and the dust collection assembly can touch the microswitch arranged on the floor brush assembly when swinging relative to the floor brush assembly, so that the microswitch can acquire the swinging information of the dust collection assembly, and the handheld dust collector can control the movement of the floor brush assembly based on the swinging information of the dust collection assembly. Specifically, dust absorption subassembly can include dust absorption main part and connecting rod, and the dust absorption main part passes through the connecting rod to be connected in the scrubbing brush subassembly, and micro-gap switch can set up in near of scrubbing brush subassembly and connecting rod junction to can touch the micro-gap switch that sets up on the scrubbing brush subassembly during the dust absorption subassembly swing, and then so that handheld dust catcher can be based on the swing information control scrubbing brush subassembly motion of the dust absorption subassembly that micro-gap switch sensed.

Specifically, in step S110, when the dust collection assembly swings relative to the floor brush assembly, the orientation information of the triggered micro switch may be acquired as swing information; then, in step S120, the floor brush assembly is controlled to move in a direction opposite to the swing information.

Optionally, the number of the micro switches installed on the floor brush assembly is not limited, and the micro switches can be specifically set according to actual conditions, for example, four micro switches can be installed near the joint of the floor brush assembly and the connecting rod, and the four micro switches correspond to the four directions of front, back, left and right respectively, so that when the dust collection assembly is moved forwards, rightwards, leftwards or rightwards, the connecting rod can move along with the micro switches, and the corresponding micro switches are triggered to enable the handheld dust collector to control the floor brush assembly to move towards the direction opposite to the swinging information.

In addition, the movement speed of the floor brush assembly is automatically adjusted according to the angle change condition of the dust collection assembly relative to the floor brush assembly. The following description will be given taking the angle information determined by the gyroscope as an example.

For example, in step S110, two first rotation axis angles separated by a preset time period may be recorded; taking a first difference value of the first rotating shaft angle twice and a first ratio of a preset time period as swing information; then, in step S120, if it is determined that the first ratio is less than or equal to the first variation threshold, controlling the floor brush assembly to move at a first preset speed; and if the first ratio is determined to be larger than the first change threshold, controlling the floor brush assembly to move at a second preset speed, wherein the second preset speed is the product of the ratio of the first difference value to the first change threshold and the first preset speed, so that a user can improve the moving speed of the floor brush assembly by quickly changing the angle of the first rotating shaft. The first variation threshold and the first preset speed may be set according to an actual situation, and are not limited herein.

Further, the moving speed of the floor brush assembly may be controlled based on the first ratio in a case where at least one of the obtained two first rotation axis angles is greater than a front angle threshold and less than a rear angle threshold. In addition, after a first preset time of "controlling the floor brush assembly to move at a second preset speed based on the first ratio", the moving speed of the floor brush assembly may be adjusted to the first preset speed, wherein the first preset time may be set according to an actual situation, which is not limited herein.

In addition, for the second rotation axis angle, in step S120, two second rotation axis angles separated by a preset time period may be recorded; taking a second difference value of the two second rotating shaft angles and a second ratio of a preset time period as swing information; then, in step S120, if it is determined that the second ratio is less than or equal to the second variation threshold, controlling the floor brush assembly to move at a third preset speed; and if the second ratio is determined to be greater than the second change threshold, controlling the floor brush assembly to move at a fourth preset speed, wherein the fourth preset speed is the product of the ratio of the second difference to the second change threshold and the third preset speed, so that the user can improve the moving speed of the floor brush assembly by quickly changing the angle of the second rotating shaft. The second variation threshold and the second preset speed may be set according to an actual situation, and are not limited herein.

Further, the speed of movement of the floor brush assembly may be controlled based on the second ratio in the case where at least one of the obtained two second rotation axis angles is greater than the left angle threshold and less than the right angle threshold.

The moving speed of the floor brush assembly may be adjusted to a second preset speed after a second preset time of "controlling the floor brush assembly to move at a fourth preset speed based on the second ratio", wherein the second preset time may be set according to an actual situation, which is not limited herein.

For example, if the position of the main dust collection part is determined to move upwards based on the swing information of the dust collection assembly relative to the floor brush assembly, the movement speed of the floor brush assembly can be increased; if the position of the dust collection main part is determined to move downwards based on the swinging information of the dust collection assembly relative to the floor brush assembly, the movement speed of the floor brush assembly can be reduced. For example, in step S110, two first rotation axis angles spaced by a preset time period may be recorded; in step S120, if the first rotation axis angle is greater than the rear angle threshold for the first time, and the second rotation axis angle is not less than the front angle threshold and is less than the sum of the first rotation axis angle and the preset value for the second time, the moving speed of the floor brush assembly is increased; or, in step S120, if the second time first rotating shaft angle is greater than the rear angle threshold and greater than the difference between the first time first rotating shaft angle and the preset value, the moving speed of the floor brush assembly is reduced; or, in step S120, if the first rotation axis angle is smaller than the front angle threshold for the first time, and the second rotation axis angle is not greater than the rear angle threshold and smaller than the sum of the first rotation axis angle and the preset value for the second time, the movement speed of the floor brush assembly is increased; or, in step S120, if the second time first rotating shaft angle is smaller than the front angle threshold and larger than the difference between the first time first rotating shaft angle and the preset value, the moving speed of the floor brush assembly is reduced.

In addition, a speed sensor (such as an accelerometer) for determining the movement speed of the floor brush assembly can be further arranged in the handheld dust collector, so that the handheld dust collector can determine the position information of the floor brush assembly based on the movement speed and the movement direction of the floor brush assembly, and can also determine whether the next position of the floor brush assembly is cleaned or not based on the current position and the movement direction of the floor brush assembly, and if so, a prompt can be sent to avoid repeatedly cleaning the same area.

In addition, if a room map is stored in the handheld dust collector, the cleaned position can be continuously marked or the uncleaned position can be cancelled in the cleaning process, and the user can be prompted to move the handheld dust collector to the uncleaned area according to the room map, so that the cleaning efficiency is improved, and the room area can be completely cleaned.

In summary, the handheld dust collector of the application can acquire the swing information of the dust collection assembly relative to the floor brush assembly, and determine and/or adjust the movement direction of the floor brush assembly according to the swing information, so that the floor brush assembly is convenient to control, and the difficulty in moving the handheld dust collector can be reduced.

Based on the control method, the application also provides the handheld dust collector for realizing the control method.

Referring to fig. 3 to 5, as shown in fig. 3, the handheld vacuum cleaner 1 of the present application includes a dust collection assembly and a floor brush assembly 10, wherein the dust collection assembly is connected to the floor brush assembly 10 in a swinging manner.

The handheld dust collector 1 of the application can further comprise a sensing element 40, the sensing element 40 can be used for sensing and obtaining the swing information of the dust collection assembly relative to the floor brush assembly 10, and the sensing element 40 can be coupled to the controller 160, so that the controller 160 controls the movement of the floor brush assembly 10 based on the swing information of the dust collection assembly relative to the floor brush assembly 10, the control method is realized, the difficulty of adjusting the direction of the floor brush assembly 10 is reduced, the difficulty of moving the handheld dust collector 1 can be reduced, and the convenience degree of the handheld dust collector 1 in use is improved.

The sensing member 40 may take various forms, such as a gyroscope or a microswitch.

As shown in fig. 3, taking the sensor 40 as a gyroscope disposed on the dust suction assembly as an example, the first rotation axis angle and the second rotation axis angle that the controller 160 can acquire through the gyroscope may be used as swing information, and the controller 160 may control the movement of the floor brush assembly 10 according to the first rotation axis angle and the second rotation axis angle.

As shown in fig. 4, the sensing member 40 is exemplified by a plurality of micro switches disposed on the floor brush assembly 10. Wherein, the micro switches are located at different directions, and the dust collection assembly 20 can trigger the micro switches when swinging relative to the floor brush assembly 10, so that the controller controls the floor brush assembly 10 to move towards the direction opposite to the swinging information of the dust collection assembly. Wherein, the micro switch can be a Hall switch and the like.

Alternatively, the controller 160 may control the speed and/or manner of movement of the floor brush assembly in other ways.

For example, as shown in fig. 5, the vacuum assembly of the present application may be provided with a speed control button 60 and/or a direction control button 50 coupled to the controller 160, such that a user can select a moving direction through the direction control button 50 and select a moving speed through the speed control button 60, i.e., the controller 160 can control the moving speed and/or direction of the floor brush assembly 10 based on the touched condition of the speed control button 60 and/or the direction control button 50. In particular, at least one speed gear button can be arranged on the dust collection assembly, so that a user can select a corresponding gear according to needs.

As another example, the controller 160 of the present application may also control the speed and/or direction of movement of the floor brush assembly 10 based on external commands. The external command may be a voice command or a gesture command parsed by the controller 160. Of course, the external command may be a command from a terminal device communicatively connected to the controller 160.

Alternatively, as shown in figures 6, 7 and 8, the floor brush assembly 10 includes a walking mechanism so that the controller 160 of the hand-held cleaner 1 can control the direction of movement of the floor brush assembly 10 by controlling the direction of movement of the walking mechanism.

The travel mechanism of the present application can control the movement of the floor brush assembly 10 in at least two directions, such as controlling the forward or rearward movement of the floor brush assembly 10, such as controlling the leftward or rightward movement of the floor brush assembly 10, such as controlling the forward, leftward or rightward movement of the floor brush assembly 10, and such as controlling the forward, rearward, leftward or rightward movement of the floor brush assembly 10.

Alternatively, the travel mechanism of the present application may be a travel wheel 130.

Further, the road wheels 130 of the present application may be multi-directional wheels such that the floor brush assembly 10 moves in at least three directions under the control of the controller 160 of the handheld cleaner 1.

Further, the road wheels 130 of the present application may be universal wheels, such as a macram wheel, such that the brush assembly 10 is movable in at least four directions (e.g., front-to-back, left-to-right) under the control of the controller 160 of the hand-held cleaner 1.

In order to facilitate the control of the movement of the floor brush assembly 10, the motor 133 for controlling the walking wheels 130 can be arranged on the floor brush assembly 10, and the motor 133 is coupled to the controller 160, so that the problem that the floor brush assembly 10 cannot walk in multiple directions is solved, the multi-dimensional sweeping experience is realized, the back-and-forth movement is not needed, and the user satisfaction is improved. The motor 133 may be a dc motor 133 or an ac electrode.

Further, the number of the road wheels 130 arranged on the floor brush assembly 10 may be the same as the number of the motors 133 arranged on the floor brush assembly 10, and the motors 133 are connected to the road wheels 130 in a one-to-one correspondence manner, that is, the plurality of road wheels 130 are controlled by the plurality of motors 133 relatively independently, which facilitates the turning of the floor brush assembly 10. Illustratively, four traveling wheels 130 and four motors 133 are provided on the floor brush assembly 10, and the four motors 133 are connected to the four traveling wheels 130 in a one-to-one correspondence. In other embodiments, the number of road wheels 130 may be 3 or 8, etc.

Taking the floor brush assembly 10 comprising four walking wheels 130 as an example, the four walking wheels 130 are respectively connected to the main housing 110, and the four walking wheels 130 are arranged in pairs, so that the floor brush assembly 10 can stably walk on the ground by arranging the four walking wheels 130. In addition, at least one of the traveling wheels 130 is movably connected to the main housing 110 to move to different heights, so that when the local brush assembly 10 travels to uneven ground, the movably arranged traveling wheels 130 can relatively balance the height difference of the uneven ground, the traveling wheels 130 keep a state of walking along the ground to avoid skidding on the ground, and the traveling wheels 130 can maintain the performance thereof, so that the ground brush assembly 10 travels stably.

It should be noted that, the four traveling wheels 130 being located at the same height means that when the four traveling wheels 130 are located on a normal flat ground, the four traveling wheels 130 can all be in contact with the normal flat ground (if the four traveling wheels 130 are of the same size, the rotation axes of the four traveling wheels 130 are located at the same height). And at least one road wheel is movably connected with the main shell in a mode of being capable of moving to different heights besides rotating per se.

Optionally, the floor brush assembly 10 may further include a road wheel housing 140, the main housing 110 being movably connected with the road wheel housing 140. The four travelling wheels 130 respectively comprise two first travelling wheels 131 and two second travelling wheels 132, wherein the two first travelling wheels 131 are arranged in the main shell 110 side by side along the length direction of the cleaning piece 120 in the floor brush assembly, the two second travelling wheels 132 are arranged in the travelling wheel shell 140 at intervals along the length direction of the cleaning piece 120, and the two second travelling wheels 132 are movably arranged relative to the main shell 110 in a flexible connection mode due to the fact that the main shell 110 and the travelling wheels 130 are connected, so that the two second travelling wheels 132 can be attached to the ground in a compensating mode, the height difference of uneven ground can be balanced, the second travelling wheels 132 and the first travelling wheels 131 can keep a state of being attached to the ground, and the problem that the travelling wheels 130 on the uneven ground are prone to slipping is solved. Among them, the cleaning member 120 includes various roll brushes, a cleaning cloth assembly, a dust suction nozzle, etc.

In the present application, the traveling wheel housing 140 can be movably connected to the main housing 110 in various ways, which will be described in detail in a specific manner as follows:

in one embodiment, as shown in fig. 7 and 8, a bearing 141 or a rotating shaft 111 is disposed on one side of the main housing 110 facing the road wheel housing 140, the bearing 141 or the rotating shaft 111 is disposed between the two first road wheels 131, and the rotating shaft 111 or the bearing 141 is correspondingly disposed on the road wheel housing 140. The rotating shaft 111 is inserted into the bearing 141, and the main housing 110 and the road wheel housing 140 rotate in a matching manner through the rotating shaft 111 and the bearing 141, so that the main housing 110 is movably connected to the road wheel housing 140. When the floor brush assembly 10 travels to an uneven ground surface, the traveling wheel housing 140 and the main housing 110 swing relatively in a direction intersecting with the ground surface, that is, the two second traveling wheels 132 swing relatively to the two first traveling wheels 131 to balance the height difference of the uneven ground surface, the traveling wheels 130 keep a state of traveling along the ground surface, thereby avoiding slipping on the ground surface, and the traveling wheels 130 can maintain their own performance, so that the floor brush assembly 10 travels stably as a whole.

Of course, in other embodiments, the main housing 110 and the road wheel housing 140 can be slidably disposed relative to each other along a direction perpendicular to or inclined from the ground, so as to movably connect the main housing 110 to the main housing 140. Specifically, a sliding groove (not shown) or a sliding block (not shown) is disposed on one side of the main housing 110 facing the traveling wheel housing 140, the traveling wheel housing 140 is correspondingly provided with the sliding block or the sliding groove in a matching manner, the extending direction of the sliding groove is perpendicular to or obliquely disposed on the ground, and the main housing 110 and the traveling wheel housing 140 are slidably disposed in the sliding groove through the sliding block, so that the main housing 110 is movably connected to the main housing 140. When the floor brush assembly 10 is moved to an uneven ground surface, the traveling wheel housing 140 is movably connected with the main housing 110, that is, the two second traveling wheels 132 move relatively to the two first traveling wheels 131 and move to different heights, the traveling wheels 130 keep a state of being attached to the ground surface to avoid slipping on the ground surface, and the traveling wheels 130 can maintain the performance of the traveling wheels, so that the floor brush assembly 10 is moved stably.

In some embodiments, as shown in fig. 7, to facilitate the sweeping of the floor brush assembly 10, the two first traveling wheels 131 and the two second traveling wheels 132 are located at one side of the cleaning member 120, that is, the cleaning member 120 is located in front of the traveling direction of the floor brush assembly 10, when the floor brush assembly 10 travels on the ground to sweep the ground, the cleaning member 120 located in front of the traveling direction can sweep more corner positions, the effective sweeping area is larger, and the sweeping efficiency is improved.

In other embodiments, in order to make the floor brush assembly 10 travel more smoothly, the two second traveling wheels 132 and the two first traveling wheels 131 are respectively disposed at both sides of the cleaning member 120, so that the center of gravity of the floor brush assembly 10 is more reasonably distributed, and the floor brush assembly 10 travels more stably as a whole.

In addition to the above embodiments, the two first traveling wheels 131 are mounted on the main housing 110, the two second traveling wheels 132 are mounted on the traveling wheel housing 140, the two first traveling wheels 131 and the cleaning member 120 are integrated, and the floor brush assembly 10 balances the height difference of uneven ground through the movable connection of the main housing 110 and the traveling wheel housing 140, and has a simple and convenient structure. In other embodiments, the two first traveling wheels 131 and the cleaning member 120 may be separately arranged, specifically including:

the floor brush assembly 10 includes a first road wheel housing (not shown) and a second road wheel housing (not shown), and the four road wheels 130 include two first road wheels 131 and two second road wheels 132. Two first road wheels 131 are provided side by side in the first road wheel housing along the length of the cleaning member 120, and two second road wheels 132 are provided side by side in the second road wheel housing along the length of the cleaning member 120. Wherein, first walking wheel casing and second walking wheel casing all are located one side of main casing body 110, first walking wheel casing at least with second walking wheel casing and main casing body 110 in a swing joint to when local brush subassembly 10 walked to uneven ground, first walking wheel casing was at least relative second walking wheel casing and main casing body 110 in one, moved to different height, with the difference in height on balanced uneven ground, walking wheel 130 keeps the state of laminating ground walking, avoid skidding on the ground, and walking wheel 130 can maintain its performance itself, the whole walking of ground brush subassembly 10 is steady. Moreover, the cleaning member 120 is located in front of the traveling direction of the floor brush assembly 10, and when the floor brush assembly 10 travels on the ground to clean the ground, the cleaning member 120 located in front of the traveling direction can clean more corner positions, so that the effective cleaning area is larger, and the cleaning efficiency is improved.

Or, the second walking wheel housing and the first walking wheel housing are respectively located at two sides of the main housing 110, the main housing 110 is movably connected with at least one of the second walking wheel housing and the first walking wheel housing, so that when the floor brush assembly 10 walks to uneven ground, the main housing 110 moves to different heights relative to at least one of the second walking wheel housing and the first walking wheel housing to balance the height difference of the uneven ground, the walking wheels 130 keep a state of walking close to the ground to avoid skidding on the ground, the walking wheels 130 can maintain the performance of the walking wheels, and the floor brush assembly 10 walks stably. Moreover, the cleaning member 120 is located between the two second traveling wheels 132 and the two first traveling wheels 131, that is, the two second traveling wheels 132 and the two first traveling wheels 131 are respectively located at two sides of the cleaning member 120, so that the gravity center distribution of the floor brush assembly 10 is more reasonable, and the whole floor brush assembly 10 can walk more stably.

In the above two embodiments, the two second road wheels 132 and the two first road wheels 131 are respectively two integral bodies, and the height difference of uneven ground is balanced through the movable connection. In other embodiments of this application, four walking wheels 130 of scrubbing brush subassembly 10 all have can independently realize compensating the activity structure of laminating liftoff, specifically include:

the floor brush assembly 10 includes four road wheel housings 140, each road wheel 130 is disposed on one of the road wheel housings 140, and at least one of the four road wheel housings 140 is movably connected to the main housing 110. Therefore, when the floor brush assembly 10 is moved to an uneven ground surface, the walking wheel housing 140 movably connected to the main housing 110 moves to different heights, the walking wheel 130 keeps a state of being attached to the ground to be moved, the ground is prevented from slipping, the walking wheel 130 can maintain the performance of the walking wheel, and the whole floor brush assembly 10 is stably moved. Preferably, four walking wheel housings 140 all movably set up in ground, and four walking wheels 130 are good to paste ground performance, and strong adaptability to uneven ground greatly improves the whole walking stability of scrubbing brush subassembly 10.

Further, as shown in fig. 7, the floor brush assembly 10 further includes a dust suction connection pipe 171, the dust suction connection pipe 171 is connected to the main housing 110, a dust suction passage 172 is formed in the main housing 110, the dust suction passage 172 is communicated with the dust suction opening 112 and the dust suction connection pipe 171 formed in the main housing 110, and after the cleaning member 120 picks up dust and foreign objects, the dust and the foreign objects pass through the dust suction opening 112, flow through the dust suction passage 172 and enter the dust suction connection pipe 171 to be collected.

In order to realize reasonable distribution of the gravity center, the dust collection connecting pipe 171 is arranged between the four walking wheels 130 which are arranged in pairs, and the position of the dust collection connecting pipe 171 is reasonable in design, so that dust and sundries can be collected conveniently, and the walking stability of the floor brush assembly 10 is facilitated.

The controller 160 of the floor brush assembly 10 may be used to control the rotation of the floor brush, the travel of the road wheels 130, the operation of the suction nozzle, etc. Specifically, the controller 160 is disposed in the main housing 110, the dust suction nozzle 171 also serves as an electrically conductive nozzle, and the dust suction nozzle 171 is electrically connected to the controller 160, so as to control the components such as the dust suction nozzle.

Further, the floor brush assembly 10 further includes an electronic control box cover 174, the electronic control box cover 174 is disposed on a surface of the cleaning member 120 opposite to the dust suction opening 112, and the controller 160 can be installed or removed by opening or closing the electronic control box cover 174.

The terms "first", "second" and "third" in the present application are used for descriptive purposes only and are not to be construed as indicating the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. A process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements but may alternatively include additional steps or elements not listed or inherent to such process, method, article, or apparatus.

The above embodiments are merely examples, and not intended to limit the scope of the present application, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present application, or those directly or indirectly applied to other related arts, are included in the scope of the present application.

Claims

1. A motion control method of a handheld dust collector is characterized in that the handheld dust collector comprises a floor brush assembly, a dust collection assembly and a sensing piece, wherein the dust collection assembly is connected to the floor brush assembly and can swing relative to the floor brush assembly, and the sensing piece is arranged on the floor brush assembly or the dust collection assembly; the motion control method includes:

acquiring the swinging information of the dust collection assembly relative to the floor brush assembly through the sensing piece;

controlling the floor brush assembly to move based on the oscillation information.

2. The motion control method of claim 1, wherein the floor brush assembly includes a traveling mechanism that is movable in a plurality of directions; the controlling the movement of the floor brush assembly based on the oscillation information comprises:

and driving the walking mechanism based on the swing information so as to enable the floor brush assembly to move.

3. The motion control method according to claim 1, wherein the sensing member is disposed on the dust collection assembly and used for sensing the swinging of the dust collection assembly relative to the floor brush assembly to generate a rotation shaft angle;

through the response piece acquires the dust absorption subassembly is relative the swing information of scrubbing brush subassembly includes:

determining the swinging direction of the dust collection assembly relative to the floor brush assembly according to the rotating shaft angle;

the controlling the movement of the floor brush assembly based on the oscillation information includes:

and controlling the floor brush assembly to move in the direction opposite to the swinging direction.

4. The motion control method according to claim 3, wherein an angle threshold is set in the hand-held cleaner; the controlling the movement of the floor brush assembly based on the oscillation information includes:

and if the absolute value of the rotating shaft angle is determined to be larger than the angle threshold value, controlling the floor brush assembly to move towards the direction opposite to the swinging direction.

5. The motion control method of claim 4, wherein the rotational axis angle comprises a first rotational axis angle corresponding to the dust extraction assembly swinging back and forth relative to the floor brush assembly, and wherein the angle thresholds comprise a front angle threshold and a rear angle threshold.

6. The motion control method of claim 5, wherein the front angle threshold is greater than the rear angle threshold.

7. The motion control method of claim 4, wherein the rotational axis angle comprises a second rotational axis angle corresponding to the dust extraction assembly swinging side-to-side relative to the floor brush assembly, and wherein the angle threshold comprises a left angle threshold and a right angle threshold.

8. The motion control method of claim 7, wherein the left angle threshold is greater than the right angle threshold.

9. The motion control method according to claim 4, wherein the obtaining of the swing information of the dust collection assembly relative to the floor brush assembly through the sensing member further comprises:

recording two rotation axis angles separated by a preset time period, wherein at least one rotation axis angle is smaller than the angle threshold value; taking the ratio of the angle difference of the two rotation axis angles to a preset time period as the swing information;

the motion control method further includes:

if the ratio is determined to be less than or equal to the variation threshold, controlling the floor brush assembly to move at a preset speed;

and if the ratio is determined to be larger than the change threshold, controlling the floor brush assembly to move at a calculated speed, wherein the calculated speed is the product of the ratio of the angle difference value to the change threshold and a preset speed.

10. The motion control method of claim 1, wherein the sensor is a micro switch disposed at a plurality of orientations of the floor brush assembly, and the obtaining of the swing information of the dust collection assembly relative to the floor brush assembly via the sensor comprises:

when the dust collection assembly swings relative to the floor brush assembly, acquiring orientation information of the triggered microswitch as the swinging information;

the controlling the movement of the floor brush assembly according to the swing information comprises:

controlling the floor brush assembly to move in a direction opposite to the swing information.

11. A hand-held cleaner, comprising:

the floor brush assembly comprises a walking mechanism;

the dust collection assembly is connected with the floor brush assembly in a swinging mode;

the sensing piece is arranged on the dust collection assembly or the floor brush assembly and used for sensing the swinging information of the dust collection assembly relative to the floor brush assembly;

and the controller is coupled to the induction piece and used for acquiring the swing information through the induction piece so as to control the movement of the floor brush assembly according to the swing information.

12. The hand-held cleaner of claim 11, wherein the travel mechanism is configured to drive the floor brush assembly in a plurality of directions.

13. The hand-held cleaner of claim 11, wherein the sensor is a gyroscope disposed on the cleaning assembly,

the control board is used for acquiring the axis angle of the gyroscope as the swing information to control the handheld dust collector to execute the method according to any one of claims 3-9.

14. The hand-held cleaner of claim 11, wherein the sensor is a plurality of micro-switches disposed on the floor brush assembly, the micro-switches are positioned in different orientations, and the micro-switches are triggered when the cleaning assembly swings relative to the floor brush assembly.