WO2023185345A1

WO2023185345A1 - Assisting method for cleaning apparatus and cleaning apparatus

Info

Publication number: WO2023185345A1
Application number: PCT/CN2023/078381
Authority: WO
Inventors: 徐康; 周德化; 曹子祥; 陈春林
Original assignee: 添可智能科技有限公司
Priority date: 2022-03-30
Filing date: 2023-02-27
Publication date: 2023-10-05

Abstract

Embodiments of the present application provide an assisting method for a cleaning apparatus and a cleaning apparatus. The method comprises the following steps: obtaining motion information of a cleaning apparatus; on the basis of the motion information, identifying an operation intention of a user to operate the cleaning apparatus to move; and according to the operation intention and the motion information, controlling an assisting device of the cleaning apparatus to work so as to provide assistance for the user to operate the cleaning apparatus to move. According to the technical solution provided by the embodiments of the present application, assistance is provided for the user to operate the cleaning apparatus to move, and the operation of the user is labor-saving and light.

Description

Assistance methods for cleaning equipment and cleaning equipment

cross reference

This application cites the Chinese patent applications in the table below, which are fully incorporated by reference into this application.

Technical field

The present application relates to the technical field of cleaning equipment, and in particular to a method of assisting cleaning equipment and a cleaning equipment.

Background technique

Cleaning equipment has been widely used in people's daily life. Commonly used ones include floor scrubbers, vacuum cleaners, etc. For example, some floor washing machines or vacuum cleaners with operating handles, when the user holds the handle to operate the machine, a forward friction force will be generated when the roller brush rotates. When the user pushes the floor washer or vacuum cleaner forward, it will be less labor-intensive. The rolling of the roller brush generates a forward assist. However, the forward force of the roller brush must be overcome when pulling back, which makes the user's operation more difficult.

Application content

In view of the problems existing in the prior art, each embodiment of the present application provides a method of assisting cleaning equipment and a cleaning equipment.

In one embodiment of the present application, a method for assisting cleaning equipment is provided. The method includes:

Obtain movement information of the cleaning equipment;

Based on the movement information, identify the user's operation intention to operate the movement of the cleaning equipment;

According to the operation intention and the movement information, the power-assisting device of the cleaning equipment is controlled to operate to provide assistance for the user to operate the cleaning equipment.

In another embodiment of the present application, another method of assisting cleaning equipment is provided. The method includes:

Obtain the current motion state of the cleaning equipment;

Determine a power assist strategy adapted to the motion state;

Obtain movement information of the cleaning equipment;

According to the motion information and the power-assisting strategy, the power-assisting device of the cleaning equipment is controlled to operate to provide assistance for the user to operate the cleaning equipment.

An embodiment of the present application also provides a cleaning device. The cleaning equipment includes: a body with a roller brush;

A handle is provided on the body, and the user operates the rolling brush movement of the cleaning equipment through the handle;

Power assist device, used to output power assist;

A control device is provided on the body and is electrically connected to the power assist device, and is used to implement the steps in each of the above method embodiments.

In yet another embodiment of the present application, an electronic device is also provided. The electronic device can be provided on the above-mentioned cleaning device. The electronic device includes a processor and a memory, wherein,

The memory is used to store one or more computer instructions;

The processor is coupled to the memory and is used for the at least one or more computer instructions to implement the steps in each of the above method embodiments.

In yet another embodiment of the present application, a computer program product is also provided. The computer program product includes a computer program or instructions that, when executed by a processor, enable the processor to implement the steps in each of the above method embodiments.

The technical solution provided by the embodiment of the present application can identify the user's operation intention to operate the cleaning equipment based on the movement information of the cleaning equipment; and then control the operation of the power-assisting device of the cleaning equipment based on the operation intention and movement information to facilitate the user's operation of the cleaning equipment. Provides assistance, making the operation labor-saving and light for the user.

According to the technical solution provided by another embodiment of the present application, the cleaning equipment in different motion states corresponds to an adapted assist strategy; during assist control, the cleaning equipment is controlled according to the motion information of the cleaning device and the adapted assist strategy for the current motion state. The power-assisting device works to provide assistance for the user to operate the cleaning movement, and the user's operation is labor-saving and light.

This application also provides a cleaning equipment control method, which is applied to cleaning equipment. The cleaning equipment is provided with a power assist device. The method includes:

Obtain the working parameters of the booster device in the cleaning equipment;

Identify the state of the power-assisting device through the working parameters;

Based on the state of the power assist device, the output power of the power assist device is adjusted.

In an optional implementation, obtaining the working parameters of the power-assisting device in the cleaning equipment includes:

Obtain the speed and acceleration of the power-assist device in the cleaning equipment;

The identification of the state of the power-assisting device through the working parameters includes:

The state of the power assist device is identified through the speed and the acceleration.

In an optional implementation, identifying the state of the power-assist device through the speed and the acceleration includes:

Obtain the acceleration difference between the acceleration and a preset acceleration threshold;

Determine whether the acceleration difference is within a preset acceleration error range;

If the acceleration difference is within the preset acceleration error range, it is identified that the power assist device is in a slipping or suspended state.

In an optional implementation, if the acceleration difference is within the preset acceleration error range, identifying that the power assist device is in a slipping or suspended state includes:

If the acceleration difference is within the preset acceleration error range, then count the first duration during which the acceleration difference is within the preset acceleration error range;

Determine whether the first duration reaches a preset first duration threshold;

If the first duration reaches the preset first duration threshold, it is identified that the power assist device is in a slipping or suspended state.

In an optional implementation, identifying that the power-assist device is in a slipping or suspended state includes:

Determine whether the speed is greater than a preset speed threshold;

If the speed is greater than the preset speed threshold, it is identified that the power assist device is in a slipping or suspended state.

Obtain the operating current of the booster device in the cleaning equipment;

The state of the power assist device is identified through the operating current.

In an optional implementation, adjusting the output power of the power-assist device based on the state of the power-assist device includes:

If the power-assist device is in a slipping or suspended state, adjust the power-assist device to reverse and reduce the output power of the power-assist device so that the speed of the cleaning equipment is zero;

If the power-assist device is not in a slipping or suspended state, the output power of the power-assist device is maintained.

In a second aspect of the embodiment of the present invention, a cleaning device is provided, including:

The machine body is equipped with a floor brush;

A handle is provided on the body, and the user operates the cleaning equipment to move through the handle;

Power assist device, used to output power assist;

A control device is provided on the body and is electrically connected to the power assist device, and is used to implement the method steps described in the first aspect.

The technical solution provided by the embodiment of the present application is to obtain the working parameters of the power-assist device in the cleaning equipment, identify the state of the power-assist device through the working parameters, and adjust the output power of the power-assist device based on the state of the power-assist device. By obtaining the working parameters of the power-assisting device in the cleaning equipment, and identifying the status of the power-assisting device through the working parameters, the output power of the power-assisting device can be adjusted. This ensures that the power-assisting device works normally, avoids waste of resources, and improves user experience.

Description of drawings

In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of an upright posture of a cleaning device provided by an embodiment of the present application;

Figure 2 is a schematic diagram of a bird's-eye view of the cleaning device provided by an embodiment of the present application when it is in an upright position;

Figure 3 is a schematic diagram of the tilted posture of the cleaning equipment provided by an embodiment of the present application when in use;

Figure 4 is a schematic diagram of the rear wheel of the cleaning equipment provided by an embodiment of the present application;

Figure 5a is a schematic cross-sectional view of the rear wheel of the cleaning equipment provided by an embodiment of the present application;

Figure 5b is an exploded schematic diagram of the photoelectric sensor in the cleaning equipment provided by an embodiment of the present application;

Figure 6 is a schematic diagram of the pulse signal generated by the photoelectric sensor detection signal provided at the rear wheel of the cleaning equipment provided by an embodiment of the present application;

Figure 7 is a schematic flowchart of a method for assisting cleaning equipment provided by an embodiment of the present application;

Figure 8 is a schematic diagram of rear wheel speed and acceleration curves in the power assist method of cleaning equipment provided by an embodiment of the present application;

Figure 9 is a schematic curve diagram of the forward assist output power of the assist device determined based on motion information in the assist method for cleaning equipment provided by an embodiment of the present application;

Figure 10 is a schematic curve diagram of the rear assist output power of the assist device determined based on motion information in the assist method for cleaning equipment provided by an embodiment of the present application;

Figure 11 is a schematic flow chart of a cleaning equipment assisting method provided by another embodiment of the present application;

Figure 12 is a schematic flow chart of further implementation of the assisting method for the cleaning equipment shown in Figure 11;

Figure 13 is a schematic flowchart of the implementation of a cleaning equipment control method shown in an embodiment of the present invention;

Figure 14 is a schematic flow chart of another cleaning equipment control method shown in the embodiment of the present invention;

Figure 15 is a schematic flowchart of the implementation of a method for identifying the state of a power assist device shown in an embodiment of the present invention;

Figure 16 is a schematic flowchart of the implementation of an acceleration dispersion determination method shown in an embodiment of the present invention;

Figure 17 is a schematic flowchart of the implementation of another method for identifying the state of the power assist device shown in the embodiment of the present invention;

Figure 18 is a schematic flowchart of the implementation of another method for identifying the state of the power assist device shown in the embodiment of the present invention;

Figure 19 is a schematic flowchart of the implementation of another cleaning equipment control method shown in the embodiment of the present invention;

Figure 20 is a schematic flowchart of the implementation of a method for identifying the state of a power assist device shown in an embodiment of the present invention;

Figure 21 is a schematic flowchart of the implementation of a method for determining current dispersion shown in an embodiment of the present invention;

Figure 22 is a schematic flowchart of the implementation of another method for identifying the state of the power assist device shown in the embodiment of the present invention;

Figure 23 is a schematic flowchart of the implementation of another method for identifying the state of the power assist device shown in the embodiment of the present invention;

Figure 24 is a schematic flow chart of another cleaning equipment control method shown in the embodiment of the present invention;

Figure 25 is a schematic flowchart of the implementation of a method for reducing the output power of a power assist device in an embodiment of the present invention.

Detailed ways

In order to enable those in the technical field to better understand the solution of the present application, the technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application.

Some of the processes described in the specification, claims, and above-mentioned drawings of this application include multiple operations that appear in a specific order. These operations may not be performed in the order in which they appear in this document or may be performed in parallel. The sequence numbers of operations, such as 101, 102, etc., are only used to distinguish different operations. The sequence numbers themselves do not represent any execution order. Additionally, these processes may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that the descriptions such as "first" and "second" in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order, nor do they limit "first" and "second" are different types. In addition, the following embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of this application.

Figures 1, 2 and 3 show a schematic structural diagram of a cleaning device provided by an embodiment of the present application. As shown in the figure, the cleaning equipment includes: a body 2, a handle 1, a power assist device (not shown in the figure) and a control device (not shown in the figure). Among them, the body 2 is provided with a floor brush 3, and the floor brush 3 is provided with a roller brush 5. The handle 1 can be arranged on the body 2 through an extension rod. The user operates the cleaning equipment through the handle 1 to push or pull the cleaning equipment to move, so that the cleaning equipment cleans the surface to be cleaned that it moves through. The power assist device is used to output power assistance. A control device is provided on the body 2 or the floor brush 3 and is electrically connected to the power assist device for obtaining movement information of the cleaning equipment; based on the movement information, identifying the user's operation of the movement of the cleaning equipment. Intention: According to the operation intention and the motion information, control the operation of the power-assisting device to provide assistance for the user to operate the cleaning equipment.

Figures 1 and 2 show the posture of the cleaning device when it is in a non-working state, for example, the cleaning device is placed on a base. The posture when the vehicle is in the parked state. Figure 3 shows the cleaning device in use. The user can hold the handle 1 and tilt the body 2 to push, pull, and turn the floor brush 3 to clean the floor and carpet waiting surfaces.

As shown in Figures 4 and 5a, the method provided in this embodiment may also include a sensor 6. As shown in Figures 1 to 4, the floor brush is provided with rear wheels 4. The sensor 6 is used to detect the movement signal of the rear wheel 4 . The control device is electrically connected to the sensor 6 , and the control device is used to determine the motion information of the rear wheel 4 based on the motion signal detected by the sensor 6 . Wherein, the power assist device provides power assistance by driving the rear wheel. When there is user operation, the movement information of the rear wheels includes information that reflects the user's operation of the cleaning equipment; when there is no user operation, the movement information of the rear wheels reflects the movement of the cleaning equipment.

As shown in Figure 5a, the power assist device 7 can be a motor, the first output shaft of the motor is connected to the high-speed end of the reduction mechanism 8, and the rear wheel 4 is connected to the low-speed end of the reduction mechanism. The sensor 6 can be arranged at the high-speed end of the deceleration mechanism. In a specific implementable technical solution, the sensor 6 may be a photoelectric sensor. The motor also has a second output shaft, and the second output shaft outputs the same power as the first output shaft. The photoelectric sensor may be disposed on the second output shaft side of the motor. For example, as shown in Figure 5a, the photoelectric sensor includes a transmitter 62, a receiver 63, and a grating code disk 61. The grating code disc 61 is connected to the second output shaft of the motor. When the motor is not working (that is, it does not output power), the rotation of the rear wheel drives the grating code disk in the photoelectric sensor to rotate through the reduction mechanism. When the motor works to drive the rear wheel to rotate (that is, to provide power assistance), the two output shafts of the motor output the same power to drive the grating code disk and the rear wheel to rotate respectively. That is to say, the rear wheel and the grating encoder always rotate at the same time, and the speed ratio is fixed, that is, the reduction ratio (or transmission ratio) of the reduction mechanism. Along the circumference of the grating code disk 61, there are light-transmitting areas and non-light-transmitting areas evenly distributed. The transmitter 62 and the receiver 63 are arranged oppositely on both sides of the grating code disk 61 . The grating code disk 61 rotates at the same time as the rear wheel, but the rotation speed of the grating code disk 61 is higher than the rotation speed of the rear wheel. When the grating code wheel 61 and the rear wheel rotate simultaneously, the light signal emitted by the transmitter 62 is blocked when it encounters a non-transparent area, and reaches the receiver 63 when it encounters a light-transmissive area. The receiver 63 receives the light emitted by the transmitter. signal to generate a pulse signal; this can generate a pulse signal as shown in Figure 6. In practice, when the optical signal emitted by the emitter 62 passes through the light-transmitting area of the grating code disk 61, due to the diffusion angle of the light emitted by the emitter 62 and the light-transmitting area having a certain width, there may be a situation where the light signal emitted by the emitter 62 has not yet reached its target. Turn to the light-transmitting area, but there is a situation where light has passed through the light-transmitting area and been detected. At this time, the high and low level ratio of the pulse signal will shift, resulting in inaccurate detection results. In order to solve this problem, as shown in Figure 5b, a circular/annular code plate light limiting piece 65 is provided inside the code plate back cover 64 where the transmitter 62 is installed. The code plate light limiting piece 65 is located between the transmitter 62 and the receiver. Between the detectors 63, there is a 0.2mm wide slit on the code plate light limiting plate 65 corresponding to the position of the emitter 62, and the remaining positions are opaque; thereby limiting the light emitted by the emitter 62, so that only when the emitter 62 rotates Only when it reaches the light-transmitting area can the receiver 63 detect the light signal. Of course, the light limiting piece 65 of the code wheel can also be installed on the front cover of the code wheel. After repeated tests, it has been determined that when the light-limiting film of the code disc When the size of the slit on 65 can be between 0.1mm and 0.3mm, the detection result will be most accurate. When it is smaller than 0.1mm, it will affect the normal reception of light. When it is larger than 0.3mm, the detection result will have a large error.

Further, the photoelectric sensor may also include a detection circuit, which is used to detect the received electrical signal and filter out the effective signal, and transmit it to the control device so that the control device determines the direction of movement based on the received electrical signal, calculates speed, acceleration, etc. . The photoelectric sensor is set on the second output shaft side of the motor. The speed of the grating code disk of the photoelectric sensor is higher than that of the rear wheel. In this way, the photoelectric sensor can obtain sufficient motion data when the rear wheel rotates at a very small angle. Among them, the motion data may include: motion direction, motion speed, etc.

Among them, the method of calculating the speed based on the pulse signal generated by the photoelectric sensor may include: assuming that the total number of pulses for one rotation of the grating code disk is C; setting the statistical time as T (unit second); the number of pulses detected within T is M; Correspondingly, the rotation speed n of the grating code disk of the photoelectric sensor is:

n=M/(C*T)

The acceleration of the grating code disk: a=△n/t; where, △n is the speed change amount, and t is the time it takes for the speed to change.

Since the rotation speed of the grating code disk is greater than the rotation speed of the rear wheel, when the reduction ratio of the reduction mechanism is known, the speed of the rear wheel can be calculated based on the rotation speed n of the grating code disk through the reduction ratio (or transmission ratio).

As shown in Figure 4, in order to detect the movement direction of the rear wheel, the photoelectric sensor in this embodiment may include two sets of transceivers. As shown in Figure 4, the photoelectric sensor includes: a first group of transceivers 601 and a second group of transceivers 602. Each group of transceivers includes a transmitter 62 and a receiver 63. Two sets of transceivers are set up at a certain distance apart. For example, as shown in Figure 4, the angle between the first connection line between the first group of transceivers 601 and the rotation center of the grating code disk 61 and the second connection line between the second group of transceivers 602 and the rotation center of the grating code disk 61. is an acute angle. The distance between the two sets of transmitters satisfies the phase difference of the two sets of signals by 90°, that is, the distance between the two sets of transmitters can be NT+1/4T, N is a natural number, T is the periodic distance of the signal, a high voltage A flat and a low level is one cycle. The receivers in the two sets of transceivers can all receive the optical signal from the corresponding transmitter, or neither can receive the optical signal from the corresponding transmitter. By judging the initial phase of the electrical signals output by the two sets of transceivers, the rotation direction of the rear wheel can be detected.

In this embodiment, the movement direction, speed and acceleration of the cleaning equipment are completely detected and obtained by the photoelectric sensor 6, that is, the three information of the movement direction, speed and acceleration of the cleaning equipment can be obtained through one sensor. The user's operation and the movement of the cleaning equipment can be detected by a sensor 6.

What needs to be explained here is that the forward, backward or forward push, backward pull, etc. mentioned below are all defined from the user's perspective when the cleaning equipment is working. As shown in Figure 3, when the user holds the handle and pushes in the direction of the forward arrow in the figure, it is pushing forward; when the user holds the handle and pulls in the direction of the backward arrow in the figure, it is pulling back.

When the user holds the handle as shown in Figure 3 and pushes the cleaning device forward, the rear wheel 4 can roll forward along with the user's operation, reflecting the user's operation in time. The inventor of the present application actually measured that when the user makes a forward push operation, the photoelectric sensor is It is placed at the high-speed end of the deceleration mechanism, so the photoelectric sensor can be enlarged when the rear wheel of the cleaning equipment accelerates and rotates forward a very small distance, such as 5mm or less, due to the instantaneous (shorter time) user operation. Changes in wheel speed can be sensed in a timely manner as the rear wheel accelerates rapidly. At this time, it can be recognized that the user's operation intention is to push forward. The control device controls the work of the power assist device to drive the rear wheels to roll forward based on the movement information of the cleaning equipment and the user's operation intention. In this way, the cleaning equipment can move forward under the action of the forward-rolling roller brush and the forward-rolling rear wheel. The user does not need to exert forward thrust when holding the handle. He only needs to hold the handle lightly, so the user does not need to effortlessly follow the cleaning. The effect of equipment moving forward. Of course, when the cleaning equipment moves forward, it does not need to provide assistance, that is, the assistance device does not work. Because the rotation of the roller brush will generate a forward friction force, this friction force can be used as a boost.

If the user holds the handle as shown in Figure 3 and pushes the cleaning equipment forward, and feels that the cleaning equipment moves forward at a suitable speed under the forward push, the assist device can maintain the current working parameters (such as forward output power or output speed) to drive the rear wheels. By rotating forward, the user can always hold the handle to follow the cleaning equipment without exerting force, which is labor-saving and lightweight. If the user feels that the cleaning equipment is moving too fast under forward assist and wants to slow down. The user only needs to pull the handle slightly, and the rear wheel 4 will decelerate due to the braking force generated by the user's instantaneous pull. Similarly, because the photoelectric sensor is set at the high-speed end, it can amplify changes in rear wheel speed and sense the deceleration of the rear wheel in a timely manner. At this time, it can be recognized that the user's operation intention is to pull back or slow down, and the control device controls the power assist device to adjust the working parameters (such as forward power assist output power) to reduce the forward rolling speed of the power-assisted rear wheel. If the speed of the cleaning equipment is suitable after deceleration, the user can continue to hold the handle and follow the cleaning equipment. If the cleaning speed after slowing down is still high, the user can gently pull the handle again and repeat the above process.

Furthermore, if the user wants to pull back to make the cleaning device park forward or travel backward, the user's pulling operation will cause the rear wheels to quickly decelerate. Because the movement of the rear wheels of the cleaning equipment can reflect the user's operation, if the user pulls back the cleaning equipment to make it stop forward or move backward, the movement of the rear wheels will tend to stop forward. In the case of the rear wheel mentioned above, if the user pulls lightly, the rear wheel will slow down but not very low, and will not tend to zero or equal to zero, so it can be identified that the user's operation intention is to slow down. Push forward. In practical applications, the speed and acceleration of the rear wheel can be used to analyze whether the movement of the rear wheel has a forward stopping tendency. For example, if the forward speed of the rear wheel is lower than the first threshold (such as 0.5m/s) and continues to decelerate, it can be determined that the rear wheel has a forward tendency to stop. When the rear wheel has a tendency to stop forward, it is recognized that the user's operation intention is to park forward or pull back. In the case of forward parking, for example, when the user is holding the handle and following the cleaning equipment to clean, he sees a dirty place and wants to stop and let the cleaning equipment clean it. In the case of backward pulling, for example, the user holds the handle and follows the cleaning equipment forward into a narrow channel, cleans to the end and then pulls out of the channel; or, the user uses a reciprocating method of pushing forward and pulling back to let the cleaning equipment clean the floor. Regardless of the user's intention to park forward or pull back, the rear wheels will decelerate to zero. If the user wants to stop the moving cleaning equipment or make the cleaning equipment move from forward to backward, the way the user operates the handle of the cleaning equipment by pulling back will be different from the way the user pulls gently when the speed is reduced and pushed forward. If the user wants to park forward or pull back to move, the user's pull operation will be performed on the rear wheels. What is reflected above is a rapid decrease in forward speed. Because the photoelectric sensor is at the high-speed end, it can amplify and promptly detect the forward stopping trend of the rear wheels due to user operation. The control device detects the movement information of the rear wheel (such as speed, acceleration, etc.) based on the photoelectric sensor, and controls the power assist device to output backward power. This rear power assist balances the forward power of the roller brush and also provides backward power for the cleaning equipment. To accelerate the deceleration of the forward speed of the cleaning equipment, allow the cleaning equipment to quickly stop and stay in place or to quickly reduce the forward direction of the cleaning equipment to zero and then turn to the reverse direction.

The cleaning equipment is currently traveling in the backward direction. If the user wants to push forward to make the cleaning equipment stop in the rear direction or travel forward, the user's forward pushing operation will cause the rear wheels to quickly decelerate. Because the movement of the rear wheels of the cleaning equipment can reflect the user's operation, if the user pushes the cleaning equipment forward to make it stop or move forward, the movement of the rear wheels will tend to stop in the backward direction. In specific implementation, whether the movement of the rear wheel has a tendency to stop in the backward direction can be analyzed based on the speed and acceleration of the rear wheel. For example, if the rear wheel's backward speed is lower than the second threshold and continuously decelerates, it can be determined that the rear wheel has a tendency to stop in the rear direction. When the rear wheels tend to stop backwards, it is recognized that the user's operation intention is to park backwards or push forward. In the case of backward parking, for example, when the user is holding the handle and following the cleaning equipment to clean backwards, he sees a dirty place and wants to stop and let the cleaning equipment clean it. In the case of forward pushing, the user uses a reciprocating method of pushing forward and pulling back to allow the cleaning equipment to clean the floor. Whether the user's intention is to park backward or push forward, the rear wheels will decelerate to zero. Because the photoelectric sensor is at the high-speed end, it can amplify and promptly detect the rear wheel's tendency to stop due to user operation. The control device detects the movement information of the rear wheel (such as speed, acceleration, etc.) based on the photoelectric sensor, and controls the power assist device to output forward power to accelerate the reduction of the rear speed of the cleaning equipment, or the power assist device does not work, and the roller brush The forward rolling force is used as a boost to make the cleaning equipment stop quickly and stay in place or to quickly reduce the backward direction to zero and then turn forward.

Method embodiments will be provided below to illustrate the intelligent assistance solution for cleaning equipment provided by this application.

FIG. 7 shows a schematic flowchart of the assisting method of the cleaning equipment provided by an embodiment of the present application. As shown in the figure, the method includes:

101. Obtain the movement information of the cleaning equipment;

102. Based on the movement information, identify the user's operation intention to operate the cleaning equipment movement;

103. According to the operation intention and the motion information, control the operation of the power assist device of the cleaning equipment to provide assistance for the user to operate the cleaning equipment.

In the above 101, the movement information of the cleaning equipment may include but is not limited to: movement direction, speed, acceleration, etc. Wherein, the motion information can be detected by a sensor provided on the cleaning equipment. For example, the floor brush of the cleaning equipment is provided with a motion monitoring device for monitoring motion information of the floor brush. Or the sensors mentioned above, such as photoelectric sensors. The sensor can be installed at the rear wheel of the floor brush. The power assist device provides power assistance by driving the rear wheels. That is, in an achievable technical solution, step 101 in this embodiment “obtains the operation status of the cleaning equipment”. "Active information" may specifically include:

1011. Detect the movement signal of the rear wheel through the sensor;

1012. Generate the motion information based on the detected motion signal.

Further, in this embodiment, step 1012 "Generate the motion information based on the detected motion signal" may include:

S11. Determine the movement direction and speed of the rear wheel based on the movement signals continuously detected by the sensor;

S12. Calculate the acceleration of the rear wheel according to the speed corresponding to the rear wheel at multiple consecutive moments;

Wherein, the motion information includes: motion direction, speed and acceleration. The direction of movement of the rear wheel is essentially the direction of rotation of the rear wheel, such as counterclockwise rotation or clockwise rotation.

As mentioned above, the sensor is a photoelectric sensor. As shown in Figure 5a, the power assist device 7 can be a motor, the first output shaft of the motor is connected to the high-speed end of the reduction mechanism 8, and the rear wheel 4 is connected to the low-speed end of the reduction mechanism. The grating code disk in the photoelectric sensor rotates at the same time as the rear wheel. The rotation speed of the grating code disk is higher than that of the rear wheel, which can reflect the movement of the rear wheel in time. The photoelectric sensor generates a pulse signal as shown in Figure 6 when the rear wheel rotates. The motion signal in the above step S11 may be the pulse signal shown in FIG. 6 . The speed of the rear wheels can be calculated using the speed calculation method mentioned above. The movement direction (or rotation direction) of the rear wheel can be measured through the initial phase of the electrical signal output by the receiver in the two sets of transceivers in the photoelectric sensor. Once the rear wheel speed is obtained, the rear wheel acceleration can be calculated based on the rear wheel speed.

Among them, two methods can be used to identify the user's operation intention of operating the cleaning equipment. as follows:

Method 1. Recognition through motion information of rear wheels

That is, the step of this embodiment is "based on the movement information of the rear wheels, identify the user's operation intention to operate the movement of the cleaning equipment". More specifically, this step may include:

1021. Analyze the movement trend of the rear wheel based on the movement information of the rear wheel.

1022. Based on the movement trend, identify the user's operation intention.

More details about the above steps 1021 and 1022 will be explained below.

Method 2: Recognition through sensors or interactive devices

For example, a sensor that can sense user operations or an interactive device that the user can touch is provided on the handle of the cleaning equipment. Assuming that a sensor is set, a pressure sensor can be set on the handle to detect the direction and magnitude of the user's force. The pressure sensor detects the user's push or pull force and identifies the user's operation intention. If an interactive device is provided, touch components that can sense user touch can be provided on both sides of the handle. For example, in the gripping area of the handle, as shown in Figure 2, a touch key or touch area 11 is provided above the handle, which can be detected by the user with a light tap or touch. There is also a touch key or touch area under the handle. For example, if the user holds the handle at position 12, the user’s thumb The touch key or touch area 11 above the handle can be touched, and the user's index finger can easily touch the touch key or touch area below the handle. When the user's thumb touches the touch key or the touch area 11 above, it can be recognized that the user's operation intention is to push forward, and when the user's index finger touches the lower touch key or the touch area, it can be recognized that the user's operation intention is to pull back.

Further, the control device can control the operation of the power assist device based on the user's operation and the current motion state of the cleaning equipment to output adapted power assistance. For example, if the cleaning equipment is currently traveling forward, and the user touches the upper touch key or touch area 11 once, based on the current movement direction and speed, the control device controls the power-assist device to output forward power to make the cleaning equipment move forward. Speed up. If the user touches the upper touch key or touch area 11 again, the forward speed is accelerated again, and the control device controls the assist device to increase the forward assist output power to further assist the cleaning equipment in forward speed increase. If the cleaning equipment is currently traveling forward, and the user touches the touch key or touch area below once, the control device controls the power assist device to output backward power to accelerate the forward speed and slow down, so that the forward speed of the cleaning equipment slows down to zero. If the user no longer touches any touch keys or touch areas, the cleaning device will stop in place to clean the parking area. If the user touches the lower touch key or touch area once again, the control device controls the assist device to increase the output power of the backward assist to assist the backward movement of the cleaning equipment.

When the above method 1 is implemented in detail, it can be explained in conjunction with the speed and acceleration curves shown in Figure 8 for easy understanding. The speed and acceleration curves shown in Figure 8 are a continuous push-and-pull operation process of the cleaning equipment. What needs to be explained in advance here is that in the curve shown in Figure 8, there is a small section of acceleration curve in stages ② and ⑤. The section enclosed by the dotted circle in Figure 8 looks like zero. In fact, the straight acceleration curve segment showing zero in stages ② and ⑤ is not zero, but because under the ordinate label value shown in Figure 8, the value of the acceleration corresponding to the ordinate cannot be distinguished from the zero value line. display.

In addition, the speed with a positive value in Figure 8 is the forward speed of the cleaning equipment, and the speed with a negative value is the backward speed of the cleaning equipment.

As shown in Figure 8, in stage ①, when the cleaning equipment is not turned on and is in a stationary state, the speed and acceleration of the cleaning equipment are both zero. Or, the cleaning equipment is in a parked state when it is turned on. For example, after starting up, the user holds the handle and tilts the body of the cleaning equipment, and the roller brush rotates, and the roller brush rotates with forward power. When the user has no intention of pushing forward or pulling backward, the control device controls the power assist device to output backward power to drive the rear wheel to roll backward to offset the forward momentum of the roller brush so that the floor brush can stay in place. The force exerted by the user on the handle approaches 0. If there is no power assist, due to the forward power of the roller brush, the user needs to pull the cleaning equipment, and the user's pulling force is essentially a backward pulling force. With the assistance provided by the power-assist device, users can feel that as long as they hold the handle lightly, the cleaning equipment will stay in place without pulling or pulling.

In the ② stage, the speed of the cleaning equipment is positive and the cleaning equipment is traveling forward. In the ② stage, the speed curve and acceleration curve of the cleaning equipment can be analyzed. It can be seen that the cleaning equipment accelerates forward and then decelerates forward. The movement trend (that is, the movement trend of the rear wheels) is the forward traveling trend.

In the ③ stage, the forward speed of the cleaning equipment is lower than the first threshold, and the forward speed continues to decelerate, which is reflected in the movement trend of the cleaning equipment (that is, the movement trend of the rear wheels) as a forward stopping trend.

In the above ④ stage, the speed of the cleaning equipment drops to zero, and the stage where the acceleration is zero is reflected in the movement trend of the cleaning equipment (that is, the movement trend of the rear wheels) as the parking stage after the forward stop.

In the above ⑤ stage, the cleaning equipment accelerates in the reverse direction, and the acceleration curve shows its acceleration process, which is reflected in the movement trend of the cleaning equipment (that is, the movement trend of the rear wheels) as a backward traveling trend.

In the above ⑥ stage, the backward speed of the cleaning equipment drops to zero, and the stage where the acceleration is zero is reflected in the movement trend of the cleaning equipment (that is, the movement trend of the rear wheels) as the parking stage after the rearward stop.

The above-mentioned stages ① to ⑥ are the speed and acceleration curves of a continuous movement of the cleaning equipment from standstill, forward push to backward pull. In essence, if the cleaning equipment is pulled back and then pushed forward, after a brief stop in stage ⑥ in Figure 8 (similar to stage ④), curves similar to ① to ⑤ may appear again.

The movement trend of the rear wheel can be analyzed from the speed and acceleration curves shown in Figure 8. For example, stage ① corresponds to stationary; stage ② corresponds to the forward trend; stage ③ corresponds to the forward stopping trend; stage ⑤ corresponds to the backward trend. Furthermore, stage ⑤ can be further subdivided into stage 51 and stage 52. Stage 51 corresponds to the backward trend, and stage 52 corresponds to the backward stopping trend.

Correspondingly, in the above-mentioned step 1022, the step "identifying the user's operation intention based on the movement trend" may include at least one of the following:

When the movement trend is a forward trend, it is recognized that the user's operation intention is to push forward;

When the movement trend is a forward stopping trend, it is recognized that the user's operation intention is to push forward to stop or pull back;

When the movement trend is a backward movement trend, it is recognized that the user's operation intention is to pull back;

When the movement trend is a backward stopping trend, it is recognized that the user's operation intention is to pull back to stop or push forward;

When the movement trend is stationary, it is recognized that the user's operation intention is to stay in place;

Wherein, the forward stopping trend refers to the movement trend in which the forward speed is lower than the first threshold and continuous deceleration; the backward stopping trend refers to the movement trend in which the backward speed is lower than the second threshold and continuous deceleration.

The first threshold can be any value from 0.3m/s to 0.7m/s, for example, the first threshold can be 0.5m/s. The second threshold may be equal to or different from the first threshold, which is not specifically limited in this embodiment. If the first threshold value is too large, it will enter the ③ stage as shown in Figure 8 in advance, and the power assist device will intervene in advance to speed up the reduction of the forward speed of the cleaning equipment. This may cause the user to just want to slow down. When pushing forward, the speed of pushing forward quickly drops to zero due to the early intervention of the assist force. Therefore, the selection of the first threshold and the second threshold must be reasonable, and can be determined through a variety of monitoring methods or algorithms during specific implementation.

Further, the forward stopping trend can also be determined by the forward deceleration acceleration. For example, the absolute value of the forward deceleration acceleration reaches the first set maximum value (the third threshold shown in Figure 8), such as 0.075m. /s ² , and the deceleration acceleration continues for the set time, it can be determined that the movement trend of the cleaning equipment is a forward stopping trend. Similarly, the backward stopping trend can also be determined by the backward deceleration acceleration. For example, when the absolute value of the backward deceleration acceleration reaches the second set maximum value, such as 0.075m/ ^s2 , and the deceleration acceleration continues to set If the timing is long, it can be determined that the movement trend of the cleaning equipment is a backward stopping trend.

The above content is based on the analysis of the rear wheel movement trend based on the rear wheel movement information to identify the user's operating intention. In another implementation, as mentioned above, the floor brush is provided with a motion monitoring device (such as a speed sensor, etc.). In this embodiment, the motion information in step 102 is the motion information of the cleaning equipment (more specifically, the floor brush). Sports information. Correspondingly, step 102 of this embodiment "identify the user's operation intention to operate the cleaning equipment based on the movement information" may include at least one of the following:

When the movement trend of the cleaning equipment is analyzed to be a forward trend based on the movement information, it is recognized that the user's operation intention is to push forward;

When the movement trend of the cleaning equipment is analyzed as a forward stopping trend based on the movement information, it is recognized that the user's operation intention is to push forward and stop or pull back;

When the movement trend of the cleaning equipment is analyzed based on the movement information as a backward traveling trend, it is recognized that the user's operation intention is to pull back;

When the movement trend of the cleaning equipment is analyzed based on the movement information as a backward stopping trend, it is recognized that the user's operation intention is to pull back to stop or push forward;

When the movement trend of the cleaning equipment is stationary based on the analysis of the movement information, it is recognized that the user's operation intention is to stay in place;

Wherein, the forward stopping trend refers to a movement trend in which the forward speed is lower than the first threshold and continues to decelerate;

The backward stopping trend refers to a movement trend in which the backward speed is lower than the second threshold and continues to decelerate.

It is understandable that when users operate the cleaning equipment to clean the floor, they may push the cleaning equipment quickly in relatively clean areas, and in dirty areas, they may push it slowly, or push forward, pull back, and push forward again. Pull back and forth until the dirt is clean. In another scenario, for a long and narrow space, the user pushes forward to clean the narrow channel, and then continuously pulls back to pull out from the narrow channel. At this time, the user may push the cleaning device forward to clean, and then pull it out. Therefore, when the user is pushing forward, he may speed up the push forward, or he may push forward at a slower speed. That is, forward push can be subdivided into: acceleration forward push and deceleration push forward. That is, the step "when the movement trend is a forward trend, identifying that the user's operation intention is to push forward" in this embodiment may include:

When the movement trend is a forward growth trend, it is recognized that the user's operation intention is to accelerate forward;

When the movement trend is a forward trend of deceleration and continuation, it is recognized that the user's operation intention is to decelerate and push forward;

Wherein, the forward speed reduction and continuation trend is a movement trend in which the forward speed after speed reduction is not lower than the first threshold.

What needs to be added here is: if the user wants to keep the cleaning equipment moving forward at a constant speed, the user's slight push will produce a forward-increasing movement trend. At this time, it can be recognized that the user's operation intention is to accelerate the forward push. The control device controls the operation of the power assist device to provide forward power and increase the movement speed of the floor brush of the cleaning equipment. If the user is satisfied with the current speed and the change in the current speed does not exceed the fourth threshold, it indicates that the current user intends to push the machine forward at a constant speed. At this time, the assist device can maintain the assist speed of the rear wheel as long as it continues to maintain the current output power. As long as the user holds the handle lightly, the cleaning equipment will move forward at a constant speed with the assistance of the power-assist device. If the user feels that the forward movement speed of the cleaning equipment is too fast, he can gently pull the handle to produce a forward downward trend and continue the movement. The control device of the cleaning equipment controls the booster device to reduce the output power to reduce the speed of the rear wheels. , so that the cleaning equipment can slow down and move forward at the forward speed after deceleration. In addition, it should be added that this embodiment does not specifically limit the value of the fourth threshold, which can be determined according to the actual situation; it is preliminarily determined that the fourth threshold is greater than the first threshold.

After that, if the user wants to pull back the cleaning device so that the cleaning device stops at a certain place for cleaning or moves backward, the user can gently pull the handle multiple times intermittently or continuously, and then the user will continue to generate The movement trend of forward deceleration. If this movement trend continues until the forward speed is lower than the first threshold and the continuous deceleration tends to zero or equals zero, it can be recognized that the user's operation intention is to pull forward to stop or pull back.

Similarly, when pulling back, the user may speed up or slow down. That is, the pull-back can be subdivided into: pull-back after acceleration and pull-back after deceleration. That is, the step "when the movement trend is a backward movement trend, identifying the user's operation intention to pull back" in this embodiment may include:

When the movement trend is a backward acceleration trend, it is recognized that the user's operation intention is to accelerate and pull back;

When the movement trend is a backward trend of deceleration and continuation, it is recognized that the user's operation intention is to decelerate and pull back;

The backward speed reduction and continuation trend refers to the movement trend in which the backward speed after speed reduction is not lower than the second threshold.

If the user wants to keep the cleaning equipment moving backwards at a constant speed, the user can pull it lightly, which will produce a movement trend of increasing speed in the backward direction. At this time, it can be recognized that the user's operation intention is to accelerate and pull backwards. The control device controls the operation of the power assist device to provide forward power and increase the backward movement speed of the floor brush of the cleaning equipment. If the user is satisfied with the current backward speed and the change in the current backward speed does not exceed the fifth threshold, it indicates that the current user intends to pull the machine backward at a constant speed. At this time, the power assist device can maintain the rear wheel speed as long as it continues to maintain the current output power. As long as the user gently holds the handle, the cleaning equipment will move backwards at a constant speed with the assistance of the power-assisting device. If the user feels that the backward movement speed of the cleaning equipment is too fast, a short stop will provide a resistance, which will produce a trend of backward deceleration and continuation. The control device of the cleaning equipment controls the booster device to reduce the output power so that the rear wheels can move backward. Reduce the speed so that the cleaning machine slows down and press Move backward according to the backward speed after deceleration. In addition, it should be added that this embodiment does not specifically limit the value of the fifth threshold, which can be determined according to the actual situation; it is preliminarily determined that the fifth threshold is greater than the second threshold.

In an implementable technical solution, step 103 of this embodiment "control the operation of the power-assisting device of the cleaning equipment according to the operation intention and the movement information" includes:

1031. When the operation intention is to push forward, based on the motion information, the power assist device is controlled to output an adapted forward power assist or to stop working.

Wherein, when the power assist device stops working and does not output power to the outside, the forward power of the roller brush of the cleaning equipment can be used as a power boost. As shown in Figure 9, when the operation intention is to push forward, in the ② stage, the power assist device works according to the forward output power curve shown in the figure to output forward power assist that is adapted in real time to the speed and acceleration of the cleaning equipment. Referring to the ② stage in Figure 9, the speed of the cleaning equipment takes a positive value and the cleaning equipment is in a forward-moving state. The cleaning equipment continues to accelerate in the early part of stage ②, and based on this forward acceleration trend, it can be determined that the user's operation intention is forward push. The forward assist output power of the power assist device gradually increases as the speed and acceleration increase to provide adaptive forward assist to meet the demand for continuous forward speed increase of the cleaning equipment. In the middle of stage ②, the forward speed of the cleaning equipment slows down (that is, the acceleration does not change much). At this time, the forward assist output power of the power assist device reaches its peak. In the latter part of stage ②, the forward speed of the cleaning equipment decelerates, and the reverse acceleration continues to increase (that is, the speed is opposite to the acceleration direction). The forward assist output power of the power assist device gradually decreases as the forward speed continues to decrease. Reduce the output torque and the forward speed of the cleaning equipment decreases.

In Figure 10, in the ② stage, the power assist device does not provide power assistance, that is, it does not work.

1032. When the operation intention is to push forward and park or pull back, if the movement information indicates that the cleaning equipment is in a forward pushing state, then based on the movement information, the power assist device is controlled to output an adapted backward direction. Boost to accelerate the forward deceleration of the cleaning equipment.

Referring to the ③ stage shown in Figure 9, the movement trend of the cleaning equipment in this stage is a forward stopping trend. In this ③ stage, the power assist device does not provide forward power assistance, but the steering output is backward power assistance as shown in Figure 10. After the forward speed of the cleaning equipment in the second stage of stage ② drops to the first threshold and continues to decelerate, it enters stage ③. In the ③ stage, the forward speed of the cleaning equipment slows down and the reverse acceleration reaches the maximum (that is, the absolute value of the acceleration reaches the maximum value). At this time, it can be determined that the user's operation intention is to push forward and park or pull back. That is, in the ③ stage, the control device controls the power-assist device to output backward power to intervene in advance to accelerate the forward deceleration of the cleaning equipment so that it quickly drops to zero. In the ③ stage, the rear assist output power of the power assist device is continuously increased to continuously increase the rear assist torque. After the speed of the cleaning equipment drops to zero, it enters the forward stop stage ④. The ④ stage is a transition period for turning into backward travel. In the ④ stage, the rear assist output power of the power assist device can remain unchanged at the power at the end of the ③ stage. In the ④ stage, the rear assist output power of the power assist device is provided to balance the power assist of the rear wheel with the forward power of the roller brush. To facilitate the following description, The backward assist output power of the assist device in the ④ stage can be called the backward starting power. The backward assist output power in stage ③ is less than the backward starting power.

1033. When the operation intention is to pull back, if the motion information indicates that the cleaning equipment is in a pulling back state, then based on the motion information, the power assist device is controlled to output an adapted backward power assist.

Referring to the ⑤ stage shown in Figure 10, at this time, the control device controls the output power of the power-assisting device to be adapted in real time to the speed and acceleration of the cleaning equipment, so as to provide appropriate power-assisting torque for the cleaning equipment at each moment, and assist the cleaning equipment to move forward after completion. action. As shown in Figure 10, in the first part of the ⑤ stage, the backward speed of the cleaning equipment continues to increase, and the acceleration of the backward speed also continues to increase. At this time, the power assist device needs to continue to push forward based on the backward initial output power of the ④ stage. The high rear assist output power not only resists the forward power of the rolling brush, but also provides assistance for rear wheels to accelerate backward. Therefore, in the entire ⑤ stage, compared with the ② stage in Figure 9, when the absolute values of speed and acceleration are the same or similar, the output power of the booster device in the ⑤ stage is greater. In the middle of stage ⑤, the rearward speed increases to the peak range, and the acceleration of the rearward speed slows down or is not significant. At this time, the rearward assist output power of the power assist device also reaches its peak. In the latter part of stage ⑤, the backward speed decreases and the acceleration of the backward speed increases in the opposite direction (that is, as shown in Figure 10, both the backward speed and acceleration are negative values). At this time, the rear assist output power of the power assist device is also Then it decreases and returns to the starting power in the backward direction.

1034. When the operation intention is to pull back to park or push forward, if the motion information indicates that the cleaning equipment is in a pulling back traveling state, then based on the motion information, the power assist device is controlled to output an adapted forward direction. Assist to speed up the backward deceleration of the cleaning equipment, or control the power assist device to stop working to use the forward power of the roller brush to speed up the backward deceleration of the cleaning equipment.

Referring to the ⑥ stage in Figure 10, when the cleaning equipment is pulled back and parked, the power assist device outputs the starting power in the rearward direction to assist the rear wheels and balance the forward power of the roller brush, so that the cleaning equipment can be pulled back and parked.

In this embodiment, FIG. 9 and FIG. 10 only show the process of the cleaning device from pushing forward, pulling back to pulling back and parking, and do not show the process of pulling back and pushing forward again. It can be understood that the backward movement stage, i.e. stage ⑤, may include two sub-stages, for example, the first sub-stage 51 corresponds to the backward movement trend, and the second sub-stage 52 corresponds to the backward stopping trend. In the second sub-stage 52, the control device can control the power assist device to output forward power to accelerate the deceleration of the backward speed, prompting the cleaning equipment to quickly reduce the backward speed to zero to turn to forward travel. At each stage, the control device can control the power-assisting device to work at an appropriate output power in real time based on the current motion information (movement direction, speed and acceleration) of the cleaning equipment to output appropriate power to help the cleaning equipment complete changes in motion.

1035. When the operation intention is to stop in place, control the power assist device to output a rear power assist adapted to the forward power of the roller brush to balance the forward power of the roller brush.

As shown in the ④ stage and ⑥ stage in Figure 10, when the speed and acceleration of the cleaning equipment are zero, the rolling The forward power of the brush controls the output of the power assist device and the backward power balance of the forward power of the roller brush.

In another implementable technical solution, step 103 in this embodiment "control the operation of the power-assisting device of the cleaning equipment according to the operation intention and the movement information" includes:

1031’. Determine the assist direction according to the operation intention;

1032’. Dynamically determine the output power of the power assist device according to the motion information;

1033'. Control the operation of the power-assisting device of the cleaning equipment according to the power-assisting parameters; wherein the power-assisting parameters include the power-assisting direction and the output power.

Further, the above-mentioned step 1031' "the operation intention, determining the assist direction" includes at least one of the following:

When the operation intention is to push forward, the power assist direction is determined to be forward;

When the operation intention is to push forward and park, the assist direction is determined to be backward;

When the operation intention is to pull back and park, the power assist direction is determined to be forward;

When the operation intention is to pull backward, the assist direction is determined to be backward;

When the operation intention is to stop in place, the assist direction is determined to be backward.

Correspondingly, step 1032' "Dynamicly determine the output power of the power assist device according to the motion information" includes: obtaining a calculation model; using the motion information as an input parameter of the calculation model, executing the calculation model to obtain The output power; or

Obtain a correspondence table of preconfigured motion information and output power, query the output power corresponding to the motion information, or calculate the output power corresponding to the motion information through an interpolation algorithm.

The above calculation model can be derived based on actual measurements and data calculation processes. The above-mentioned correspondence table of preconfigured motion information and output power can be obtained based on actual measurement data. For example, in this embodiment, how are the control parameters for controlling the operation of the power assist device based on the cleaning equipment (ie, the movement of the rear wheels) obtained by the control device. One possible solution is to build a test system that connects the cleaning equipment to equipment such as computers. The signal detected by the sensor (such as a photoelectric sensor) provided at the rear wheel of the cleaning equipment can be uploaded to the computer, and processed by the computer to generate a speed and acceleration curve similar to that shown in Figure 8. Testers can simulate the process of users using cleaning equipment to clean, pushing the cleaning equipment forward, pulling the cleaning equipment back, parking, etc. For example, sampling testers' actions at different pushing speeds from 0 to 1m/s, and how much thrust is required for cleaning equipment from 0 to 0.1m/s, these testers can determine based on the current measured data. The denser the sampled points, the more accurate the determined data will be. In the experiment, various push-pull scenarios were simulated, the speed and acceleration corresponding to multiple time points were sampled, and the torque required by the rear wheel was actually the boost needed for the test. The purpose of the technical solution provided by this embodiment is to accurately control the power assist when the user pushes forward or pulls back so that the rear wheel moves 5mm or less, and then allows the power assist wheel to output the corresponding power assist. Let the user hold the handle and push forward No force is required when cleaning the device.

Sensors on the rear wheels of the cleaning equipment upload the collected signals to the computer. Of course, the higher the sensor's collection frequency, the higher the accuracy of the data, which will help improve the accuracy of subsequent determination of the output power of the booster device.

The tester pushed the cleaning device, and the rear wheels reflected the user's push by turning along the way. In other words, the photoelectric sensor at the rear wheel can detect the movement changes of the rear wheel in time. After the tester obtains a speed and acceleration curve similar to that shown in Figure 8, based on the speed and acceleration curve, the tester can determine the driving force that needs to be provided to the rear wheels to cause the cleaning equipment to move according to the curve shown in Figure 8. This driving force It is the reference data for the control device to control the booster device.

If the tester wants to push the stationary cleaning equipment forward, this forward pushing action will be directly reflected in the rotation of the rear wheels. If you want the cleaning equipment to produce a motion similar to that shown in Figure 8, you can deduce the output power and direction of the assist device, so that the assist device works according to an output power curve similar to that shown in Figure 9 and dynamically outputs adapted power to drive the rear The wheel turns. It should be noted here that this embodiment does not specifically limit the testing and derivation process.

Furthermore, the user's operation intention includes multiple intentions; at least some of the multiple intentions are set to provide assistance. In this embodiment, after step 102 "identifying the user's operation intention to operate the cleaning equipment movement", it also includes:

Determine whether the identified user's operation intention is one of at least part of the plurality of intentions that require assistance; if so, trigger a step of determining assistance parameters based on the operation intention and the motion information. step. For example, pushing forward does not provide assistance; other intentions such as parking, pulling back, etc. provide assistance.

In other implementable embodiments, the process of pulling the cleaning device backward by the user does not require forward assistance. The reason is that the roller brush always has forward rolling force, and this forward rolling force is a resistance to backward movement; secondly, during the process of pulling back, the user's posture (such as bending the arm backwards) posture), it will give the device a backward resistance. Therefore, in another embodiment of the present application, when the cleaning device travels backward, The power assist device does not need to provide forward power assistance. Specifically, as shown in Figure 10, stage ⑤ is the pull-back stage, and stage ⑥ is the pull-back and parking stage. During the entire pull-back stage, the cleaning equipment provides backward assistance. In the first part of stage ⑤, the backward speed of the cleaning equipment continues to increase, and the acceleration of the backward speed is also increasing. At this time, the power assist device needs to continuously increase the rear assist output power based on the backward initial output power in stage ④. , to resist the forward power of the roller brush and at the same time provide assistance for rear wheels to accelerate backward. Therefore, in the entire ⑤ stage, compared with the ② stage in Figure 9, when the absolute values of speed and acceleration are the same or similar, the output power of the booster device in the ⑤ stage is greater. In the middle of stage ⑤, the rearward speed increases to the peak range, and the acceleration of the rearward speed slows down or is not significant. At this time, the rearward assist output power of the power assist device also reaches its peak. In the latter part of stage ⑤, the backward speed decreases and the acceleration of the backward speed increases in the opposite direction (that is, as shown in Figure 10, both the backward speed and acceleration are negative values). At this time, the rear assist output power of the power assist device is also Then it decreases and returns to the starting power in the backward direction. Then, when the rear pull speed decreases to zero, that is, when the rear pull stops in the ⑥ stage, the power assist device outputs the rear starting power to assist the rear wheels and balance the forward power of the roller brush, so that the cleaning equipment can pull back and stop. The rear assist output power in stage ⑤ is greater than the rear starting power. At this time, the assistance plan for cleaning equipment is as shown in the following table:

Figure 11 shows a schematic flowchart of the assisting method for cleaning equipment provided in this embodiment. As shown in the figure, the method includes:

201. Obtain the current motion state of the cleaning equipment;

202. Determine a power assist strategy adapted to the motion state;

203. Obtain movement information of the cleaning equipment;

204. According to the movement information and the power-assisting strategy, control the operation of the power-assisting device of the cleaning equipment to provide assistance for the user to operate the movement of the cleaning equipment.

In the above 201, the motion state of the cleaning equipment may include but is not limited to: forward pushing state, rear pulling state, parked state, etc. Wherein, the motion state of the cleaning equipment can be detected by a sensor. For example, the cleaning equipment in this embodiment includes a floor brush, the floor brush is provided with a rear wheel, and the power assist device provides power assistance by driving the rear wheel. Correspondingly, the above-mentioned step 201 "obtaining the current motion state of the cleaning equipment" includes:

2011. Detect the movement signal of the rear wheel through the sensor.

2012. Determine the current motion state of the cleaning equipment according to the motion signal.

Wherein, the above-mentioned step 2012 "determine the current motion state of the cleaning equipment according to the motion signal" may include at least one of the following:

When it is determined that the rear wheel is traveling forward based on the detected motion signal, the cleaning device is currently in a forward-moving state;

When it is determined that the rear wheel is traveling backward based on the detected motion signal, the cleaning device is currently in a backward traveling state;

When it is determined that the rear wheel is stationary based on the detected motion signal, the cleaning device is currently in a parked state.

In an implementable technical solution, the above-mentioned step 203 of "obtaining the movement information of the cleaning equipment" includes:

2031. Determine the movement direction and speed of the rear wheel based on the motion signals continuously detected by the sensor;

2032. Calculate the acceleration of the rear wheel according to the speed corresponding to the rear wheel at multiple consecutive moments;

Wherein, the motion information includes: motion direction, speed and acceleration. The sensor may be a photoelectric sensor. Regarding the setting method of the photoelectric sensor, motion direction measurement, speed calculation, and acceleration calculation, please refer to the corresponding content above and will not be described in detail here.

In one case, as shown in Figure 12, the power assist strategy determined in step 202 of this embodiment is adapted to the forward advancement state. Correspondingly, the above-mentioned step 204 of "controlling the operation of the power-assisting device of the cleaning equipment according to the motion information and the power-assist strategy" includes:

2041. Based on the motion information, identify whether the user operation causes the cleaning equipment to have a forward stopping trend;

2042. If there is a forward stopping trend, based on the motion information, control the power assist device to output an adapted backward power assist to accelerate the reduction of the forward speed of the cleaning equipment;

2043. If there is no forward stopping trend, based on the motion information, control the power assist device to output an adapted forward power assist or stop working.

Furthermore, the above-mentioned step 2041, "According to the motion information, identify whether the user operation causes the cleaning equipment to have a forward stopping tendency", also includes:

S31. Based on the motion information, identify whether there is a pull-back operation trend in user operations;

S32. If there is a tendency to pull back, trigger the step of identifying whether the user operation causes the cleaning device to have a tendency to stop forward based on the motion information (that is, trigger the above step 2041);

S33. If there is no tendency to pull back, control the power assist device to output adapted forward power assist or stop working according to the motion information.

More specifically, the movement information is the operation information of the rear wheels on the cleaning equipment. Correspondingly, the process of identifying whether there is a pull-back operation tendency in the above-mentioned steps S31 and 2041 may adopt the following method, that is, "according to the motion information, identify whether the user operation has a pull-back operation tendency or identify whether the user operation causes cleaning." "The equipment has a backward tendency to stop", which may include:

S41. Analyze the movement trend of the rear wheel according to the movement information;

S42. When it is analyzed that the backward speed of the rear wheel is decelerated and the decelerated rear wheel has a movement trend with a speed not lower than the second threshold, identify that the user operation has a tendency to pull back; or

S43. When it is analyzed that the rear wheel has a movement trend in which the rearward speed is lower than the second threshold and the continuous deceleration tends to zero or is equal to zero, identify that the user operation causes the cleaning equipment to have a backward stop tendency.

In another situation, as shown in FIG. 12 , the power assist strategy determined in step 202 of this embodiment is adapted to the pull-back traveling state. Correspondingly, the above-mentioned step 204 of "controlling the operation of the power-assisting device of the cleaning equipment according to the motion information and the power-assist strategy" includes:

2044. Determine the assisting direction of the assisting device to be backward;

2045. Based on the motion information, dynamically determine the output power of the power assist device;

2046. Control the operation of the assist device of the cleaning equipment according to the assist parameters; wherein the assist parameters include the assist direction and the output power.

In another situation, as shown in Figure 12, the power assist strategy determined in step 202 of this embodiment is adapted to the parked state. Correspondingly, the above-mentioned step 204 of "controlling the operation of the power-assisting device of the cleaning equipment according to the motion information and the power-assist strategy" includes:

2047. Determine the assisting direction of the assisting device to be backward;

2048. Obtain the rotation speed of the roller brush of the cleaning equipment;

2049. Determine the output power of the power assist device according to the rotation speed of the roller brush;

2050. Control the operation of the power-assisting device of the cleaning equipment according to the power-assisting parameters; wherein the power-assisting parameters include the power-assisting direction and the output power.

It should be noted here that the specific implementation content of at least part of the steps in this embodiment can be referred to the descriptions in the above embodiments. That is to say, the content that is not explained in detail in this embodiment can be understood from the above. The repeated content is here No longer.

In summary, the design idea of the technical solution provided by each embodiment of the present application is to actively identify the user's operation intention, and provide assistance to the cleaning equipment according to the user's operation intention, so that the result directly reflected on the user's handle is: the user's action on the handle produces The force is very small, even zero.

In order to realize the above design idea, the inventor of the present application designed a sensor that detects The signal output can reflect the user's operation intention and the movement status of the cleaning equipment. That is, a photoelectric sensor is provided at the rear wheel of the cleaning device as described above. Then, based on the signal detected by the sensor, the movement information of the cleaning equipment is determined, and the user's operation intention can also be identified based on the movement information of the cleaning equipment; then, according to the user's operation intention and the current movement information, the power-assisting device is controlled to output an adapted power assist , the user’s direct feeling is the effect of gently holding the handle without having to use force to follow the movement of the cleaning equipment.

In order to reflect the effect of the technical solution provided by the embodiment of the present application, the following is explained through relevant data in the test. As in the test scenario mentioned above, in order to make the user experience more intuitive, the inventor provided a pressure sensor on the handle of the cleaning device for sensing the user's push and pull of the handle. Test the cleaning equipment with the active power assist function corresponding to the technical solution provided by the embodiment of the application. The entire process from pushing forward, stopping to pulling back is shown in Figure 8. In a very short time (instantaneous) at the beginning of the ② stage, the user applies a The user exerts a forward push force and a backward pull force during the alternating periods of stages ② and ③. From stages ① to ⑥, except for the first two places, the force exerted by the user approaches zero or even equals zero in the remaining periods. A second cleaning device can also be added to the test. The second cleaning device does not have the active assist function corresponding to the technical solution provided by the embodiment of the present application. The following lists comparative data for situations where the user is required to exert a larger push force or back pull force:

The technical solution provided by each of the above embodiments is to control the work of the power-assist device based on the movement information of the cleaning equipment (more specifically, such as the rear wheel of the floor brush), so as to provide appropriate power at the right time, making the user's use easier. Save effort. In addition to controlling the operation of the power-assist device based on motion information, the operation of the power-assist device can also be controlled based on the travel distance of the cleaning equipment. If the user finds that a certain place is dirty, he wants to push forward and pull back to clean it. Typically, the user stands still and then stretches their arms forward to push the cleaning device forward and then pulls it back. Therefore, in this case, it is possible to determine whether the user has the intention to pull back by the distance traveled by the cleaning device. That is, this application also provides an embodiment. The assisting method for cleaning equipment described in this embodiment may include the following steps:

301. Obtain the traveling distance and direction of the cleaning equipment;

302. According to the traveling direction and traveling distance, control the operation of the power-assisting device to provide assistance for the user to operate the cleaning equipment.

Among them, the above step 302 may specifically include:

3021. If the traveling direction is forward, determine whether the traveling distance is within the first set range;

3022. If the traveling distance is within the first set range, control the assist device to output backward assist to assist Force the cleaning equipment to travel backward;

3023. If the traveling distance is not within the first set range, the power assist device does not work.

The above-mentioned first setting range may be set with reference to the user's arm length and/or step length. For example, the length of an adult's arm is generally between 65cm and 75cm. When the user pushes the cleaning device forward, the tilt angle of the cleaning device is usually about 45°. Then the maximum distance that the user can reach by pushing the cleaning device forward is between 46cm and 53cm; Or, some users are accustomed to taking one step before pushing the cleaning equipment forward. The above first setting range can refer to 70% to 90% of the furthest distance that the user can push the cleaning equipment forward + 70% to 90% of the step length. % to set. The step length of an adult is generally between 50 and 80cm. Therefore, when the forward distance of the cleaning equipment reaches between 65 and 120cm, the power assist device is controlled to output backward power. It should be noted that the above traveling distance is the distance between the roller brush of the cleaning equipment and the user. Of course, under ideal circumstances, it can also be the distance that the roller brush of the cleaning equipment travels forward.

Alternatively, the above step 302 may specifically include:

3024. If the traveling direction is backward, determine whether the traveling distance is within the second set range;

3025. If the back-pull distance is within the second set range, control the power-assist device to output rear-to-front power to assist the cleaning equipment to stop the back-pull tendency;

3026. If the backward pull distance is not within the second setting range, the power assist device outputs backward power assist.

The above-mentioned second setting range can also be set with reference to the user's arm length and/or step length. When the user pulls back the cleaning device, the tilt angle of the cleaning device is about 45°, and the user pulls back the cleaning device that has been pushed to the farthest distance, or some users are accustomed to pulling back and taking a step back at the same time, then the above second setting The fixed range can be designed by referring to 70% to 90% of the farthest distance of the cleaning equipment being pulled back + 70% to 90% of the step length; from this, the cleaning equipment can be set to pull back the distance between 65 and 120cm , controls the power assist device to output forward power assist. The above-mentioned pull-back distance is the distance that the cleaning equipment travels backward.

In another embodiment, the above step 302 may also include:

3027. If the traveling direction is backward, determine whether the traveling distance is within the second set range;

3028. If the pullback distance is within the second set range, control the power assist device not to work;

3029. If the backward pull distance is not within the second setting range, the power assist device outputs backward power assist.

In yet another embodiment, the above step 302 may also include:

3030. If the traveling direction is backward, control the assist device to output backward assist.

Furthermore, the cleaning equipment in the embodiments of the present application has machine learning capabilities and can determine the above setting range by collecting parameters of users' daily usage habits. For example, by collecting the user's forward pushing distance in one or several forward pushing and pulling operations, and then determining the setting range based on this one or several recorded forward pushing distances.

The following describes the corresponding effects of the technical solutions provided by each embodiment of the present application in combination with some application scenarios.

scene one

The user holds the handle of the cleaning device to clean the floor at home. The user pushes the cleaning equipment forward, and due to the forward momentum of the roller brush, the user can push the cleaning equipment around the home to clean the floor without any effort. When cleaning to the kitchen, the user found that the floor was dirty, so he pulled the cleaning equipment back. At this time, the rear wheels of the cleaning equipment promptly responded to the user's pull-back operation and had a tendency to slow down. The control device of the cleaning equipment is based on the signal detected by the photoelectric sensor at the rear wheel. When it is determined that the user wants to pull the cleaning equipment backward, the control assist device starts to output backward power to accelerate the forward travel speed of the rear wheel to zero. Drive the rear wheels to travel backwards. The user just pulls the cleaning equipment lightly, and the cleaning equipment moves backward autonomously with the help of the power-assist device. The user completes the backward pulling without any effort. This process is labor-saving and convenient, and the operation is very flexible and light.

Scene 2

The user holds the handle of the cleaning device to push the cleaning device to clean the carpet. When the user pushes the cleaning equipment forward, the user only needs to push slightly, and the control device can identify the user's intention to push forward based on the signal detected by the photoelectric sensor at the rear wheel. Then, the control device controls the power-assist device to output forward push-assisted force to drive the rear wheels forward. The user only needs to hold the handle lightly to follow the cleaning equipment.

As shown in Figure 1, it is a schematic diagram of the upright posture of the cleaning equipment provided by an embodiment of the present application. As shown in Figure 1, the cleaning equipment includes: a body 2, a handle 1, a power assist device (ie, a rear wheel 4, here the rear wheel 4 is the power-assisted wheel), and the control device (not shown in the figure). Among them, the body 2 is provided with a floor brush 3, and the floor brush 3 is provided with a roller brush 5 and a rear wheel 4. The handle 1 can be arranged on the body 2 through an extension rod. The user can operate the roller brush 5 of the cleaning device through the handle 1 to push or pull the cleaning device to move, so that the cleaning device cleans the cleaning surface it moves through. The power assist device is used to output power assistance in order to provide power assistance to the user. The control device is arranged on the body 2 or the floor brush 3 and is electrically connected to the power-assisting device to implement the cleaning equipment control method described later, thereby ensuring the normal operation of the power-assisted device, avoiding waste of resources, and improving user experience.

As shown in Figure 13, it is a schematic flowchart of the implementation of a cleaning equipment control method provided by an embodiment of the present invention. The method is applied to cleaning equipment (such as floor washing machines, carpet cleaning machines), and may specifically include the following steps:

S201. Obtain the working parameters of the power assist device in the cleaning equipment.

In the embodiment of the present invention, the cleaning equipment is provided with a power-assist device. The power-assist device may be a power-assisted wheel. There are usually two power-assisted devices. For example, a floor washing machine is provided with a left power-assisted wheel and a right power-assisted wheel. A booster wheel. Among them, each power-assisted wheel includes a rear wheel and a driving mechanism, and the two power-assisted wheels are driven independently. The driving mechanism of the power-assisted wheel is a drive motor. The drive motor drives the rear wheel to rotate forward or reverse, so that when the user pushes the cleaning equipment forward or pulls back for cleaning operations, the user's pushing and pulling force can be reduced, thus providing assistance to the user's cleaning operations. . The power assist device controls the speed of the rear wheel rotation by controlling the output power of the drive motor, thereby controlling the amount of rear wheel assist. Book In the embodiment, the rear wheel 4 shown in Figure 1 is a power-assisted wheel.

Based on this, the embodiment of the present invention obtains the working parameters of the power-assisting device in the cleaning equipment. The power-assisting device here can be any power-assisting device in the cleaning equipment. For example, obtain the working parameters of any one of the two power-assisted wheels in the floor washing machine, such as the left power-assisted wheel and the right power-assisted wheel. The working parameters here are the relevant parameters generated by the work of the power-assisted wheel during the working process of the power-assisted wheel.

S202: Identify the state of the power assist device through the working parameters.

In the embodiment of the present invention, regarding the working parameters of the power-assisting device in the cleaning equipment, the state of the power-assisting device can be identified through the working parameters. The state here may include a normal working state, a slipping state, or a suspended state, which is not limited in the embodiment of the present invention.

For example, for the working parameters of the power-assisted wheel in the floor washing machine, the working parameters can be used to identify the state of the power-assisted wheel in the floor washing machine. Here, the power-assisted wheel may be in a normal working state, may be in a slipping state, or may be suspended in the air. state, the embodiment of the present invention does not limit this.

S203: Adjust the output power of the power assist device based on the state of the power assist device.

In the embodiment of the present invention, regarding the state of the power-assist device in the cleaning equipment, the output power of the power-assist device can be adjusted based on the state of the power-assist device. This ensures that the assist device works normally, avoids waste of resources, and improves user experience.

Among them, if the power-assist device is in a normal working state, the output power of the power-assist device is maintained; if the power-assist device is in a slipping or suspended state, the output power of the power-assist device is reduced. This ensures that the assist device works normally, avoids waste of resources, and improves user experience. Here, adjusting the output power of the power assist device is to adjust the output power of the rear wheel drive motor.

For example, if the power-assisted wheel in the floor washing machine is in normal working condition, the output power of the power-assisted wheel is maintained; if the power-assisted wheel in the floor washing machine is in a slipping or suspended state, the output power of the power-assisted wheel is reduced. This ensures that the power-assisted wheel works normally, avoids waste of resources, and improves user experience.

Through the above description of the technical solution provided by the embodiment of the present invention, the working parameters of the power assist device in the cleaning equipment are obtained, the state of the power assist device is identified through the working parameters, and the output power of the power assist device is adjusted based on the state of the power assist device.

By obtaining the working parameters of the power-assisting device in the cleaning equipment, and identifying the status of the power-assisting device through the working parameters, the output power of the power-assisting device can be adjusted. This ensures that the power-assisting device works normally, avoids waste of resources, and improves user experience.

As shown in Figure 14, it is a schematic flow chart of another cleaning equipment control method provided by an embodiment of the present invention. This method is applied to cleaning equipment (such as floor washing machines, carpet cleaning machines), and may specifically include the following steps:

S301. Obtain the speed and acceleration of the power assist device in the cleaning equipment.

In an embodiment of the present invention, cleaning equipment, such as a floor washing machine, includes a photoelectric sensor. The floor brush is provided with a power-assisted rear wheel. The photoelectric sensor is provided on the power-assisted rear wheel for detecting the speed of the rear wheel. The speed is the speed of the power-assisted wheel, and the acceleration of the power-assisted wheel is calculated based on the speed of the power-assisted wheel.

Among them, the driving mechanism (power-assisting device 7) of the power-assisted wheel can generally be a motor. The first output shaft of the motor is connected to the high-speed end of the reduction mechanism 8. The rear wheel 4 is connected to the low-speed end of the reduction mechanism. The photoelectric sensor 6 can It is arranged on the output shaft side of the motor, and the photoelectric sensor 6 generally includes a transmitter 62, a receiver 63, and a photoelectric code disk 61, as shown in Figure 5a.

Along the circumference of the grating code disk, there are light-transmitting areas and non-light-transmitting areas evenly distributed. The transmitter and receiver are arranged on opposite sides of the grating code disk. The grating code wheel rotates at the same time as the rear wheel, but the speed of the grating code wheel is higher than the speed of the rear wheel.

When the grating code wheel and the rear wheel rotate at the same time, the light signal emitted by the transmitter is blocked when encountering the non-transparent area, and reaches the receiver when it encounters the light-transmitting area. The receiver receives the optical signal emitted by the transmitter and generates a The pulse signal is used to calculate the speed of the rear wheel, that is, the speed of the power-assisted wheel based on the pulse signal.

For example, within M seconds, the number of pulses generated is 26. The circumference of the rear wheel is D, then the speed V of the rear wheel can be calculated by the following formula.

Based on this, in the embodiment of the present invention, the speed and acceleration of the power-assisting device in the cleaning equipment can be obtained by calculating the speed of the power-assisting device in the cleaning equipment through a photoelectric sensor, and then calculating the acceleration of the power-assisting device through the speed of the power-assisting device.

For example, the photoelectric sensor is used to calculate the rotation speed of the power-assisted rear wheel of the cleaning equipment, that is, the speed of the power-assisted wheel, and then calculate the acceleration of the power-assisted wheel based on the speed of the power-assisted wheel, so as to obtain the speed and acceleration of the power-assisted wheel in the floor washing machine.

S302: Identify the state of the power assist device through the speed and the acceleration.

In the embodiment of the present invention, regarding the speed and acceleration of the power-assist device, the state of the power-assist device can be identified through the speed and acceleration of the power-assist device. For example, regarding the speed and acceleration of the power-assisted wheel, the state of the power-assisted wheel can be identified through the speed and acceleration of the power-assisted wheel.

Among them, as shown in Figure 15, it is a schematic flowchart of the implementation of a method for identifying the state of a power assist device provided by an embodiment of the present invention. This method is applied to cleaning equipment and may specifically include the following steps:

S501: Determine the acceleration dispersion corresponding to the acceleration according to a preset acceleration dispersion determination period.

In the embodiment of the present invention, an acceleration dispersion determination period may be preset, for example, 100 ms, which means that the acceleration dispersion corresponding to the acceleration is determined every 100 ms.

Thus, the acceleration dispersion corresponding to the acceleration of the power assist device can be determined according to the preset acceleration dispersion determination period.

Among them, for the acceleration dispersion, it represents the degree of acceleration dispersion, and the variance is usually used to characterize the acceleration dispersion.

Specifically, as shown in Figure 16, it is a schematic flow chart of an implementation method for determining acceleration dispersion provided by an embodiment of the present invention. The method may specifically include the following steps:

S601: According to the preset acceleration dispersion determination period, obtain the acceleration variance corresponding to the acceleration within the acceleration dispersion determination period.

In the embodiment of the present invention, according to the preset acceleration dispersion determination period, the acceleration variance corresponding to the acceleration within the acceleration dispersion determination period is obtained, which means that the acceleration within the acceleration dispersion determination period participates in the calculation of the acceleration variance. The specific difference calculation method may refer to the existing method, and the embodiments of the present invention will not be described in detail here.

For example, the embodiment of the present invention obtains the acceleration variance corresponding to the acceleration every 100 ms. What is obtained is the acceleration variance corresponding to the acceleration within 100 ms, which means that the corresponding acceleration variance is calculated from the acceleration within 100 ms. In this way, it can be obtained every 100 ms. An acceleration variance.

S602: Determine the acceleration variance to be the acceleration dispersion of the acceleration within the acceleration dispersion determination period.

In the embodiment of the present invention, for the acceleration variance corresponding to the acceleration, the acceleration variance can be determined to be the acceleration dispersion of the acceleration within the acceleration dispersion determination period.

For example, every 100ms, obtain the acceleration variance corresponding to the acceleration within 100ms, and determine the acceleration variance as the acceleration dispersion of the acceleration within 100ms.

S502: Determine whether the acceleration dispersion is lower than a preset first dispersion threshold, and determine whether the speed is greater than a preset speed threshold.

In the embodiment of the present invention, the acceleration dispersion is characterized by a variance, whereby it can be determined whether the acceleration dispersion is lower than a preset first dispersion threshold. In addition, it can also be judged whether the speed is greater than the preset speed threshold. Therefore, the state of the power assist device is identified based on the above two judgment results.

S503: If the acceleration dispersion is lower than the preset first dispersion threshold and the speed is greater than the preset speed threshold, identify that the power assist device is in a slipping or suspended state.

In the embodiment of the present invention, if the acceleration dispersion is lower than the preset first dispersion threshold and the speed is greater than the preset speed threshold, it means that the acceleration dispersion of the power assist device is low and the acceleration is basically maintained around a certain value. , and the speed is relatively large (because when the power-assisted wheel is slipping or hanging in the air, the power assist is still there, but the ground resistance is reduced, and the power assist (the wheel speed will increase), it can be recognized that the power-assisted device is in a slipping or suspended state, otherwise the power-assisted device is in normal working condition.

In addition, as shown in Figure 17, it is a schematic flowchart of the implementation of another method for identifying the state of a power assist device provided by an embodiment of the present invention. This method is applied to cleaning equipment and may specifically include the following steps:

S701. Obtain the acceleration difference between the acceleration and the preset acceleration threshold.

In the embodiment of the present invention, an acceleration threshold can be set in advance, whereby the acceleration of the power assist device can be compared with the acceleration threshold, and the acceleration difference between the acceleration and the acceleration threshold can be obtained.

For example, the acceleration threshold can be preset to 0. For the acceleration of the power-assisted wheel in the floor washing machine, the acceleration of the power-assisted wheel in the floor washing machine can be compared with the acceleration threshold to obtain the acceleration difference between the acceleration and the acceleration threshold. value.

S702: Determine whether the acceleration difference is within a preset acceleration error range.

In the embodiment of the present invention, an acceleration error range can be set in advance, so that for the acceleration difference between the acceleration and the acceleration threshold, it can be determined whether the acceleration difference is within the acceleration error range. In addition, it can also be determined whether the speed of the power assist device is greater than the preset speed threshold.

For example, based on the actual measurement, an acceleration error range (0~0.084) can be preset, so that for the acceleration difference between the acceleration and the acceleration threshold, it can be judged whether the acceleration difference is within this acceleration error range. In fact, It is to determine whether the acceleration is close to 0. In addition, it is determined whether the speed of the power-assisted wheel is greater than a certain speed threshold. In this embodiment, the acceleration error range can be 1 to 2 units of speed resolution. According to the above calculation formula for calculating the rear wheel speed V, the speed resolution can be obtained. Here, the speed resolution is 0.042.

S703: If the acceleration difference is within the preset acceleration error range, identify that the power assist device is in a slipping or suspended state.

In the embodiment of the present invention, if the acceleration difference is within the preset acceleration error range, it can be identified that the power assist device is in a slipping or suspended state; otherwise, it can be identified that the power assist device is in a normal working state.

In addition, if the acceleration difference is within the preset acceleration error range, further determine whether the speed of the power-assist device is greater than the preset speed threshold. If the speed is greater than the preset speed threshold, it can be identified that the power-assist device is in a slipping or suspended state. Otherwise, Identify that the booster device is in normal working condition.

For example, if the acceleration difference is between 0 and 0.084, it means that the acceleration is close to 0 and the speed of the power-assisted wheel is greater than the speed threshold. At this time, it can be recognized that the power-assisted wheel is in a slipping or suspended state. Otherwise, it is recognized that the power-assisted wheel is in a normal working state.

In addition, due to the existence of emergencies, the acceleration difference at a certain moment is within the preset acceleration error range. At this time, it is recognized that the power-assist device is in a slipping or suspended state, but the real situation may be that the power-assist device is in a normal working state, resulting in a misidentification of the state of the power-assist device.

To this end, in order to solve the problem of misidentification of the state of the power-assist device, embodiments of the present invention can count the time period during which the acceleration difference is within the preset acceleration error range. If the time period exceeds a certain threshold and the speed of the power-assist device is greater than a certain threshold, , it can be identified that the power-assisted device is in a slipping or suspended state, otherwise it can be identified that the power-assisted wheel is in normal working condition.

Specifically, as shown in Figure 18, it is a schematic flowchart of the implementation of another method for identifying the state of a power assist device provided by an embodiment of the present invention. This method is applied to cleaning equipment (such as carpet cleaning machines), and may specifically include the following steps:

S801: If the acceleration difference is within the preset acceleration error range, count the first duration during which the acceleration difference is within the preset acceleration error range.

In the embodiment of the present invention, if the acceleration difference is within the preset acceleration error range, the first duration for which the acceleration difference is within the preset acceleration error range is counted.

For example, if the acceleration difference is within the preset acceleration error range (0-0.084), then the statistical acceleration difference is within the first duration T1 of 0-0.084.

S802: Determine whether the first duration reaches a preset first duration threshold.

In the embodiment of the present invention, according to the actual situation, a first duration threshold may be set in advance, thereby determining whether the first duration reaches the first duration threshold.

For example, according to the actual situation, a first duration threshold of 200 ms is preset to determine whether the first duration T1 reaches 200 ms.

S803: If the first duration reaches the preset first duration threshold, identify that the power assist device is in a slipping or suspended state.

In the embodiment of the present invention, if the first duration reaches the preset first duration threshold, it can be identified that the power-assist device is in a slipping or suspended state, otherwise it can be identified that the power-assist device is in a normal working state.

In addition, if the first duration reaches the preset first duration threshold, further determine whether the speed of the power-assist device is greater than the preset speed threshold. If the speed is greater than the preset speed threshold, it can be identified that the power-assist device is in a slipping or suspended state, otherwise It can be recognized that the power-assist device is in normal working condition.

For example, if the first duration T1 reaches 200ms, and the speed of the power-assisted wheel is greater than a certain threshold, it means that the acceleration of the power-assisted wheel is close to 0 and maintained for 200ms. At this time, it can be identified that the power-assisted wheel is in a slipping or suspended state, otherwise it can be identified The power-assisted wheel is in normal working condition.

S303: Adjust the output power of the power assist device based on the state of the power assist device.

As shown in Figure 19, it is a schematic flow chart of another cleaning equipment control method provided by an embodiment of the present invention. This method is applied to cleaning equipment and may specifically include the following steps:

S901. Obtain the working current of the power assist device in the cleaning equipment.

In the embodiment of the present invention, cleaning equipment, such as a floor washing machine, is generally provided with a current sampling circuit, and the current sampling circuit is used to detect the operating current of the power-assisted wheel. Thus, the working current of the booster device in the cleaning equipment can be obtained through the current sampling circuit.

It should be noted that, for the current sampling circuit, reference may be made to the existing current sampling circuit, and the embodiments of the present invention will not be described in detail here.

S902: Identify the state of the power assist device through the operating current.

In the embodiment of the present invention, regarding the working current of the power-assist device, the state of the power-assist device can be identified through the operating current of the power-assist device. For example, regarding the operating current of the power-assisted wheel, the state of the power-assisted wheel can be identified through the operating current of the power-assisted wheel.

Among them, as shown in Figure 20, it is a schematic flowchart of the implementation of a method for identifying the state of a power assist device provided by an embodiment of the present invention. This method is applied to cleaning equipment and may specifically include the following steps:

S1001: Determine the current dispersion corresponding to the working current according to the preset current dispersion determination period.

In the embodiment of the present invention, a current dispersion determination period may be set in advance, such as 100 ms, which means that the current dispersion corresponding to the operating current is determined every 100 ms.

Thus, the period can be determined according to the preset current dispersion, and the current dispersion corresponding to the working current can be determined.

Among them, the current dispersion represents the degree of dispersion of the operating current, and the variance is usually used to characterize the current dispersion.

Specifically, as shown in Figure 21, it is a schematic flowchart of a current dispersion determination method provided by an embodiment of the present invention. The method is applied to cleaning equipment and may specifically include the following steps:

S1101. According to the preset current dispersion determination period, obtain the current variance corresponding to the working current within the current dispersion determination period.

In the embodiment of the present invention, according to the preset current dispersion determination period, the current variance corresponding to the working current within the current dispersion determination period is obtained, which means that the working current within the current dispersion determination period participates in the calculation of the current variance. . The specific difference calculation method may refer to the existing method, and the embodiments of the present invention will not be described in detail here.

For example, the embodiment of the present invention obtains the current variance corresponding to the working current every 100 ms. What is obtained is the current variance of the working current within 100 ms, which means that the corresponding current variance is calculated from the working current within 100 ms. In this way, the current variance corresponding to the working current within 100 ms is obtained. A current variance can be obtained.

S1102: Determine the current variance to be the current dispersion corresponding to the operating current within the current dispersion determination period.

In the embodiment of the present invention, for the current variance corresponding to the working current, the current variance can be determined to be the current dispersion corresponding to the working current within the period determined by the current dispersion.

For example, every 100ms, obtain the current variance corresponding to the operating current within 100ms, and determine the current variance to be the current dispersion corresponding to the operating current within 100ms.

S1002: Determine whether the current dispersion is lower than a preset second dispersion threshold.

In the embodiment of the present invention, the current dispersion is characterized by variance, so that it can be judged whether the current dispersion is lower than the preset second dispersion threshold, and the state of the power assist device can be identified based on the judgment result.

S1003: If the current dispersion is lower than the preset second dispersion threshold, identify that the power assist device is in a slipping or suspended state.

In the embodiment of the present invention, if the current dispersion is lower than the preset second dispersion threshold, it means that the working current dispersion of the power-assisting device is low, and the working current is basically maintained around a certain value, so that the power-assisting device can be identified In a slipping or suspended state, otherwise the booster device is in normal working condition.

In addition, as shown in Figure 22, it is a schematic flowchart of the implementation of another method for identifying the state of a power assist device provided by an embodiment of the present invention. This method is applied to cleaning equipment and may specifically include the following steps:

S1201: Obtain the current difference between the operating current and the preset current threshold, and determine whether the current difference is within the preset current error range.

In the embodiment of the present invention, a current threshold can be set in advance, whereby the operating current of the power assist device can be compared with the current threshold, and the current difference between the operating current and the current threshold can be obtained.

For example, the current threshold can be preset to 0. For the working current of the power-assisted wheel in the floor washing machine, the working current of the power-assisted wheel in the floor washing machine can be compared with the current threshold to obtain the difference between the working current and the current threshold. current difference.

In addition, in the embodiment of the present invention, a current error range can be preset, so that for the current difference between the operating current and the current threshold, it can be determined whether the current difference is within the current error range.

For example, based on the actual measurement, a current error range (0 ~ N, N is a very small value) can be set in advance, so that the current difference between the operating current and the current threshold can be determined. Whether it is within this current error range is actually to determine whether the operating current is close to 0.

S1202: If the current difference is within the preset current error range, identify that the power assist device is in a slipping or suspended state.

In the embodiment of the present invention, if the current difference is within the preset current error range, it can be identified that the power-assist device is in a slipping or suspended state; otherwise, it can be identified that the power-assist device is in a normal working state.

For example, if the current difference is within 0~N (N is a very small value), it means that the operating current is close to 0. At this time, it can be recognized that the power-assisted wheel is in a slipping or suspended state. Otherwise, it is recognized that the power-assisted wheel is in a normal working state. .

In addition, due to the existence of emergencies, the operating current difference at a certain moment is within the preset current error range. At this time, it is recognized that the power-assisting device is in a slipping or suspended state. However, the actual situation may be that the power-assisting device is in a normal working state. This results in misidentification of the status of the power-assist device.

To this end, in order to solve the problem of misidentification of the state of the power-assist device, embodiments of the present invention can count the time period when the current difference is within the preset current error range. If the time exceeds a certain threshold, it can be identified that the power-assist device is slipping or suspended. status, otherwise it is recognized that the power-assisted wheel is in normal working status.

Specifically, as shown in Figure 23, it is a schematic flowchart of the implementation of another method for identifying the state of a power assist device provided by an embodiment of the present invention. This method is applied to cleaning equipment and may specifically include the following steps:

S1301: If the current difference is within the preset current error range, count the second duration during which the current difference is within the preset current error range.

In the embodiment of the present invention, if the current difference value is within the preset current error range, then the second duration period during which the current difference value is within the preset current error range is counted.

For example, if the current difference is within the preset current error range, then the second duration T2 during which the current difference is within the preset current error range is counted.

S1302: Determine whether the second duration reaches a preset second duration threshold.

In the embodiment of the present invention, according to the actual situation, a second duration threshold may be set in advance, thereby determining whether the second duration reaches the second duration threshold.

For example, according to the actual situation, a second duration threshold of 200 ms is preset to determine whether the second duration T2 reaches 200 ms.

S1303: If the second duration reaches the preset second duration threshold, identify that the power assist device is in a slipping or suspended state.

In the embodiment of the present invention, if the second duration reaches the preset second duration threshold, it can be identified that the power-assist device is in a slipping or suspended state, otherwise it can be identified that the power-assist device is in a normal working state.

For example, if the second duration T2 reaches 200ms, it means that the operating current of the power-assisted wheel is close to 0 and maintained for 200ms. At this time, it can be recognized that the power-assisted wheel is in a slipping or suspended state. Otherwise, it can be recognized that the power-assisted wheel is in a normal state. working status.

S903: Adjust the output power of the power assist device based on the state of the power assist device.

As shown in Figure 24, it is a schematic flow chart of another cleaning equipment control method provided by an embodiment of the present invention. This method is applied to cleaning equipment and may specifically include the following steps:

S1401. Obtain the working parameters of the power assist device in the cleaning equipment.

In the embodiment of the present invention, the working parameters of the power assist device in the cleaning equipment are obtained, where the working parameters may be speed and acceleration, or may be working current.

S1402: Identify the state of the power assist device through the working parameters.

In the embodiment of the present invention, the working parameters of the power-assisting device in the cleaning equipment may be speed and acceleration, or may be working current, whereby the state of the power-assisting device can be identified through the working parameters.

S1403, if the power-assist device is in a slipping or suspended state, adjust the power-assist device to reverse and reduce the output power of the power-assist device so that the speed of the cleaning equipment is zero.

In the embodiment of the present invention, regarding the state of the power-assist device in the cleaning equipment, if the power-assist device is in a normal working state, the output power of the power-assist device can be maintained; if the power-assist device is in a slipping or suspended state, it is necessary to adjust the power assist device at this time. The output power of the device is adjusted.

Among them, if the power-assist device is in a slipping or suspended state, the output power of the power-assist device needs to be reduced at this time. Before this, it is also necessary to adjust the power-assisted device to reverse rotation, such as adjusting the power-assisted wheel in the floor washing machine to reverse rotation. In this way, adjusting the power-assist device to reverse rotation and reducing the output power of the power-assist device can make the speed of the floor washing machine 0. Among them, the output power of the assist device can be reduced according to the target proportion.

For example, if the power-assisted wheel in the floor washing machine is in a slipping or suspended state, reverse the adjustment of the power-assisted wheel. At this time, the output power of the power-assisted wheel is reduced by 25% of the maximum output power of the power-assisted wheel, which means that the output power of the power-assisted wheel is reduced. It is 25% of the maximum output power. At this time, the force of this output power on the power-assisted wheel offsets the forward force generated by the rotation of the roller brush, which can make the speed of the floor washing machine 0, that is, the floor washing machine remains stationary.

Among them, taking the power-assisted wheel hanging in the air as an example, when the floor washing machine is running, after the user lifts the floor washing machine, the rotation of the roller brush exerts a forward force on the floor washing machine. At this time, the power-assisted wheel is reversed. This drive The force of the power on the rear wheel offsets the forward force generated by the rotation of the roller brush, which can make the speed of the floor washing machine 0. In this way, the user can avoid the user's discomfort after putting down the floor washing machine. Suddenly drive users forward and improve user experience.

Based on this, as shown in Figure 25, a method for reducing the output power of a booster device provided by an embodiment of the present invention is Implementation process diagram, this method is applied to cleaning equipment, and may include the following steps:

S1501. Determine the force generated by the rolling brush movement, and find the ratio corresponding to the force generated by the rolling brush movement. The ratio includes the maximum output power ratio of the power assist device.

In the embodiment of the present invention, during the use of the floor washing machine, the rotation of the roller brush will generate a forward or backward force. This force can be obtained through actual measurement, whereby the force generated by the movement of the roller brush can be determined. Alternatively, the acceleration a of the roller brush can be determined, and the weight m of the roller brush can be obtained. According to the calculation formula F=m*a, the force generated by the movement of the roller brush can be calculated.

In addition, in the embodiment of the present invention, there are corresponding ratios for the different forces generated by the rolling brush motion. The ratio here is the ratio of the maximum output power of the power-assist device, which means that the force generated by the rolling brush motion is proportional to the maximum output of the power-assist device. The power ratio corresponds one to one, as shown in Table 1 below.

Therefore, in the embodiment of the present invention, the ratio corresponding to the force generated by the movement of the roller brush is found. For example, as shown in Table 1 above, for the force F1 generated by the rolling brush motion, you can find the maximum output power ratio of 25% of the power-assisted wheel corresponding to F1.

S1502: Determine the ratio as the target ratio, and reduce the output power of the power assist device according to the target ratio.

In the embodiment of the present invention, the above ratio is determined as the target ratio, thereby reducing the output power of the assist device according to the target ratio, so as to avoid discomfort to the user and improve the user experience when the subsequent assist device operates normally.

For example, reducing the output power of the power-assisted wheel by 25% of the maximum output power of the power-assisted wheel means reducing the output power of the power-assisted wheel to 25% of the maximum output power. In this way, the rear wheel is driven to reverse, and the force generated by driving the rear wheel to reverse is It can offset the forward force generated by the rotation of the roller brush to avoid discomfort to the user.

S1404, if the power-assist device is not in a slipping or suspended state, maintain the output power of the power-assist device.

In the embodiment of the present invention, if the power-assist device is not in a slipping or suspended state, it means that the power-assist device is in a normal working state, and the output power of the power-assist device can be maintained at this time.

In addition, if the power-assist device is in a slipping or suspended state, the driving current of the roller brush will also become smaller. However, there are many reasons for the smaller current, that is, in addition to the fact that the power-assisted device is in a slipping or suspended state, the current will become smaller. In addition, there are other factors, such as the roller brush is not installed or the roller brush has been used for a long time and the bristles become docile, etc., which will cause the Misjudgment occurs, for example, the roller brush is not installed or the roller brush has been used for too long and the bristles become docile.

If the roller brush is not installed, it will usually be detected when the machine is turned on. If the roller brush has been used for a long time and the bristles have become docile, it will usually be detected when the machine is turned on. This means that after the cleaning equipment has been in motion for a period of time, if the driving current of the roller brush is detected to change. Small, high probability is not caused by factors such as the roller brush not being installed or the roller brush being used for too long and the bristles becoming docile. It is caused by the power assist device being in a slipping or suspended state.

Based on this, in order to prevent misjudgment, if the power-assist device is in a slipping or suspended state and the machine body has been running for a preset time, it means that the driving current of the roller brush has become smaller. It is most likely that the roller brush is not installed or the bristles of the roller brush have been used for too long. It is caused by factors such as changing compliance, but is caused by the power-assisted device being in a slipping or suspended state. At this time, it is forbidden to trigger the alarm of roller brush abnormality to avoid misjudgment. The abnormality of the roller brush here refers to the fact that the roller brush is not installed or the bristles of the roller brush have become docile after being used for too long.

In addition, an embodiment of the present invention also provides a cleaning device, wherein the cleaning device includes:

The machine body is equipped with a floor brush;

Power assist device, used to output power assist;

A control device is provided on the body and is electrically connected to the power assist device, and is used to implement any one of the aforementioned method steps.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article, or apparatus that includes the stated element.

Each embodiment in this specification is described in a related manner. The same and similar parts between the various embodiments can be referred to each other. Each embodiment focuses on its differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the partial description of the method embodiment.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

The apparatus embodiments described above are merely illustrative in that the units described as separate components may A component shown as a unit may or may not be physically separate, that is, it may be located in one place, or it may be distributed over multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Persons of ordinary skill in the art can understand and implement the method without any creative effort.

Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the part of the above technical solution that essentially contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., including a number of instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions in the embodiments of the present application.

Claims

A method of assisting cleaning equipment, which is characterized by including:

Obtain movement information of cleaning equipment;

Based on the movement information, identify the user's operation intention to operate the movement of the cleaning equipment;

According to the operation intention and the movement information, the power-assisting device of the cleaning equipment is controlled to operate to provide assistance for the user to operate the cleaning equipment.
The method according to claim 1, wherein the cleaning equipment includes a floor brush, the floor brush is provided with a rear wheel, and the power assist device provides power assistance by driving the rear wheel; and

Obtain movement information of the cleaning equipment, including:

Detect the motion signal of the rear wheel through a sensor;

Based on the detected motion signals, motion information of the rear wheels is generated.
The method of claim 2, wherein generating the motion information based on the detected motion signal includes:

Determine the movement direction and speed of the rear wheel based on the movement signals continuously detected by the sensor;

Calculate the acceleration of the rear wheel according to the speed corresponding to the rear wheel at multiple consecutive moments;

Wherein, the motion information includes: motion direction, speed and acceleration.
The method according to claim 2 or 3, characterized in that, based on the movement information, identifying the user's operation intention to operate the movement of the cleaning equipment includes:

Analyze the movement trend of the rear wheel according to the movement information of the rear wheel;

Based on the movement trend, the user's operation intention is identified.
The method according to claim 4, characterized in that, based on the movement trend, identifying the user's operation intention includes at least one of the following:

When the movement trend is a forward trend, it is recognized that the user's operation intention is to push forward;

When the movement trend is a forward stopping trend, it is recognized that the user's operation intention is to push forward to stop or pull back;

When the movement trend is a backward movement trend, it is recognized that the user's operation intention is to pull back;

When the movement trend is a backward stopping trend, it is recognized that the user's operation intention is to pull back to stop or push forward;

When the movement trend is stationary, it is recognized that the user's operation intention is to stay in place;

Wherein, the forward stopping trend refers to a movement trend in which the forward speed is lower than the first threshold and continues to decelerate;

The backward stopping trend refers to a movement trend in which the backward speed is lower than the second threshold and continues to decelerate.
The method according to claim 1, characterized in that, based on the motion information, identifying user operations The operation intention of the cleaning equipment movement includes at least one of the following:

When the movement trend of the cleaning equipment is analyzed to be a forward trend based on the movement information, it is recognized that the user's operation intention is to push forward;

When the movement trend of the cleaning equipment is analyzed as a forward stopping trend based on the movement information, it is recognized that the user's operation intention is to push forward and stop or pull back;

When the movement trend of the cleaning equipment is analyzed based on the movement information as a backward traveling trend, it is recognized that the user's operation intention is to pull back;

When the movement trend of the cleaning equipment is analyzed based on the movement information as a backward stopping trend, it is recognized that the user's operation intention is to pull back to stop or push forward;

When the movement trend of the cleaning equipment is stationary based on the analysis of the movement information, it is recognized that the user's operation intention is to stay in place;

Wherein, the forward stopping trend refers to a movement trend in which the forward speed is lower than the first threshold and continues to decelerate;

The backward stopping trend refers to a movement trend in which the backward speed is lower than the second threshold and continues to decelerate.
The method according to claim 5 or 6, characterized in that when the movement trend is a forward trend, identifying the user's operation intention is to push forward, including at least one of the following:

When the movement trend is a forward growth trend, it is recognized that the user's operation intention is to accelerate forward;

When the movement trend is a forward trend of deceleration and continuation, it is recognized that the user's operation intention is to decelerate and push forward;

Wherein, the forward speed reduction and continuation trend is a movement trend in which the forward speed after speed reduction is not lower than the first threshold.
The method according to claim 5 or 6, characterized in that when the movement trend is a backward movement trend, identifying the user's operation intention to pull back includes at least one of the following:

When the movement trend is a backward acceleration trend, it is recognized that the user's operation intention is to accelerate and pull back;

When the movement trend is a backward trend of deceleration and continuation, it is recognized that the user's operation intention is to decelerate and pull back;

The backward speed reduction and continuation trend refers to the movement trend in which the backward speed after speed reduction is not lower than the second threshold.
The method according to claim 5 or 6, characterized in that, according to the operation intention and the movement information, controlling the operation of the power assist device of the cleaning equipment includes at least one of the following:

When the operation intention is to push forward, based on the motion information, the power assist device is controlled to output adapted forward power assist or stop working;

When the operation intention is to push forward and park or pull back, if the movement information indicates that the cleaning equipment is in a forward pushing state, then based on the movement information, the power assist device is controlled to output an adapted backward power assist, To speed up the forward deceleration of the cleaning equipment;

When the operation intention is to pull back, if the motion information indicates that the cleaning equipment is in a pulling back traveling state, then basically Based on the motion information, control the power-assist device to output an adapted backward power assist;

When the operation intention is to pull back to park or push forward, if the movement information indicates that the cleaning equipment is in a pulling back traveling state, then based on the movement information, the power assist device is controlled to output an adapted forward power assist to Accelerate the backward deceleration of the cleaning equipment, or control the power assist device to stop working to use the forward power of the roller brush to accelerate the backward deceleration of the cleaning equipment;

When the operation intention is to park in place, the power assist device is controlled to output a backward power assist adapted to the forward power of the roller brush to balance the forward power of the roller brush.
The method according to any one of claims 1 to 6, characterized in that, according to the operation intention and the movement information, controlling the operation of the power assist device of the cleaning equipment includes:

Determine the assist direction according to the operation intention;

Dynamically determine the output power of the power assist device according to the motion information;

The power-assisting device of the cleaning equipment is controlled to operate according to the power-assisting parameters; wherein the power-assisting parameters include the power-assisting direction and the output power.
The method according to claim 10, characterized in that determining the assist direction according to the operation intention includes at least one of the following:

When the operation intention is to push forward, the power assist direction is determined to be forward;

When the operation intention is to push forward and park, the assist direction is determined to be backward;

When the operation intention is to pull back and park, the power assist direction is determined to be forward;

When the operation intention is to pull backward, the assist direction is determined to be backward;

When the operation intention is to stop in place, the assist direction is determined to be backward.
The method according to claim 10, characterized in that dynamically determining the output power of the power assist device according to the motion information includes:

Obtain a calculation model; use the motion information as an input parameter of the calculation model, and execute the calculation model to obtain the output power; or

Obtain a correspondence table of preconfigured motion information and output power, query the output power corresponding to the motion information, or calculate the output power corresponding to the motion information through an interpolation algorithm.
The method according to any one of claims 1 to 6, wherein the user's operation intention includes multiple intentions; at least some of the multiple intentions are set to provide assistance;

After identifying the user's operation intention to operate the cleaning equipment movement, it also includes:

Determine whether the identified user's operation intention is one of at least part of the plurality of intentions that require assistance;

If yes, trigger the step of determining the power assist parameter according to the operation intention and the motion information.
The method according to claim 1, characterized in that, according to the operation intention and the movement information, controlling the operation of the power assist device of the cleaning equipment includes:

determining a forward speed of the cleaning device based on the motion information;

When the operation intention is to pull backward, based on the forward speed, the power assist device is controlled to output an adaptive backward power assist to intervene in advance to accelerate the deceleration of the forward speed of the cleaning equipment.
A method of assisting cleaning equipment, which is characterized by including:

Obtain the current motion status of the cleaning equipment;

Determine a power assist strategy adapted to the motion state;

Obtain movement information of the cleaning equipment;

According to the motion information and the power-assisting strategy, the power-assisting device of the cleaning equipment is controlled to operate to provide assistance for the user to operate the cleaning equipment.
The method according to claim 15, characterized in that the cleaning equipment includes a floor brush, the floor brush is provided with a rear wheel, and the power assist device provides power assistance by driving the rear wheel; and

Obtain the current motion status of the cleaning equipment, including:

Detect the motion signal of the rear wheel through a sensor;

Determine the current motion state of the cleaning equipment according to the motion signal of the rear wheel;

Wherein, according to the movement signal of the rear wheel, the current movement state of the cleaning equipment is determined, including at least one of the following:

When it is determined that the rear wheel is traveling forward based on the detected motion signal, the cleaning device is currently in a forward-moving state;

When it is determined that the rear wheel is traveling backward based on the detected motion signal, the cleaning device is currently in a backward traveling state;

When it is determined that the rear wheel is stationary based on the detected motion signal, the cleaning device is currently in a parked state.
The method according to claim 16, characterized in that obtaining the movement information of the cleaning equipment includes:

Determine the movement direction and speed of the rear wheel based on the movement signals continuously detected by the sensor;

Calculate the acceleration of the rear wheel according to the speed corresponding to the rear wheel at multiple consecutive moments;

Wherein, the motion information includes: motion direction, speed and acceleration.
The method according to any one of claims 15 to 17, characterized in that the assist strategy adapts advance the state of progress, and

According to the movement information and the power-assist strategy, controlling the operation of the power-assist device of the cleaning equipment includes:

According to the motion information, identify whether the user operation causes the cleaning equipment to have a forward stopping trend;

If there is a forward stopping trend, based on the motion information, the power assist device is controlled to output an adapted backward power assist to accelerate the reduction of the forward speed of the cleaning equipment;

If there is no forward stopping trend, based on the motion information, the power assist device is controlled to output an adapted forward power assist or to stop working.
The method according to claim 18, characterized in that, based on the motion information, identifying whether the user operation causes the cleaning equipment to have a forward stopping tendency, before further comprising:

According to the motion information, identify whether there is a pull-back operation trend in user operations;

If there is a tendency to pull back, trigger the step of identifying whether the user operation causes the cleaning device to have a tendency to stop forward based on the motion information;

If there is no tendency to pull back, the power assist device is controlled to output an adapted forward power assist or to stop working according to the movement information.
The method according to claim 19, characterized in that the motion information is the operation information of the rear wheels on the cleaning equipment; and

According to the motion information, identifying whether the user operation has a backward pulling operation tendency or identifying whether the user operation causes the cleaning equipment to have a backward stopping tendency, including:

Analyze the movement trend of the rear wheel according to the movement information;

When it is analyzed that the rear wheel's backward speed is decelerated and the decelerated rear wheel has a movement trend with a speed not lower than the second threshold, it is recognized that the user operation has a tendency to pull back; or

When it is analyzed that the rear wheel has a movement tendency in which the rearward speed is lower than the second threshold and the continuous deceleration tends to zero or equal to zero, it is identified that the user operation causes the cleaning equipment to have a backward tendency to stop.
The method according to any one of claims 15 to 17, characterized in that the power assist strategy is adapted to a pull-back traveling state, and

According to the movement information and the power-assist strategy, controlling the operation of the power-assist device of the cleaning equipment includes:

Determine the power-assisting direction of the power-assist device to be backward;

Based on the motion information, dynamically determine the output power of the power assist device;

The power-assisting device of the cleaning equipment is controlled to operate according to the power-assisting parameters; wherein the power-assisting parameters include the power-assisting direction and the output power.
The method according to any one of claims 15 to 17, characterized in that the assist strategy adapts in the parked state, and

According to the movement information and the power-assist strategy, controlling the operation of the power-assist device of the cleaning equipment includes:

Determine the power-assisting direction of the power-assist device to be backward;

Obtain the rotation speed of the roller brush of the cleaning equipment;

According to the rotation speed of the roller brush, the output power of the booster device is determined;

The power-assisting device of the cleaning equipment is controlled to operate according to the power-assisting parameters; wherein the power-assisting parameters include the power-assisting direction and the output power.
A cleaning equipment, characterized in that it includes:

The machine body is equipped with a floor brush;

A handle is provided on the body, and the user operates the rolling brush movement of the cleaning equipment through the handle;

Power assist device, used to output power assist;

A control device, arranged on the body and electrically connected to the power assist device, is used to obtain movement information of the cleaning equipment; based on the movement information, identify the user's operation intention to operate the movement of the cleaning equipment; according to the The operation intention and the motion information are used to control the operation of the power-assisting device to provide assistance for the user to operate the cleaning equipment.
The cleaning equipment according to claim 23, characterized in that when the control device controls the operation of the power assist device according to the operation intention and the motion information, it is used to:

determining a forward speed of the cleaning device based on the motion information;

When the operation intention is to pull backward, based on the forward speed, the power assist device is controlled to output an adaptive backward power assist to intervene in advance to accelerate the deceleration of the forward speed of the cleaning equipment.
The cleaning device of claim 23, further comprising a sensor;

The floor brush is provided with rear wheels;

The power assist device is connected to the rear wheel and provides power assistance by driving the rear wheel;

The sensor is used to detect the motion signal of the rear wheel;

The control device is electrically connected to the sensor, and is used to determine the motion information of the rear wheel based on the motion signal detected by the sensor.
The cleaning equipment according to claim 23, characterized in that the control device is used to implement the steps in the method according to any one of the above claims 3 to 14.
A cleaning equipment, characterized in that it includes:

The machine body is equipped with a roller brush;

A handle is provided on the body, and the user operates the rolling brush movement of the cleaning equipment through the handle;

Power assist device, used to output power assist;

A control device is provided on the body and is electrically connected to the power assist device, and is used to implement the steps in the method described in any one of claims 15 to 22.
A cleaning equipment control method, characterized in that it is applied to cleaning equipment, and the cleaning equipment is provided with a power assist device, and the method includes:

Obtain the working parameters of the booster device in the cleaning equipment;

Identify the state of the power-assisting device through the working parameters;

Based on the state of the power assist device, the output power of the power assist device is adjusted.
The method according to claim 28, characterized in that said obtaining the working parameters of the power assist device in the cleaning equipment includes:

Obtain the speed and acceleration of the power-assist device in the cleaning equipment;

The identification of the state of the power-assisting device through the working parameters includes:

The state of the power assist device is identified through the speed and the acceleration.
The method according to claim 29, characterized in that identifying the state of the power assist device through the speed and the acceleration includes:

Determine the acceleration dispersion corresponding to the acceleration according to a preset acceleration dispersion determination period;

Determine whether the acceleration dispersion is lower than a preset first dispersion threshold, and determine whether the speed is greater than a preset speed threshold;

If the acceleration dispersion is lower than the preset first dispersion threshold and the speed is greater than the preset speed threshold, it is identified that the power assist device is in a slipping or suspended state.
The method of claim 30, wherein determining the acceleration dispersion corresponding to the acceleration according to a preset acceleration dispersion determination period includes:

According to a preset acceleration dispersion determination period, obtain the acceleration variance corresponding to the acceleration within the acceleration dispersion determination period;

The acceleration variance is determined to be the acceleration dispersion of the acceleration within the acceleration dispersion determination period.
The method according to claim 29, characterized in that identifying the state of the power assist device through the speed and the acceleration includes:

Obtain the acceleration difference between the acceleration and a preset acceleration threshold;

Determine whether the acceleration difference is within a preset acceleration error range;

If the acceleration difference is within the preset acceleration error range, it is identified that the power assist device is in a slipping or suspended state.
The method according to claim 32, characterized in that if the acceleration difference is within the preset acceleration error range, identifying that the power assist device is in a slipping or suspended state includes:

If the acceleration difference is within the preset acceleration error range, then count the first duration during which the acceleration difference is within the preset acceleration error range;

Determine whether the first duration reaches a preset first duration threshold;

If the first duration reaches the preset first duration threshold, it is identified that the power assist device is in a slipping or suspended state.
The method according to claim 32 or 33, characterized in that identifying that the power-assist device is in a slipping or suspended state includes:

Determine whether the speed is greater than a preset speed threshold;

If the speed is greater than the preset speed threshold, it is identified that the power assist device is in a slipping or suspended state.
The method according to claim 28, characterized in that said obtaining the working parameters of the power assist device in the cleaning equipment includes:

Obtain the operating current of the booster device in the cleaning equipment;

The identification of the state of the power-assisting device through the working parameters includes:

The state of the power assist device is identified through the operating current.
The method according to claim 35, characterized in that identifying the state of the power assist device through the operating current includes:

Determine the current dispersion corresponding to the working current according to the preset current dispersion determination period;

Determine whether the current dispersion is lower than a preset second dispersion threshold;

If the current dispersion is lower than the preset second dispersion threshold, it is identified that the power assist device is in a slipping or suspended state.
The method of claim 36, wherein determining the current dispersion corresponding to the operating current according to a preset current dispersion determination period includes:

According to a preset current dispersion determination period, obtain the current variance corresponding to the operating current within the current dispersion determination period;

The current variance is determined to be the current dispersion corresponding to the operating current within the current dispersion determination period.
The method according to claim 35, characterized in that, by using the operating current, the Describes the status of the assist device, including:

Obtain the current difference between the operating current and the preset current threshold, and determine whether the current difference is within the preset current error range;

If the current difference is within the preset current error range, it is identified that the power assist device is in a slipping or suspended state.
The method according to claim 38, characterized in that if the current difference is within the preset current error range, identifying that the power assist device is in a slipping or suspended state includes:

If the current difference is within the preset current error range, count the second duration during which the current difference is within the preset current error range;

Determine whether the second duration reaches a preset second duration threshold;

If the second duration reaches the preset second duration threshold, it is identified that the power assist device is in a slipping or suspended state.
The method according to any one of claims 28 to 39, wherein adjusting the output power of the power-assist device based on the state of the power-assist device includes:

If the power-assist device is in a slipping or suspended state, adjust the power-assist device to reverse and reduce the output power of the power-assist device so that the speed of the cleaning equipment is zero;

If the power-assist device is not in a slipping or suspended state, the output power of the power-assist device is maintained.
The method according to claim 40, characterized in that the cleaning equipment is provided with a roller brush, and the reducing the output power of the power assist device is reducing the output power of the power assist device according to a target ratio, including:

Determine the force generated by the rolling brush movement, and find the ratio corresponding to the force generated by the rolling brush movement, where the ratio includes the maximum output power ratio of the power assist device;

The ratio is determined to be a target ratio, and the output power of the power assist device is reduced according to the target ratio.
A cleaning equipment, characterized in that it includes:

The machine body is equipped with a floor brush;

A handle is provided on the body, and the user operates the cleaning equipment to move through the handle;

Power assist device, used to output power assist;

A control device is provided on the body and is electrically connected to the power assist device, and is used to implement the method steps described in any one of claims 28 to 41.