Assisting method for cleaning device and cleaning device

Abstract

The embodiments of the present application provide an assisting method for a cleaning device and a cleaning apparatus. The method comprises the following steps: obtaining movement information of a cleaning device; identifying an operation intention of a user operating the cleaning device to move based on the movement information; and controlling an assisting apparatus of the cleaning device to operate to provide assisting for the user operating the cleaning device to move according to the operation intention and the movement information. According to the technical solution provided by the embodiments of the present application, assisting is provided for the user operating the cleaning device to move, and the operation of the user is labor-saving and eased.

1 - 42 . (canceled) 
     
     
         43 . An assisting method for a cleaning device, wherein the cleaning device comprises: a machine body, a handle and an assisting apparatus; the machine body is provided with a floor brush, the floor brush is provided with a roller brush, and the handle is provided on the body via an extension rod; the floor brush is provided with a rear wheel, and the assisting apparatus provides assisting by driving the rear wheel; and the method comprises:
 obtaining movement information of the cleaning device;   controlling the assisting apparatus of the cleaning device to operate based on the movement information, to provide assisting for a user operating the cleaning device to move;   wherein, the movement information of the cleaning device comprises the cleaning device being in a stopping at the spot state, the spot state refers to a state in which the cleaning device is turned on, the machine body is tilted, the roller brush rotates, and the cleaning device stays in place;   when the cleaning device is in a stopping at the spot state, the assisting apparatus outputs backward assisting.   
     
     
         45 . The method according to  claim 43 , wherein the cleaning device being in a stopping at the spot state comprises any one of the following states:
 a stopping at the spot state of turning on, a stopping at the spot state of a forward stop, and a stopping at the spot stage of a backward stop.   
     
     
         45 . The method according to claim  44 , wherein when the cleaning device is in a stopping at the spot state, a speed and an acceleration of the cleaning device are both zero. 
     
     
         46 . The method according to  claim 43 , wherein when the cleaning device is in a stopping at the spot state, a magnitude of the backward assisting of the assisting apparatus is such that the backward assisting offsets the forward assisting of the roller brush, causing the cleaning device to stay in place. 
     
     
         47 . The method according to  claim 43 , wherein the controlling the assisting apparatus of the cleaning device to operate based on the movement information, comprises at least one of the following:
 when the movement information of the cleaning device indicates as forward advancing, controlling the assisting apparatus to output forward assisting or no assisting;   when the movement information of the cleaning device indicates as a tendency of forward stop trend, the assisting apparatus outputs backward assisting;   when the movement information of the cleaning device indicates as the cleaning device being pulled backward, the assisting apparatus outputs backward assisting;   wherein the tendency of forward stop trend refers to a movement trend in which a forward speed is less than a first threshold and continuously decelerated; and the cleaning device being pulled backward refers to the speed of the cleaning device being in a backward state.   
     
     
         48 . The method according to  claim 47 , wherein when the movement information of the cleaning device indicates as the cleaning device being pulled backward, the assisting apparatus outputs backward assisting, comprises:
 when the movement information of the cleaning device indicates as the cleaning device being pulled backward and a backward speed and an acceleration of the backward speed all increase continually, the assisting apparatus continuously increases the output power of the backward assisting, to offset the forward power of the roller brush and to provide assisting for the rear wheel to accelerate backward.   
     
     
         49 . The method according to  claim 47 , wherein a maximum value of the output power of the backward assisting is greater than a maximum value of the output power of the forward assisting. 
     
     
         50 . The method according to  claim 47 , wherein when the cleaning device being pulled backward, a minimum value of the backward assisting is the backward assisting when the cleaning device is in a stopping at the spot state. 
     
     
         51 . The method according to  claim 47 , wherein during a continuous process of the cleaning device from the tendency of forward stop trend to the being pulled backward, the magnitude of the backward assisting gradually increases and then gradually decreases to be equal to the backward assisting when the cleaning device is in the stopping at the spot state. 
     
     
         52 . The method according to  claim 43 , wherein the assisting apparatus is a motor installed at the rear wheel, and the motor is able to adjust the output assisting by adjusting the output power. 
     
     
         53 . The method according to  claim 47 , wherein a range of the first threshold is 0.3 m/s˜0.7 m/s. 
     
     
         54 . The method according to  claim 43 , wherein when the cleaning device is in a backward pulling and advancing stage and a backward pulling and stopping at the spot stage, the roller brush rotates to provide forward power, the assisting apparatus provides backward assisting, and the output power of backward assisting in the backward pulling and advancing stage is greater than the output power of backward assisting in the backward pulling and stopping at the spot stage. 
     
     
         55 . The method according to  claim 43 , wherein the cleaning device has a pushing forward stage and a pulling backward stage, and in the pushing forward stage, the assisting apparatus comprises a stage of providing forward assisting and a stage of providing backward assisting; and in the pulling backward stage, the assisting apparatus only provides backward assisting. 
     
     
         56 . The method according to  claim 47 , wherein in a stage of tendency of forward stop trend, the output power of the backward assisting of the assisting apparatus continuously increases to a backward starting power;
 the backward starting power is a backward assisting power provided by the assisting apparatus when the cleaning device is in the stopping at the spot stage, when the cleaning device is in the stopping at the spot stage, the roller brush rotates to provide forward power.   
     
     
         57 . The method according to  claim 47 , wherein in the pulling backward stage, the output power of the backward assisting of the assisting apparatus continuously increases from the backward starting power to a peak and then gradually decreases to the backward starting power;
 the backward starting power is the backward assisting power provided by the assisting apparatus when the cleaning device is in the stopping at the spot stage, and when the cleaning device is in the stopping at the spot stage, the roller brush rotates to provide forward power.   
     
     
         58 . The method according to  claim 43 , wherein when the cleaning device is in the stopping at the spot state, determining an assisting strategy adapted to the stopping at the spot state;
 obtaining a rotation speed of the roller brush of the cleaning device;   controlling the assisting apparatus of the cleaning device to operate according to the rotation speed of the roller brush and the assisting strategy, to provide assisting for a user operating the cleaning device to move;   wherein the assisting strategy adapted to the stopping at the spot state is: providing backward assisting and determining the output power of the assisting apparatus based on the rotation speed of the roller brush.   
     
     
         59 . The method according to  claim 58 , wherein if the movement state is a pushing forward and advancing state, determining an assisting strategy adapted to the pushing forward and advancing state, and the method comprises:
 obtaining the movement information of the rear wheel on the cleaning device;   identifying whether the user operation causes the cleaning device to have a forward stop trend, based on the movement information of the rear wheels;   if there is a forward stop trend, controlling the assisting apparatus to output an adapted backward assisting based on the rotation speed of the brush and the movement information of the rear wheel, to accelerate the deceleration of the forward speed of the cleaning device;   if there is no forward stop trend, controlling the assisting apparatus to output an adapted forward assisting or no assisting based on the rotation speed of the roller brush and the movement information of the rear wheel.   
     
     
         60 . The method according to  claim 58 , wherein if the movement state is a pulling backward and advancing state, determining an assisting strategy adapted to the pulling backward and advancing state, and the method comprises:
 obtaining the movement information of the rear wheel on the cleaning device;   determining an assisting direction of the assisting apparatus as being backward;   dynamically determining the output power of the assisting apparatus based on the rotation speed of the roller brush and the movement information of the rear wheel;   controlling the assisting apparatus of the cleaning device to operate according to an assistance parameter; wherein the assisting parameter comprises the assisting direction and the output power.   
     
     
         61 . A cleaning device, comprising:
 a machine body, a handle, an assisting apparatus and a controlling apparatus;   the machine body is provided with a floor brush, the floor brush is provided with a roller brush, and the handle is provided on the body via an extension rod;   the floor brush is provided with a rear wheel, and the assisting apparatus provides assisting by driving the rear wheel, and the assisting apparatus is a motor;   the controlling apparatus is electrically connected to the assisting apparatus to control the following steps:   when the cleaning device is in a stopping at the spot state, the assisting apparatus outputting backward assisting;   wherein the spot state refers to a state in which the cleaning device is turned on, the machine body is tilted, the roller brush rotates, and the cleaning device stays in place.   
     
     
         62 . A controlling method for a cleaning device, applied to the cleaning device, wherein,
 the cleaning device comprises:   a machine body, the machine body is provided with a floor brush, and the floor brush is provided with a roller brush;   a handle, the handle is operated by a user to push or pull the cleaning device to move, so that the cleaning device cleans a surface to be cleaned that it moves over.   an assisting apparatus, the assisting apparatus is an assisting wheel, the assisting wheel is able to rotate forward or rotate reverse, to provide assisting when the user pushes or pulls the cleaning device forward or backward for cleaning, to reduce a pushing and pulling force of the user;   the method comprises:   if the assisting apparatus is in a suspended state, driving the assisting wheel to rotate reverse;   wherein, the suspended state of the assisting apparatus refers to a state in which the cleaning device is lifted during operation; when the assisting apparatus is in a suspended state, the rotation of the roller brush exerts a forward force on the cleaning device.