Non-linear propulsion ground cleaning equipment

The present invention provides a non-linear propulsion floor cleaning apparatus comprising two tools on the bottom, the two tools being rotatable in opposite directions and slightly inclined with respect to the horizontal, applying a control signal to a control module, the control module controlling the rotation of each of the rotating parts by a different rotation of each of the rotating parts, and performing a non-linear propulsion of the floor cleaning apparatus. And driving force is generated to realize non-linear propulsion. By improving the control mode, the advancing mode of the device is changed into a nonlinear mode, the cleaning range of the device is enlarged, cleaning dead corners are reduced, and the cleaning efficiency is improved. 本发明提供一种非线性推进地面清洁设备，一种非线性推进地面清洁设备，其包含位于底部上的两个工具，两个工具为可以向相反方向旋转部件，并相对于水平面略微倾斜，对控制模块施加控制信号，通过每个旋转部件的不同旋转，产生驱动力来实现非线性推进。本发明通过控制方式的改良，改变了设备的行进方式为非线性，使设备的清洁范围增加，减少了清洁死角，提高了清洁效率。