Patent Application
20250194882
The present application cites the Chinese patent applications in the following table, which are hereby incorporated by reference in their entireties.
The present application relates to the technical field of cleaning device, and in particular to an assisting method for a cleaning device and a cleaning device.
Cleaning device have been widely used in people's daily life. Commonly used are floor scrubbers, vacuum cleaners, etc. For example, some floor scrubbers or vacuum cleaners are equipped with an operating handle. When the user holds the handle to operate the machine, a forward friction force is generated when the roller brush rotates. When the user pushes the floor scrubber or vacuum cleaner forward, low labor may be cost, since the rolling of the roller brush generates a forward force. However, when pulling back, the user needs to overcome the forward force of the roller brush, which may be difficult for the user to operate.
Aiming at the problems existed in the prior art, embodiments of the present application provide an assisting method for a cleaning device and a cleaning device.
Embodiments of the present application provide an assisting method for a cleaning device. The method comprises:
Embodiments of the present application further provide a cleaning device. The cleaning device comprises: a machine body, on which a floor brush is provided;
Embodiments of the present application further provide an electronic device. The electronic device can be installed on the cleaning device. The electronic device comprises a processor and a memory, wherein,
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.
According to the technical scheme provided by embodiments of the present application, the cleaning device in different movement states always has an adaptive assisting strategy; during assisting controlling, the assisting apparatus of the cleaning device is controlled to operate according to the movement information of the cleaning device and the assisting strategy adapted to the current movement state, to provide assisting for the user operating the cleaning device to move, accordingly the operation of the user is labor-saving and eased.
Embodiments of the present application further provide a cleaning device controlling method, being applied to a cleaning device, wherein the cleaning device is provided with an assisting apparatus, and the method comprises:
In one optional implementation, the obtaining of the operating parameter of the assisting apparatus in the cleaning device comprises:
In one optional implementation, the identifying the state of the assisting apparatus by the speed and the acceleration comprises:
In one optional implementation, if the acceleration difference is within the preset acceleration error range, identifying the assisting apparatus being in a slipping or suspended state comprises:
In one optional implementation, the identifying the assisting apparatus being in a slipping or suspended state comprises:
In one optional implementation, the obtaining the operating parameter of the assisting apparatus in the cleaning device comprises:
In one optional implementation, the adjusting the output power of the assisting apparatus based on the state of the assisting apparatus comprises:
Embodiments of the present application further provides a cleaning device, comprising: a machine body, on which a floor brush is provided;
According to the technical solution provided in the embodiments of the present application, the operation parameter of the assisting apparatus in the cleaning device is obtained, the state of the assisting apparatus is identified by the operation parameter, and the output power of the assisting apparatus is adjusted based on the state of the assisting apparatus. By obtaining the operation parameter of the assisting apparatus in the cleaning device and identifying the state of the assisting apparatus by the operation parameter, the output power of the assisting apparatus is adjusted, thereby ensuring that the assisting apparatus operates normally, avoiding waste of resources, and improving user experience.
In order to explain the technical solutions of the embodiments of the present application more clearly, the drawings used in the embodiments will be briefly introduced below. The drawings here are incorporated into the specification and constitute one part of the specification. These drawings illustrate embodiments consistent with the present application, which are used together with the description, serving to explain the technical solutions of the present application. It should be understood that the following drawings only illustrate certain embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can also be obtained based on these drawings without exerting creative efforts.
In order to enable those skilled in the prior art to better understand the present application, the technical solution provided by various embodiments of the present application are illustrated in detail and completely in conjunction with the drawings.
In some of the processes described in the description, claims, and the above drawings of the present application, a plurality of operations occurring in a particular order are included, which may be performed out of the order herein or be performed in parallel. The sequence numbers of the operations, such as 101, 102, etc., are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the processes may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that the expressions herein of “first”, “second”, etc. are intended to distinguish between different messages, devices, modules, etc., and are not intended to represent a sequential order, nor is it intended to limit that “first” and “second” are of different types. Furthermore, the embodiments described hereafter are merely a part of the embodiments of the present application and not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those ordinarily skilled in the art without paying creative work fall within the protection scope of the present application.
As shown in
As shown in
The grating code disk 61 rotates simultaneously with the rear wheel, but the rotation speed of the grating code disk 61 is higher than the rotation speed of the rear wheel. During the process of the grating code disk 61 and the rear wheel rotating simultaneously, the light signal emitted by the transmitter 62 is blocked when encountering the non-light-transmitting area, and reaches the receiver 63 when encountering the light-transmitting area. The receiver 63 receives the light signal emitted by the transmitter and generates a pulse signal. In this way, the pulse signal shown in
Furthermore, the photoelectric sensor may also include a detection circuit, which is used to detect the received electrical signal and get the effective signal by filtering, and transmit it to the controlling apparatus so that the controlling apparatus can determine the direction of movement, calculate the speed, acceleration, etc. based on the received electrical signal. The photoelectric sensor is provided on the second output shaft side of the motor. The rotation 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 movement data when the rear wheel rotates a very small angle. The movement data may include: movement direction, movement speed, etc.
The method for calculating the speed based on the pulse signal generated by the photoelectric sensor may include: assuming that the total number of pulses of the grating code disk rotating one circle is C; setting the statistical time to T (in seconds); the number of pulses detected within T being M; accordingly, the rotation speed n of the grating code disk of the photoelectric sensor being:
The acceleration of the grating code disk: a=Δn/t; where Δn is the speed change and t is the time taken for the speed change.
Since the rotation speed of the grating code disk is greater than the rotation speed of the rear wheel, when the deceleration ratio of the deceleration mechanism is known, the rotation speed of the rear wheel can be calculated based on the rotation speed n of the grating code disk by the deceleration ratio (or transmission ratio).
As shown in
In this embodiment, the movement direction, speed and acceleration of the cleaning device are completely detected and obtained by the photoelectric sensor of sensor 6, that is, the three information, the movement direction, speed and acceleration of the cleaning device can be obtained by one sensor. The operation of the user and the movement of the cleaning device can be detected by one sensor 6.
It should be noted here that the forward, backward, forward pushing, backward pulling, etc. mentioned below are all defined from the user's perspective when the cleaning device is operated. As shown in
When the user holds the handle shown in
Furthermore, if the user wants to pull back to make the cleaning device forward advance and stop or backward advancing, the user's pulling back operation will cause the rear wheel to have a tendency of quickly slowing down. Because the movement of the rear wheel of the cleaning device can reflect the user's operation, when the user pulls the cleaning device backward and wants it to forward advance and stop or backward advance, the movement of the rear wheel will have a tendency of forward stop trend. In the case of backward pulling mentioned above, when the user pulls lightly, the rear wheel will slow down but not very much, and there will be no tendency of approaching zero or being equal to zero, so it can be identified that the operation intention of the user is forward pushing with a deceleration. 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 tendency of forward stop trend. For example, the movement of the rear wheel with a forward speed being lower than a first threshold (such as 0.5 m/s) and being continuously decelerated can be used to determine that the rear wheel has a tendency of forward stop trend. When the rear wheel has a tendency of forward stop trend, it is identified the operation intention of the user as forward advancing and stopping or backward pulling. For the case of forward advancing and stopping, for example, when the user holds the handle and follows the cleaning device to clean, the user sees a place being very dirty and wants the cleaning device to stop to clean it. For the case of backward pulling, for example, the user holds the handle and follows the cleaning device to move forward and enter a narrow passage, and pulls the cleaning device out of the passage after cleaning to the end; or, the user adopts a way in which pushes forward and pulls backward repeatedly, to make the cleaning device clean the floor. Regardless of the user's intention being forward advancing and stopping or backward pulling, the situation may occur in which the speed of the rear wheel reducing to zero. When the user wants the cleaning device to stop or wants the cleaning device turn to a backward movement from a frontward movement, the way the user backward pulling the handle of the cleaning device will be different from the user's light pulling in the above case of forward pushing with a deceleration. If the user wants to forward advance and stop or backward pull, the user's backward pulling operation will be reflected on the rear wheel as a rapid decrease in forward speed. Because the photoelectric sensor is at the high-speed end, it can amplify and promptly detect the tendency of forward stop trend of the rear wheel due to user's operation. The controlling apparatus controls the assisting apparatus to output backward assisting based on the movement information of the rear wheel (such as speed, acceleration, etc.) detected by the photoelectric sensor. The backward assisting balances the forward power of the roller brush and further provides backward assisting for the cleaning device, to accelerate the deceleration of the forward speed of the cleaning device, allowing the cleaning device to stop quickly and stay in place, or allowing the forward speed of the cleaning device to quickly drop to zero and then turn to backward.
The cleaning device is currently backward advancing. If the user wants to push forward to make the cleaning device backward advance and stop or forward advance, the user's forward pushing operation will cause the rear wheel to have a tendency of slowing down rapidly. Because the movement of the rear wheel of the cleaning device can reflect the user's operation, when the user pushes the cleaning device forward and wants it to backward advance and stop or forward advance, the movement of the rear wheel will have a tendency of backward stopping trend. In a specific implementation, whether the movement of the rear wheel has a tendency of backward advancing and stopping may be analyzed based on the speed and acceleration of the rear wheel. For example, if the backward speed of the rear wheel is lower than the second threshold and is continuously decelerated, it can be determined that the rear wheel has the tendency of backward advancing and stopping. When the rear wheel has the tendency of backward advancing and stopping, it is identified the operation intention of the user as backward advancing and stopping or forward pushing. For the case of backward advancing and stopping, for example, when the user holds the handle and follows the backward advancing of the cleaning device to clean, the user sees a placing being very dirty and wants the cleaning device to stop to clean it. For the case of forward pushing, the user adopts a way in which pushes forward and pulls backward the cleaning device repeatedly to clean the floor. Regardless of the user's intention to being backward advancing and stopping or forward pushing, the situation may occur in which the speed of the rear wheel reducing to zero. Because the photoelectric sensor is at the high-speed end, it can amplify and promptly detect the tendency of backward stop trend of the rear wheel due to user's operation. The controlling apparatus controls the assisting apparatus to output forward assisting based on the movement information of the rear wheel (such as speed, acceleration, etc.) detected by the photoelectric sensor, to accelerate the deceleration of the backward speed of the cleaning device, or controls the assisting apparatus not to operate, only using the forward rolling force of the roller brush as the assisting to make the cleaning device to stop quickly and stay in place, or to make the cleaning device to quickly drop to zero in the backward direction and then turn forward.
A method embodiment will be provided below to illustrate the intelligent assistance solution for the cleaning device provided in this application.
In the above 101, the movement information of the cleaning device may include but is not limited to: movement direction, speed, acceleration, etc. The movement information may be detected by a sensor provided on the cleaning device. For example, the floor brush of the cleaning device is provided with a movement monitoring apparatus to monitor the movement information of the floor brush, or being the sensor mentioned above, such as photoelectric sensor. The sensor can be provided at the rear wheel of the floor brush. The assisting apparatus provides assisting by driving the rear wheel. That is, in an achievable technical solution, the step 101 of “obtaining the movement information of the cleaning device” in this embodiment may specifically include:
The movement direction of the rear wheel is essentially the rotation direction of the rear wheel, such as counterclockwise rotation and clockwise rotation.
As mentioned above, the sensor is a photoelectric sensor. As shown in
There are two ways to identify the operation intention of the user operating the cleaning device, which are as follows.
Method 1: identifying the movement information of the rear wheel.
That is, the step of “identifying the operation intention of the user operating the cleaning device based on the movement information of the rear wheel” in this embodiment. More specifically, the step may include:
More detailed contents of the above steps 1021 and 1022 will be described below.
Method 2: identification by the sensor or an interactive apparatus.
For example, a sensor capable of sensing user operation or a user-touchable interactive apparatus is provided on the handle of the cleaning device. Assuming that a sensor is provided, a pressure sensor may be provided on the handle to detect the direction and magnitude of the force applied by the user. The user's push or pull force is detected by the pressure sensor to identify the operation intention of the user. If an interactive apparatus is provided, a touch component capable of sensing user touch may be provided on two sides of the handle, for example, the holding area of the handle. As shown in
Furthermore, the controlling apparatus may control the assisting apparatus to operate based on the user's operation and the current movement state of the cleaning device, to output an adaptive assisting. For example, when the cleaning device is currently in a forward advancing state, the user touches the upper touch key or touch area 11 once, and based on the current movement direction and moving speed, the controlling apparatus controls the assisting apparatus to output forward assisting to increase the forward speed of the cleaning device. If the user touches the upper touch key or touch area 11 once again, the forward speed will be increased again, and the controlling apparatus will control the assisting apparatus to increase the forward assisting output power to further assist the cleaning device to increase the forward speed. If the cleaning device is currently in a forward advancing state, the user touches the lower touch key or touch area once, and the controlling apparatus controls the assisting apparatus to output backward assisting, to accelerate the reducing of the forward speed, so that the forward speed of the cleaning device is reduced to zero. If the user no longer touches any touch key or touch area, the cleaning device stays at the place to clean the location where it stops. If the user touches the lower touch key or touch area once again, the controlling apparatus controls the assisting apparatus to increase the backward assisting output power, to assist the cleaning device to move backward.
When the above method 1 is specifically implemented, it can be explained in conjunction with the speed and acceleration curves shown in
In addition, in
As shown in
In stage {circle around (2)}, the value of the speed of the cleaning device is positive and the cleaning device is in a forward advancing state. In stage {circle around (2)}, the speed curve and acceleration curve of the cleaning device can be analyzed to show that the cleaning device accelerates forward and then decelerates forward, and the movement trend of the cleaning device (i.e. the movement trend of the rear wheel) is a tendency of forward advancing.
In stage {circle around (3)}, the forward speed of the cleaning device is lower than the first threshold, and the forward speed is continuously decelerated, which is reflected in the movement trend of the cleaning device (i.e., the movement trend of the rear wheel) as a tendency of forward stop trend.
The above stage {circle around (4)} is a stage in which the speed of the cleaning device drops to zero and the acceleration is zero, which is reflected in the movement trend of the cleaning device (i.e. the movement trend of the rear wheel) as a stationary stage after a forward stop.
In the above stage {circle around (5)}, the cleaning device accelerates in the reverse direction, and the acceleration curve shows its acceleration process, which is reflected in the movement trend of the cleaning device (i.e. the movement trend of the rear wheel) as a tendency of backward advancing.
The above stage {circle around (6)} is a stage in which the backward speed of the cleaning device drops to zero and the acceleration is zero, which is reflected in the movement trend of the cleaning device (i.e. the movement trend of the rear wheel) as a stationary stage after a backward stop.
The above stages {circle around (1)} to {circle around (6)} are speed and acceleration curves of a continuous movement of the cleaning device from stationary when it is turned on, forward pushing to backward pulling. In fact, if the cleaning device is pulled back and then pushed forward, after a brief stationary in stage {circle around (6)} in
The movement trend of the rear wheel can be analyzed from the speed and acceleration curves shown in
Accordingly, in the above step 1022, the step of “identifying the operation intention of the user based on the movement trend” may include at least one of the following: when the movement trend is a tendency of forward advancing, identifying the operation intention of the user as forward pushing;
The first threshold may be any value between 0.3 m/s and 0.7 m/s. For example, the first threshold may be 0.5 m/s. The second threshold may be equal to or different from the first threshold, which is not limited in this embodiment. If the first threshold is too large, the stage {circle around (3)} shown in
Furthermore, the tendency of forward stop trend can also be determined by the forward deceleration acceleration. For example, when the absolute value of the forward deceleration acceleration reaches the first set maximum value (the third threshold shown in
The above content is analyzing the movement trend of the rear wheel based on movement information of the rear wheel, to identify the operation intention of the user. Another implementation scheme is the case where a movement monitoring apparatus (such as a speed sensor, etc.) is provided on the floor brush as mentioned above. In this embodiment, the movement information in step 102 is the movement information of the cleaning device (more specifically, the floor brush). Accordingly, the step 102 of “identifying the operation intention of the user operating the cleaning device based on the movement information” in this embodiment may include at least one of the following:
It is understandable that when the user operates the cleaning device to move to clean the floor, regarding a relatively clean area, the user may push the cleaning device quickly, and regarding a relatively dirty area, the user may push it slowly, or may push forward and pull backward repeatedly, until the dirt is cleaned. In another scenario, for a long and narrow space, the user pushes forward to clean the narrow passage, and then continues to pull back to pull it out of the narrow passage. At this time, the user may push the cleaning device forward to clean, and then pull it back. Therefore, when the user pushes forward, the user may push forward with an acceleration, the user may also push forward with a deceleration. That is, the forward pushing can be divided into: push forward with an acceleration and push forward with a deceleration. That is, the step of “when the movement trend is a forward moving trend, identifying the operation intention of the user as forward pushing” in this embodiment may include:
It should be added here that: if the user wants to keep the cleaning device forward advancing at a constant speed, the user can push the cleaning device lightly, which may generate a movement trend of forward acceleration. At this time, it can be identified that the operation intention of the user is forward pushing with an acceleration. The controlling apparatus controls the assisting apparatus to operate to provide forward assisting and increase the movement speed of the floor brush of the cleaning device. If the user is satisfied with the current speed and the change in the current speed does not exceed the fourth threshold, it means that the current user intention is to push the machine forward at a constant speed. At this time, as long as the assisting apparatus continues to maintain the current output power, the power-assisting speed of the rear wheel can be maintained. The user only needs to lightly hold the handle, and the cleaning device will move forward at a constant speed with the help of the assisting apparatus. If the user feels that the forward movement speed of the cleaning device is too fast, the user can lightly pull the handle to produce a tendency of forward deceleration and keeping advancing. The controlling apparatus of the cleaning device controls the assisting apparatus to reduce the output power, to reduce the rotation speed of the rear wheel. In this way, the cleaning device can slow down and move forward according to the forward speed after the 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 actual conditions; it can be preliminarily determined that: the fourth threshold is greater than the first threshold.
Afterwards, if the user wants to pull the cleaning device backward so that the cleaning device stops at a certain place for cleaning or moves backward, the user can intermittently pull the handle lightly multiple times or continuously pull the handle lightly, and a movement trend of forward deceleration will continue to be generated. If the movement trend continues until the forward speed is lower than the first threshold and continuous decelerated approaching zero or being equal to zero, it can be identified that the operation intention of the user is forward pulling and stopping or backward pulling.
Similarly, when pulling backward, the user may backward pull with an acceleration, and may also backward pull with a deceleration. That is, the backward pulling can be divided into: backward pulling with an acceleration and backward pulling with a deceleration. That is, the step of “when the movement trend is a tendency of backward advancing, identifying the operation intention of the user as backward pulling” in this embodiment may include:
If the user wants to keep the cleaning device backward advancing at a constant speed, the user can pull the cleaning device lightly, which may generate a movement trend of backward acceleration. At this time, it can be identified that the operation intention of the user as backward pulling with an acceleration. The controlling apparatus controls the assisting apparatus to operate, to provide forward assisting and increase the backward movement speed of the floor brush of the cleaning device. 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 means that the current user intention is to pull the machine backward at a constant speed. At this time, as long as the assisting apparatus continues to maintain the current output power, the power-assisting speed of the rear wheel can be maintained. The user only needs to lightly hold the handle, and the cleaning device will move backward at a constant speed with the help of the assisting apparatus. If the user feels that the backward movement speed of the cleaning device is too fast, a brief stop will provide a resistance, which will produce a tendency of backward deceleration and keeping advancing. The controlling apparatus of the cleaning device controls the assisting apparatus to reduce the output power, to reduce the rotation speed of the rear wheel. In this way, the cleaning device can slow down and move backward according to backward speed after the 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 actual conditions; it can be preliminarily determined that: the fifth threshold is greater than the second threshold.
In an achievable technical solution, the step 103 of “controlling the assisting apparatus of the cleaning device to operate according to the operation intention and the movement information” in this embodiment includes:
When the assisting apparatus stops operating and does not output assisting to the outside, the forward power of the roller brush of the cleaning device can be used as an assisting. As shown in
In
1032. when the operation intention is forward pushing and stopping or backward pulling, if the movement information indicates that the cleaning device is in a forward pushing and advancing state, then controlling the assisting apparatus to output an adaptive backward assisting, to accelerate a forward deceleration of the cleaning device, based on the movement information.
Referring to stage {circle around (3)} shown in
1033. when the operation intention is backward pulling, if the movement information indicates that the cleaning device is in a backward pulling and advancing state, then controlling the assisting apparatus to output an adaptive backward assisting, based on the movement information.
Refer to stage {circle around (5)} shown in
1034. when the operation intention is backward pulling and stopping or forward pushing, if the movement information indicates that the cleaning device is in a backward pulling and advancing state, then controlling the assisting apparatus to output an adaptive forward assisting to accelerate a backward deceleration of the cleaning device, or controlling the assisting apparatus to stop operating to utilize a forward power of the roller brush to accelerate the backward deceleration of the cleaning device, based on the movement information.
Referring to stage {circle around (6)} in
In this embodiment,
1035. when the operation intention is stopping at the spot, controlling the assisting apparatus to output a backward assisting adapted to a forward power of the roller brush, to balance the forward power of the roller brush.
As shown in stage {circle around (4)} and stage {circle around (6)} of
In another feasible technical solution, the step 103 of “controlling the assisting apparatus of the cleaning device to operate according to the operation intention and the movement information” in this embodiment includes:
Furthermore, the above step 1031′ of determining an assisting direction according to the operation intention” includes at least one of the following:
Accordingly, the step 1032′ of “dynamically determining an output power of the assisting apparatus according to the movement information” includes: obtaining a calculation model; using the movement information as an input parameter of the calculation model, and executing the calculation model to obtain the output power; or obtaining a preconfigured correspondence table of movement information and output power, querying the output power corresponding to the movement information, or calculating the output power corresponding to the movement information by an interpolation algorithm.
The above calculation model can be derived based on actual measurement and data calculation process. The above correspondence table of movement information and output power can be obtained based on actual measurement data. For example, how the control parameter for controlling the assisting apparatus to operate by the controlling apparatus based on the cleaning device (i.e., the movement of the rear wheel) is obtained in this embodiment. One possible solution is to build a test system that connects the cleaning device to a computer or other device. The signal detected by the sensor provided at the rear wheel of the cleaning device can be uploaded to the computer, and the speed and acceleration curve diagram similar to that shown in
Sensor at the rear wheel of the cleaning device can upload the collected signals to a computer. Of course, the higher the sensor's collecting frequency, the higher the accuracy of the data, which will help improve the accuracy of subsequent determination of the power output of the assisting apparatus.
When the tester pushes the cleaning device, the rear wheel responds to the user's pushing by rotating accordingly. In other words, the photoelectric sensor at the rear wheel can detect the movement changes of the rear wheel in a timely manner. After obtaining a speed and acceleration curve similar to that shown in
If the tester wants to push the stationary cleaning device forward, this forward pushing action will be directly reflected in the rotation of the rear wheel. If the cleaning device is to produce a movement similar to that shown in
In other feasible embodiments, the process of the cleaning device being pulled backward by the user does not require forward assisting. The reason is that the roller brush always has a forward rolling force, and this forward rolling force is a resistance to backward movement; secondly, when the user pulls back, the user's posture during use (such as the backward bending posture of the arm) will give the device a backward resistance. Therefore, in another embodiment of the present application, when the cleaning device backward advances, the assisting apparatus may not provide forward assisting. Specifically, as shown in
In the above 201, the movement state of the cleaning device may include but is not limited to: a forward pushing and advancing state, a backward pulling and advancing state, stopping at the spot state, etc. The movement state of the cleaning device can be detected by a sensor. For example, the cleaning device in this embodiment includes a floor brush, and the floor brush is provided with a rear wheel. The assisting apparatus provides assisting by driving the rear wheel. Accordingly, the above step 201 of “obtaining the current movement state of the cleaning device” includes:
In an achievable technical solution, the above step 203 of “obtaining the movement information of the cleaning device” includes:
In one case, as shown in
Furthermore, prior to the above step 2041 of “identifying whether the user operation causes the cleaning device to have a tendency of forward stop trend, according to the movement information” also includes:
More specifically, the movement information is the operation information of the rear wheel on the cleaning device. Accordingly, the process of identifying whether the user operation has a tendency of backward pulling operation in the above step S31 and step 2041 may adopt the following method, namely, “identifying whether the user operation has a tendency of backward pulling operation or identifying whether the user operation causes the cleaning device to have a tendency of backward stop trend, according to the movement information”, which may include:
In another case, as shown in
In another case, as shown in
It should be noted here that: the specific implementation content of at least some steps in this embodiment can be found in the description of the above embodiments, that is to say, the content that is not fully explained in this embodiment can be understood through the above, and the repeated content will not be repeated here.
In summary, the design idea of the technical solutions provided in each embodiment of the present application is: actively identify the operation intention of the user, provide assisting to the cleaning device according to the operation intention of the user, so that the result directly reflected on the user's handle is: the force exerted by the user on the handle is very small or even zero.
In order to realize the above design idea, the inventor of the present application has designed a method using a sensor, the signal detected by the sensor can reflect the operation intention of the user and the movement state of the cleaning device, that is, as described above, a photoelectric sensor being arranged at the rear wheel of the cleaning device. Then, based on the signal detected by the sensor, the movement information of the cleaning device is determined, and the operation intention of the user can also be identified based on the movement information of the cleaning device; then, according to the operation intention of the user and current movement information, the assisting apparatus is controlled to output adaptive assisting, and the user's direct feeling is the effect of lightly holding the handle without exerting force to follow the movement of the cleaning device.
In order to demonstrate the effect of the technical solution provided in the embodiment of the present application, the following is an illustration through relevant data from the test. As in the test scenario mentioned above, in order to make the user experience more intuitive, the inventors set a pressure sensor on the handle of the cleaning device for sensing the user pushing and pulling the handle. A cleaning device with an active assisting function corresponding to the technical solution provided by an embodiment of the present application is tested, and the entire process from forward pushing, stopping to backward pulling is shown in
The technical solutions provided in the above embodiments are based on the movement information of the cleaning device (more specifically, the rear wheel on the floor brush) to control the operation of the assisting apparatus, to provide appropriate assisting at the right time, making it easier and more labor-saving for users to use. In addition to controlling the operation of the assisting apparatus based on the movement information, the operation of the assisting apparatus may also be controlled according to the advancing distance of the cleaning device.
If the user finds that a certain place is dirty, the user may want to push and pull the machine back and forth to clean it. Typically, the user stands staying static, stretches their arm forward, pushes the cleaning device, and then pulls it back. Therefore, in this case, it is possible to determine whether the user intends to pull back based on the advancing distance of the cleaning device. That is, the present application also provides an embodiment, and the assisting method for the cleaning device described in this embodiment may include the following steps:
301. obtaining an advancing distance and an advancing direction of the cleaning device; and
The above step 302 may specifically include:
The first set range may be set with reference to the user's arm length and/or stride length. For example, the length of an adult's arm is generally between 65 cm and 75 cm. When the user pushes the cleaning device forward, the cleaning device is tilted at a mostly about 45° angle. The farthest distance the user can reach by pushing the cleaning device forward at one time is between 46 cm and 53 cm. Alternatively, some users are accustomed to taking one step before pushing the cleaning device forward. In this case, the first set range can be set with reference to 70% to 90% of the farthest distance the user can reach by pushing the cleaning device forward +70% to 90% of the length of one step. The length of one step of an adult is generally between 50 and 80 cm. Therefore, the assisting apparatus can be controlled to output backward assisting, when the advancing distance of the cleaning device reaches between 65 and 120 cm. It should be noted that the above advancing distance is the distance between the roller brush of the cleaning device and the user. Of course, in an ideal situation, it can also be the distance that the roller brush of the cleaning device advancing forward.
Alternatively, the above step 302 may specifically include:
The second set range may also be set with reference to the user's arm length and/or stride length. When the user pulls the cleaning device backward, the cleaning device is tilted at a mostly about 45° angle. The user pulls back the cleaning device that has been pushed forward to the farthest distance. Alternatively, some users are accustomed to taking one step back while pulling back. The above second set range can be designed with reference to 70% to 90% of pulling back the cleaning device at the farthest distance +70% to 90% of the length of one step. Therefore, the assisting apparatus can be controlled to output forward assisting, when the cleaning device is pulled back to a distance between 65 and 120 cm. The above backward pulling distance is the distance that the cleaning device advances backward.
In another embodiment, the above step 302 may further include:
In yet another embodiment, the above step 302 may further include:
Furthermore, the cleaning device in the embodiment of the present application has machine learning capabilities and can determine the above set range by collecting parameter of the user's daily usage habit. For example, the set range is determined by collecting the user's forward pushing distance in one or several forward pushing and pulling operations, and then the above set range is determined based on the one or several recorded forward pushing distances.
The following describes the effects of the technical solutions provided in various embodiments of the present application in combination with some application scenarios.
The user holds the handle of the cleaning device to clean the floor at home. The user pushes the cleaning device forward, and due to the forward power of the roller brush, the user can push the cleaning device to move around the house to clean the floor without any effort. When cleaning the kitchen, the user found that there was a dirty spot on the floor, so the user pulls the cleaning device backward. At this time, the rear wheel of the cleaning device responds promptly to the user's pulling backward operation, and there is a tendency of slowing down. When the controlling apparatus of the cleaning device determines the user wants to pull the cleaning device backward based on the signal detected by the photoelectric sensor at the rear wheel that, the assisting apparatus is then controlled to start outputting backward assisting, to accelerate the forward speed of the rear wheel to zero and then to drive the rear wheel to backward advance. The user only needs to pull the cleaning device lightly, and the cleaning device will backward advance autonomously with the assist of the assisting apparatus. The user can complete the backward pulling without any effort. This process is labor-saving and convenient, and the operation is very flexible and eased.
The user holds the handle of the cleaning device and pushes the cleaning device to clean the carpet. When the user pushes the cleaning device forward, the user only needs to push the cleaning device lightly, and the controlling apparatus will be able to identify the user's intention to push forward based on the signal detected by the photoelectric sensor at the rear wheel. Then, the controlling apparatus controls the assisting apparatus to output forward thrust, to drive the rear wheel to forward advance, and the user only needs to lightly hold the handle to follow the cleaning device.
As shown in
In an embodiment of the present application, an assisting apparatus is provided for the cleaning device, and the assisting apparatus may be an assisting wheel. There are usually two assisting apparatuses. For example, for a floor scrubber, two assisting wheels, a left assisting wheel and a right assisting wheel, are provided. Each assisting wheel includes a rear wheel and a driving mechanism, and the two assisting wheels are driven separately. The driving mechanism of the assisting wheel is a driving motor, which drives the rear wheel to rotate forward or reverse, so that when the user pushes or pulls the cleaning device forward or backward for cleaning, the user's pushing and pulling force can be reduced, thereby providing assisting for the user's cleaning operation. The assisting apparatus controls the speed of rear wheel rotation by controlling the output power of the driving motor, thereby controlling the amount of rear wheel assisting. In this embodiment, the rear wheel 4 shown in
Based on this, the embodiment of the present application obtains the operating parameter of the assisting apparatus in the cleaning device, where the assisting apparatus can be any assisting apparatus in the cleaning device. For example, the operating parameter of any one of the two assisting wheels, the left assisting wheel and the right assisting wheel, in the floor scrubber are obtained. The operating parameter decried here is related parameter generated by the assisting wheel during its operating process.
S202: identifying the state of the assisting apparatus according to the operating parameter.
In the embodiment of the present application, with respect to the operating parameter of the assisting apparatus in the cleaning device, the state of the assisting apparatus can be identified by the operating parameter. The state here may include a normal operating state, a slipping state, or a suspended state, which is not limited in the embodiment of the present application.
For example, with respect to the operating parameter of the assisting wheel in the floor scrubber, the state of the assisting wheel in the floor scrubber can be identified by the operating parameter. Here, the assisting wheel may be in a normal operating state, may be in a slipping state, or may be in a suspended state, and the embodiments of the present application are not limited to this.
S203: adjusting the output power of the assisting apparatus based on the state of the assisting apparatus.
In the embodiment of the present application, with respect to the state of the assisting apparatus in the cleaning device, the output power of the assisting apparatus can be adjusted based on the state of the assisting apparatus. This ensures that the assisting apparatus operates normally, avoids waste of resources, and improves user experience. If the assisting apparatus is in a normal operating state, the output power of the assisting apparatus is maintained; if the assisting apparatus is in a slipping or suspended state, the output power of the assisting apparatus is reduced. This ensures that the assisting apparatus operates properly, avoids waste of resources, and improves user experience. Here, adjusting the output power of the assisting apparatus is adjusting the output power of the driving motor of the rear wheel.
For example, if the assisting wheel in the floor scrubber is in a normal operating state, the output power of the assisting wheel is maintained; if the assisting wheel in the floor scrubber is in a slipping or suspended state, the output power of the assisting wheel is reduced. This ensures that the assisting wheels operates normally, avoids waste of resources, and improves user experience.
By the above description of the technical solution provided by the embodiment of the present application, the operating parameter of the assisting apparatus in the cleaning device is obtained, the state of the assisting apparatus is identified by the operating parameter, and the output power of the assisting apparatus is adjusted based on the state of the assisting apparatus.
By obtaining the operating parameter of the assisting apparatus in the cleaning device and identifying the state of the assisting apparatus by the operating parameter, the output power of the assisting apparatus can be adjusted, thereby ensuring that the assisting apparatus operates normally, avoiding waste of resources, and improving user experience.
S301, obtaining a speed and an acceleration of the assisting apparatus in the cleaning device.
In an embodiment of the present application, a cleaning device, such as a floor scrubber, includes a photoelectric sensor, and the floor brush is provided with an assisting rear wheel. The photoelectric sensor is provided on the assisting rear wheel to detect the speed of the rear wheel. The speed of the rear wheel is the speed of the assisting wheel, and the acceleration of the assisting wheel is calculated based on the speed of the assisting wheel.
The driving mechanism of the assisting wheel (assisting apparatus 7) can generally be a motor, and the first output shaft of the motor is connected to the high-speed end of the deceleration mechanism 8, and the rear wheel 4 is connected to the low-speed end of the deceleration mechanism. The photoelectric sensor 6 can be provided 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
There are light-transmitting areas and non-light-transmitting areas evenly distributed along the whole circumference of the grating code disk. The transmitter and the receiver are provided opposite to each other on two sides of the grating code disk. The grating code disk rotates simultaneously with the rear wheel, but the rotation speed of the grating code disk is higher than that of the rear wheel.
During the process of the grating code disk 61 and the rear wheel rotating simultaneously, the light signal emitted by the transmitter is blocked when encountering the non-light-transmitting area, and reaches the receiver when encountering the light-transmitting area. The receiver receives the light signal emitted by the transmitter and generates a pulse signal, thereby calculating the speed of the rear wheel, that is, the speed of the assisting wheel, based on the pulse signal.
For example, within M seconds, the number of pulses generated is X, where the grating code disk generates 40 pulses in one rotation, and the deceleration ratio (or transmission ratio) between the grating code disk and the rear wheel is N. Assuming N=1/26, 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 an embodiment of the present application, the speed of the assisting apparatus in the cleaning device can be calculated by the photoelectric sensor, and then the acceleration of the assisting apparatus can be calculated by the speed of the assisting apparatus, to obtain the speed and acceleration of the assisting apparatus in the cleaning device.
For example, the speed of the assisting rear wheel of the cleaning device, that is, the speed of the assisting wheel, is calculated by the photoelectric sensor, and then the acceleration of the assisting wheel is calculated based on the speed of the assisting wheel, to obtain the speed and acceleration of the assisting wheel in the floor scrubber.
S302: identifying the state of the assisting apparatus according to the speed and the acceleration.
In the embodiment of the present application, the speed and acceleration of the assisting apparatus can be used to identify the state of the assisting apparatus. For example, with respect to the speed and acceleration of the assisting wheel, the state of the assisting wheel can be identified by the speed and acceleration of the assisting wheel.
S501, determining an acceleration dispersion degree corresponding to the acceleration according to a preset acceleration dispersion degree determination cycle.
In the embodiment of the present application, an acceleration dispersion degree determination cycle may be set in advance, for example, 100 ms, which means that the acceleration dispersion degree corresponding to the acceleration is determined once every 100 ms.
Therefore, the acceleration dispersion degree corresponding to the acceleration of the assisting apparatus can be determined according to the acceleration dispersion degree determination cycle.
The acceleration dispersion degree represents the degree of acceleration dispersion, and the variance is usually used to represent the acceleration dispersion degree.
Specifically, as shown in
S601, obtaining an acceleration variance corresponding to the acceleration within the acceleration dispersion degree determination cycle according to the preset acceleration dispersion degree determination cycle.
In the embodiment of the present application, obtaining an acceleration variance corresponding to the acceleration within the acceleration dispersion degree determination cycle according to the preset acceleration dispersion degree determination cycle means that the acceleration within the acceleration dispersion degree determination cycle participates in the calculation of the acceleration variance. The specific method for calculating the variance may refer to the existing method, and the embodiments of the present application will not be described in detail here.
For example, the embodiment of the present application obtains the acceleration variance corresponding to the acceleration once every 100 ms, wherein what is obtained is the acceleration variance corresponding to the acceleration within this 100 ms, which means that the corresponding acceleration variance is calculated from the acceleration within this 100 ms, so that an acceleration variance can be obtained every 100 ms.
S602: determining the acceleration variance as the acceleration dispersion degree of the acceleration within the acceleration dispersion degree determination cycle.
In the embodiment of the present application, with respect to the acceleration variance corresponding to the acceleration, the acceleration variance may be determined as the acceleration dispersion degree of the acceleration within the acceleration dispersion degree determination cycle.
For example, every 100 ms, the acceleration variance corresponding to the acceleration within this 100 ms is obtained, and the acceleration variance is determined as the acceleration dispersion degree of the acceleration within this 100 ms.
S502, judging whether the acceleration dispersion degree is less than a preset first dispersion degree threshold, and judging whether the speed is more than a preset speed threshold.
In the embodiment of the present application, the acceleration dispersion is characterized by the variance, thereby judging whether the acceleration dispersion degree is less than a preset first dispersion degree threshold. In addition, it can also be judged whether the speed is greater than a preset speed threshold. Therefore, the state of the assisting apparatus can be identified based on the above two judgment results.
S503: if the acceleration dispersion degree is less than the preset first dispersion degree threshold and the speed is more than the preset speed threshold, identifying the assisting apparatus being in a slipping or suspended state.
In an embodiment of the present application, if the acceleration dispersion degree is less than the preset first dispersion degree threshold, and the speed is more than the preset speed threshold, it means that the acceleration dispersion degree of the assisting apparatus is relatively low, the acceleration is basically maintained at around a certain value, and the speed is relatively high (because when the assisting wheel slips or is suspended, the assisting is still here, but the ground resistance is reduced, and the assisting wheel speed will increase). This can identify that the assisting apparatus is in a slipping or suspended state, otherwise the assisting apparatus is in a normal operating state.
In addition,
S701, obtaining an acceleration difference between the acceleration and a preset acceleration threshold.
In the embodiment of the present application, an acceleration threshold may be set in advance, so that the acceleration of the assisting apparatus may be compared with the acceleration threshold to obtain an acceleration difference between the acceleration and the acceleration threshold.
For example, the acceleration threshold may be set in advance to 0, and the acceleration of the assisting wheel in the floor scrubber may be compared with the acceleration threshold, to obtain the acceleration difference between the acceleration and the acceleration threshold.
S702: judging whether the acceleration difference is within a preset acceleration error range.
In the embodiment of the present application, an acceleration error range may be set in advance, so that with respect to the acceleration difference between the acceleration and the acceleration threshold, it may be judged whether the acceleration difference is within the acceleration error range. In addition, it can also be judged whether the speed of the assisting apparatus is more than a preset speed threshold.
For example, based on actual measurements, an acceleration error range (0 to 0.084) may be set in advance, so that with respect to the acceleration difference between the acceleration and the acceleration threshold, it is can be judged whether the acceleration difference is within the acceleration error range, which is actually to judge whether the acceleration is close to 0. In addition, it is judged whether the speed of the assisting wheel is more than a certain speed threshold. In this embodiment, the acceleration error range may be 1 to 2 units of speed resolution. According to the above calculation formula for calculating the rear wheel speed V, the speed resolution may be obtained. Here, the speed resolution is 0.042.
S703: if the acceleration difference is within the preset acceleration error range, identifying that the assisting apparatus is in a slipping or suspended state.
In the embodiment of the present application, if the acceleration difference is within the preset acceleration error range, it can be identified that the assisting apparatus is in a slipping or suspended state; otherwise, it can be identified that the assisting apparatus is in a normal operating state.
In addition, if the acceleration difference is within the preset acceleration error range, it is further determined whether the speed of the assisting apparatus is more than the preset speed threshold. If the speed is more than the preset speed threshold, it can be identified that the assisting apparatus is in a slipping or suspended state; otherwise, it is identified that the assisting apparatus is in a normal operating state.
For example, if the acceleration difference is within the range of 0 to 0.084, it means that the acceleration is close to 0 and the speed of the assisting wheel is more than the speed threshold. At this time, it can be identified that the assisting wheel is in a slipping or suspended state. Otherwise, it is identified that the assisting wheel is in a normal operating state.
In addition, due to the existence of unexpected situations, the acceleration difference is within the preset acceleration error range at a certain moment. At this time, the assisting apparatus is identified as being in a slipping or suspended state. However, the actual situation may be that the assisting apparatus is in a normal operating state, which causes the misidentification of the state of the assisting apparatus.
To this end, in order to solve the problem of misidentification of the state of the assisting apparatus, the embodiment of the present application can count the duration of the acceleration difference being within a preset acceleration error range. If the duration exceeds a certain threshold and the speed of the assisting apparatus is more than a certain threshold, it can be identified that the assisting apparatus is in a slipping or suspended state; otherwise, it can be identified that the assisting wheel is in a normal operating state.
Specifically,
S801: if the acceleration difference is within the preset acceleration error range, counting a first duration during which the acceleration difference is within the preset acceleration error range.
In the embodiment of the present application, if the acceleration difference is within the preset acceleration error range, a first duration during 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), the first duration T1 during which the acceleration difference is within the range of 0-0.084 is counted.
S802: judging whether the first duration reaches a preset first duration threshold. In the embodiment of the present application, according to actual conditions, a first duration threshold may be set in advance to judge whether the first duration reaches the first duration threshold.
For example, according to actual conditions, a first duration threshold of 200 ms is preset to judge whether the first duration T1 reaches 200 ms.
S803: if the first duration reaches the preset first duration threshold, identifying the assisting apparatus being in a slipping or suspended state.
In the embodiment of the present application, if the first duration reaches a preset first duration threshold, it can be identified that the assisting apparatus is in a slipping or suspended state; otherwise, it can be identified that the assisting apparatus is in a normal operating state.
In addition, if the first duration reaches a preset first duration threshold, it is further judged whether the speed of the assisting apparatus is more than the preset speed threshold. If the speed is more than the preset speed threshold, it can be identified that the assisting apparatus is in a slipping or suspended state; otherwise, it can be identified that the assisting apparatus is in a normal operating state.
For example, if the first duration T1 reaches 200 ms and the speed of the assisting wheel is more than a certain threshold, it means that the acceleration of the assisting wheel is close to 0 and is maintained for 200 ms. At this time, it can be identified that the assisting wheel is in a slipping or suspended state. Otherwise, it can be identified that the assisting wheel is in a normal operating state.
S303: adjusting the output power of the assisting apparatus based on the state of the assisting apparatus.
In the embodiment of the present application, with respect to the state of the assisting apparatus in the cleaning device, the output power of the assisting apparatus can be adjusted based on the state of the assisting apparatus. This ensures that the assisting apparatus operates normally, avoids waste of resources, and improves user experience.
S901, obtaining an operating current of the assisting apparatus in the cleaning device.
In the embodiment of the present application, a cleaning device, such as a floor scrubber, is generally provided with a current sampling circuit, which is used to detect the operating current of the assisting wheel. Therefore, the operating current of the assisting apparatus in the cleaning device can be obtained through the current sampling circuit.
It should be noted that, with respect to the current sampling circuit, reference may be made to the existing current sampling circuit, and the embodiments of the present application will not be described in detail here.
S902: identifying the state of the assisting apparatus by the operating current.
In the embodiment of the present application, the state of the assisting apparatus can be identified by the operating current of the assisting apparatus. For example, with respect to the operating current of the assisting wheel, the state of the assisting wheel can be identified by the operating current of the assisting wheel.
S1001, determining the current dispersion degree corresponding to the operating current according to a preset current dispersion degree determination cycle.
In the embodiment of the present application, a current dispersion degree determination cycle may be set in advance, for example, 100 ms, which means that the current dispersion degree corresponding to the operating current is determined once every 100 ms.
Therefore, the cycle can be determined according to the preset current dispersion degree, and the current dispersion corresponding to the operating current can be determined.
The current dispersion degree represents the degree of dispersion of the operating current, and the variance is usually used to represent the current dispersion degree. Specifically,
In the embodiment of the present application, the current variance corresponding to the operating current in the current dispersion degree determination cycle is obtained, in accordance with the preset current dispersion degree determination cycle, which means that the operating current in the current dispersion degree determination cycle participates in the calculation of the current variance. The specific method for calculating the local difference may refer to the existing method, and the embodiments of the present application will not be described in detail here.
For example, the embodiment of the present application obtains the current variance corresponding to the operating current once every 100 ms, wherein what is obtained is the current variance of the operating current within this 100 ms, which means that the corresponding current variance is calculated from the operating current within this 100 ms, so that a current variance can be obtained every 100 ms.
S1102, determining the current variance as the current dispersion degree corresponding to the operating current within the current dispersion degree determination cycle.
In the embodiment of the present application, for the current variance corresponding to the operating current, the current variance may be determined as the current dispersion corresponding to the operating current within the current dispersion degree determination cycle.
For example, every 100 ms, the current variance corresponding to the operating current within this 100 ms is obtained, and the current variance is determined to be the current dispersion degree corresponding to the operating current within this 100 ms.
S1002, judging whether the current dispersion degree is less than a preset second dispersion degree threshold.
In the embodiment of the present application, the current dispersion is characterized by variance, thereby judging whether the current dispersion is lower than a preset second dispersion degree threshold, and thereby identifying the state of the assisting apparatus based on the determination result.
S1003: if the current dispersion degree is less than the preset second dispersion degree threshold, identifying the assisting apparatus being in a slipping or suspended state.
In an embodiment of the present application, if the current dispersion is less than the preset second dispersion degree threshold, it means that the operating current dispersion degree of the assisting apparatus is low, and the operating current is basically maintained at around a certain value, thereby identifying that the assisting apparatus is in a slipping or suspended state, otherwise the assisting apparatus is in a normal operating state.
In addition,
S1201, obtaining a current difference between the operating current and a preset current threshold, and judging whether the current difference is within a preset current error range.
In the embodiment of the present application, a current threshold may be set in advance, so that the operating current of the assisting apparatus may be compared with the current threshold to obtain the current difference between the operating current and the current threshold.
For example, the current threshold may be set in advance to 0, and the operating current of the assisting wheel in the floor scrubber may be compared with the current threshold to obtain the current difference between the operating current and the current threshold. In addition, in the embodiment of the present application, a current error range may be set in advance, so that with respect to the current difference between the operating current and the current threshold, it may be determined whether the current difference is within the current error range.
For example, according to actual measurements, a current error range (0˜N, N is a very small value) may be set in advance, so that with respect to the current difference between the operating current and the current threshold, it can be judged whether the current difference is within this current error range, which is actually to determine whether the operating current is close to 0.
S1202: if the current difference is within the preset current error range, identifying the assisting apparatus being in a slipping or suspended state.
In the embodiment of the present application, if the current difference is within the preset current error range, it can be identified that the assisting apparatus is in a slipping or suspended state; otherwise, it can be identified that the assisting apparatus is in a normal operating state.
For example, if the current difference is within the range of 0 to N (N is a very small value), it means that the operating current is close to 0. At this time, it can be identified that the assisting wheel is in a slipping or suspended state. Otherwise, it can be identified that the assisting wheel is in a normal operating state.
In addition, due to the existence of unexpected situations, the operating current difference at a certain moment is within the preset current error range. At this time, the assisting apparatus is identified as being in a slipping or suspended state. However, the actual situation may be that the assisting apparatus is in a normal operating state, which causes the misidentification of the state of the assisting apparatus.
To this end, in order to solve the problem of misidentification of the state of the assisting apparatus, the embodiment of the present application can count the duration of the current difference being within a preset current error range. If the duration exceeds a certain threshold, it can be identified that the assisting apparatus is in a slipping or suspended state; otherwise, it is identified that the assisting wheel is in a normal operating state.
Specifically,
S1301: if the current difference is within the preset current error range, counting a second duration during which the current difference is within the preset current error range.
In the embodiment of the present application, if the current difference is within the preset current error range, a second duration of the current difference being 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: judging whether the second duration reaches a preset second duration threshold. In the embodiment of the present application, according to actual conditions, a second duration threshold may be set in advance to judge whether the second duration reaches the second duration threshold.
For example, according to actual conditions, a second duration threshold of 200 ms is set in advance to judge whether the second duration T2 reaches 200 ms.
S1303: if the second duration reaches the preset second duration threshold, identifying the assisting apparatus being in a slipping or suspended state.
In the embodiment of the present application, if the second duration reaches a preset second duration threshold, it can be identified that the assisting apparatus is in a slipping or suspended state; otherwise, it can be identified that the assisting apparatus is in a normal operating state.
For example, if the second duration T2 reaches 200 ms, it means that the operating current of the assisting wheel is close to 0 and is maintained for 200 ms. At this time, it can be identified that the assisting wheel is in a slipping or suspended state. Otherwise, it can be identified that the assisting wheel is in a normal operating state.
S903: adjusting the output power of the assisting apparatus based on the state of the assisting apparatus.
In the embodiment of the present application, with respect to the state of the assisting apparatus in the cleaning device, the output power of the assisting apparatus can be adjusted based on the state of the assisting apparatus. This ensures that the assisting apparatus operates normally, avoids waste of resources, and improves user experience.
S1401, obtaining the operating parameter of the assisting apparatus in the cleaning device.
In an embodiment of the present application, the operating parameter of the assisting apparatus in the cleaning device is obtained, the operating parameter described here may be speed and acceleration, or may be operating current.
S1402: identifying the state of the assisting apparatus by using the operating parameter. In the embodiment of the present application, the operating parameter of the assisting apparatus in the cleaning device may be speed and acceleration, or may be operating current, so that the state of the assisting apparatus can be identified by the operating parameter.
S1403: if the assisting apparatus being in a slipping or suspended state, adjusting the assisting apparatus to reverse, and reducing the output power of the assisting apparatus to cause the speed of the cleaning device being zero.
In an embodiment of the present application, with respect to the state of the assisting apparatus in the cleaning device, if the assisting apparatus is in a normal operating state, the output power of the assisting apparatus can be maintained; if the assisting apparatus is in a slipping or suspended state, the output power of the assisting apparatus needs to be adjusted.
If the assisting apparatus is in a slipping or suspended state, it is necessary to reduce the output power of the assisting apparatus. Before this, the assisting apparatus needs to be adjusted to reverse, for example, the assisting wheel in the floor scrubber needs to be adjusted to reverse. In this way, the assisting apparatus is adjusted to reverse and the output power of the assisting apparatus is reduced, so that the speed of the floor scrubber can be reduced to 0. The output power of the assisting apparatus can be reduced according to a target ratio.
For example, if the assisting wheel in the floor scrubber is in a slipping or suspended state, the assisting wheel will be adjusted to reverse. At this time, the output power of the assisting wheel is reduced by 25% of the maximum output power of the assisting wheel, which means that the output power of the assisting wheel is reduced to 25% of the maximum output power. At this time, the force of this output power on the assisting wheel and the forward force generated by the rotation of the roller brush offset each other, so that the speed of the floor scrubber can be reduced to 0, that is, the floor scrubber remains stationary.
Taking the example of the assisting wheel being suspended in the air, when the floor scrubber is in operation, after the user lifts the floor scrubber, the rotation of the roller brush exerts a forward force on the floor scrubber. At this time, the assisting wheel is driven to reverse, and the force of the driving power on the rear wheel and the forward force generated by the rotation of the roller brush offset each other, so that the speed of the floor scrubber can be reduced to 0. In this way, after the user puts down the floor scrubber, the user can avoid feeling uncomfortable, for example, avoiding the floor scrubber from suddenly driving the user forward, thereby improving the user experience.
Based on this, as shown in
S1501, determining a force generated by a movement of the roller brush, and searching a ratio corresponding to the force generated by the movement of the roller brush, wherein the ratio comprises a maximum output power ratio of the assisting apparatus.
In the embodiment of the present application, during the use of the floor scrubber, the rotation of the roller brush will generate a forward or backward force, and this force can be obtained by actual measurement, thereby determining the force generated by the movement of the roller brush. Alternatively, the acceleration a of the roller brush may be determined, and the weight m of the roller brush may be obtained. The force generated by the movement of the roller brush may be calculated using the calculation formula F=m*a.
In addition, in an embodiment of the present application, there is a corresponding ratio for the different forces generated by the roller brush movement. The ratio here is the maximum output power ratio of the assisting apparatus, which means that the force generated by the roller brush movement corresponds one-to-one to the maximum output power ratio of the assisting apparatus, as shown in Table 1 below.
Therefore, in the embodiment of the present application, the ratio corresponding to the force generated by the movement of the roller brush is queried. For example, as shown in Table 1 above, for the force F1 generated by the movement of the roller brush, the maximum output power ratio of the assisting wheel corresponding to F1, 25%, can be queried.
S1502: determining the ratio as a target ratio, and reducing the output power of the assisting apparatus according to the target ratio.
In an embodiment of the present application, the above ratio is determined as a target ratio, thereby reducing the output power of the assisting apparatus according to the target ratio, to avoid discomfort to the user when the assisting apparatus operates normally later, thereby improving the user experience.
For example, reducing the output power of the assisting wheel by 25% of the maximum output power of the assisting wheel means reducing the output power of the assisting wheel to 25% of the maximum output power. In this way, the force generated by driving the rear wheel to reverse can offset the forward force generated by the rotation of the roller brush, avoiding discomfort to the user.
S1404: if the assisting apparatus is not in a slipping or suspended state, maintaining the output power of the assisting apparatus.
In the embodiment of the present application, if the assisting apparatus is not in a slipping or suspended state, it means that the assisting apparatus is in a normal operating state, and the output power of the assisting apparatus can be maintained at this time.
In addition, if the assisting apparatus is in a slipping or suspended state, the driving current of the roller brush will also become smaller. However, there are many factors that lead to the decrease in this current. In addition to the assisting apparatus being in a slipping or suspended state, which causes the current to decrease, there are other factors, such as the roller brush not being installed or the roller brush being used for too long and the bristles becoming pliable. This may cause misjudgment, such as the roller brush not being installed or the roller brush being used for too long and the bristles becoming pliable.
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 too long and the bristles have become pliable, it will usually be detected when the machine is turned on. This means that if the driving current of the roller brush is detected to be smaller after the cleaning device has been running for a period of time, it is most likely not caused by factors such as the roller brush not being installed or the bristles having become pliable due to use for too long, but caused by the assisting apparatus being in a slipping or suspended state.
Based on this, in order to prevent misjudgment, if the assisting apparatus is in a slipping or suspended state and the machine body has run for a preset time, it means that the driving current of the roller brush becomes smaller. It is most likely 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 pliable, but by the assisting apparatus being in a slipping or suspended state. At this time, the alarm for triggering the roller brush abnormality can be prohibited to avoid misjudgment. The roller brush abnormality here refers to the roller brush not being installed or the roller brush being used for too long and the bristles becoming pliable.
In addition, an embodiment of the present application further provides a cleaning device, where the cleaning device comprises:
It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Furthermore, the terms “comprises,” “comprising,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus. Without more constraints, an element defined by the phrase “comprising a . . . ” does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.
Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.
The above is only the embodiment of the present disclosure and not intended to limit the present disclosure. Those skilled in the art may make various modifications and variations to the present disclosure. Any modifications, equivalent replacements, improvements and the like made within the spirit and principle of the present disclosure shall fall within the scope of the claims of the present disclosure.
The apparatus embodiments described above are merely illustrative, where the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, i.e., may be located at a place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art can understand and implement without creative work.
Through the description of the above implementation modes, those skilled in the art can clearly understand that various implementation modes may be implemented by means of software and a necessary general hardware platform, and of course, by hardware. Based on such understanding, the essence of the foregoing technical solutions or portions making contribution to the prior art may be embodied in the form of software products. The computer software products may be stored in a computer-readable storage medium such as a ROM/RAM, a magnetic disk and an optical disc, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or portions of the embodiments.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, and are not limited thereto. Although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that the technical solutions described in the foregoing embodiments can be staying static modified, or some technical features are equivalently replaced. These modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions in various embodiments of the present disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 202210332668.0 | Mar 2022 | CN | national |
| 202210474418.0 | Apr 2022 | CN | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/CN2023/078381 | 2/27/2023 | WO |
