CN101779938A - Automatic floor cleaning device and method for detecting operating state of motor thereof - Google Patents
Automatic floor cleaning device and method for detecting operating state of motor thereof Download PDFInfo
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- CN101779938A CN101779938A CN200910003575A CN200910003575A CN101779938A CN 101779938 A CN101779938 A CN 101779938A CN 200910003575 A CN200910003575 A CN 200910003575A CN 200910003575 A CN200910003575 A CN 200910003575A CN 101779938 A CN101779938 A CN 101779938A
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Abstract
The invention relates to an automatic floor cleaning device, which comprises a motor, a control unit and a photoelectric encoder. The motor is provided with a rotating shaft, the control unit outputs a control command to control the motor, the photoelectric encoder comprises an encoding turntable, a light-emitting component and a light sensing component, the encoding turntable is fixed on the rotating shaft and rotates along with the rotating shaft, the light-emitting component is applicable to transmission of light beams to the encoding turntable, and the light sensing component is applicable to reception of the light beams through the encoding turntable. In the detection method, the photoelectric encoder transmits a signal to the control unit, and the control unit judges whether an abnormal situation occurs according to the control command and the signal.
Description
Technical field
The invention relates to a kind of automation equipment, and particularly about a kind of automatic ground cleaning device and detect the method for its operating state of motor.
Background technology
Along with the step of technicalization now, the electrical home appliances of many automations has appearred at present on the market.The purpose of automation is to allow people avoid repeatability or dangerous work, makes people can be apt to improve the efficient and the quality of doing things with the limited time.
With automatic ground cleaning device is example, general automatic ground cleaning device is to utilize controller to control the running of motor, motor just can drive the wheel of automatic ground cleaning device, and automatic ground cleaning device is moved with a default stroke on the ground, reaches the function of cleaning floor simultaneously.When automatic ground cleaning device was mobile on the ground, the obstruction of barrier or motor rotation unusual can't move automatic ground cleaning device according to default stroke.
Because the ground cleaning device is when running automatically, the user not necessarily can monitor the user mode of automatic ground cleaning device at the scene, therefore convenience and security in order to improve use, and the ground cleaning device must have the function that the oneself detects automatically.Main purpose is to detect by the oneself, judges whether automatic ground cleaning device is finished predetermined stroke or other abnormality is not arranged, and then sends the action that signal notifies the user to get rid of unusually, to avoid causing the damage of automatic ground cleaning device.
Summary of the invention
The invention provides a kind of automatic ground cleaning device, it can detect the operating condition of its motor.
The invention provides a kind of method, in order to the operating state of the motor that detects above-mentioned automatic ground cleaning device.
The invention provides a kind of automatic ground cleaning device, it comprises a motor, a control module and a photoelectric encoder.Motor has a rotating shaft.Control module is exported a control instruction with the control motor.Photoelectric encoder comprises a coding rotary disk, a light-emitting component and a photo-sensitive cell.Coding rotary disk is fixed in rotating shaft and along with rotating shaft is rotated.Light-emitting component is suitable for launching light to coding rotary disk.Photo-sensitive cell is suitable for receiving the light by coding rotary disk.Photoelectric encoder transmits a signal to control module, and control module judges according to control instruction and signal whether a unusual condition takes place.
In one embodiment of this invention, light-emitting component and photo-sensitive cell are arranged at the both sides of coding rotary disk respectively, and are positioned at one and are parallel in fact on the straight line of rotating shaft, make photo-sensitive cell be suitable for receiving the light that coding rotary disk is crossed in emission self-emission device and break-through.
In one embodiment of this invention, when above-mentioned unusual condition took place, one unusual eliminating of control module output instructed with the control motor.But unusual the eliminating instructs the drive motors counter-rotating or stops motor rotation.
In one embodiment of this invention, the ground cleaning device also comprises a man-machine interface automatically, and control module cooperates man-machine interface to export an abnormal signal.
The present invention also provides a kind of detection method of operating state of motor, in order to a motor that detects an automatic ground cleaning device whether one unusual condition takes place.Export a control instruction with the control motor.Send light to one coding rotary disk, it is coupled to a rotating shaft of motor.The light of reception by coding rotary disk is to transmit a signal.Judge according to control instruction and signal whether unusual condition takes place.
In one embodiment of this invention, detection method also comprises when above-mentioned unusual condition takes place, and exports the step of an abnormal signal.
In one embodiment of this invention, detection method also comprises when unusual condition takes place, the output one unusual step of getting rid of instruction.But unusual the eliminating instructs the drive motors counter-rotating or stops motor rotation.
Based on above-mentioned, the present invention utilizes photoelectric encoder to measure the actual anglec of rotation of the rotating shaft of motor, and transmits a signal to control module, and control module then judges in order to the control instruction and the aforementioned signal of control motor whether a unusual condition takes place according to one.
For above-mentioned feature and advantage of the present invention can be become apparent, embodiment cited below particularly, and conjunction with figs. is described in detail below.
Description of drawings
Fig. 1 is the schematic diagram of the automatic ground cleaning device of one embodiment of the invention.
The specific embodiment
Fig. 1 is the schematic diagram of the automatic ground cleaning device of one embodiment of the invention.Please refer to Fig. 1, ground cleaning device 100 has on the ground the function that the zone of passing through is cleaned in walking automatically simultaneously automatically, and it is provided by a mobile unit and a cleaning unit respectively.In the present embodiment, ground cleaning device 100 comprises a body 110, a control module 120 and a motor 130 automatically.Control module 120 can be exported a control instruction with control motor 130, and motor 130 also has a rotating shaft 132, and in order to the output torque, wherein motor 130 belongs to above-mentioned mobile unit.
Automatically ground cleaning device 100 also comprises a photoelectric encoder 140.Photoelectric encoder 140 is a kind of angle detection devices, and it can utilize photoelectricity transformation principle to convert corresponding pulse signal to, in order to detect the operating state of motor 130 amount of rotating shaft 132 along the angle of rotation R rotation.
When coding rotary disk 142 when rotation R rotates, the light that light-emitting component 144 is launched just can periodically penetrate slit on the coding rotary disk 142 to the photo-sensitive cell 146 of its opposite side, and photo-sensitive cell 146 converts the periodic light that it received to corresponding pulse signal.
In the present embodiment, light-emitting component 144 also can be separately positioned on the both sides of coding rotary disk 142 with photo-sensitive cell 146, and is positioned on the straight line that is parallel to each other in fact with rotating shaft 132.
In the present embodiment, ground cleaning device 100 also comprises a man-machine interface 150 (for example visual interface or sound interface) automatically, and control module 120 can cooperate man-machine interface 150 to export an abnormal signal.
Hereinafter will describe in detail at a kind of detection method of motor 130 operating states of the automatic ground cleaning device 100 that is applied to the foregoing description.
At first, export a control instruction with control motor 130.In the present embodiment, when the user when using automatic ground cleaning device 100, the user can set the shift motion of automatic ground cleaning device 100 by operation interface, and the control module 120 of ground cleaning device 100 just transmits a control instruction to motor 130 according to user's setting automatically.Then, motor 130 is carried out above-mentioned control instruction, and comes rotating shaft 132 according to this control instruction, and while rotary coding rotating disk 142.
Then, send a light to coding rotary disk 142.In the present embodiment, can utilize light-emitting component 144 emission light to coding rotary disk 142.
Afterwards, receive light by coding rotary disk 142 to transmit a signal.In the present embodiment, can utilize photo-sensitive cell 146 to receive the light of launching self-emission device 144 and penetrating coding rotary disk 142, make photoelectric encoder 140 can transmit a signal to control module 120.
At last, judge according to above-mentioned control instruction and above-mentioned signal whether the unusual condition of motor 130 takes place.In the present embodiment, can utilize control module 120 to judge according to above-mentioned control instruction and above-mentioned signal whether the unusual condition of motor 130 takes place.
When the unusual condition of motor 130 takes place, can get rid of instruction automatically unusually by control module 120, for example make drive motors 130 counter-rotatings to remove barriers or directly to stop motor 130 runnings, or cooperate man-machine interface 150 (for example image interface or sound interface) to export an abnormal signal, in order to notify the automatic ground of user cleaning device 100 present use situation.Therefore, the user just can further process, to avoid causing the damage of automatic ground cleaning device 100.
In addition, above-mentioned photo-sensitive cell 146 receives the light that penetrates slit on the coding rotary disk 142, and converts the light that is received to pulse signal, in order to correspondingly to calculate the actual rotation angle of rotating shaft 132.Therefore, the slot number that coding rotary disk 142 first-class branches are opened is many more, and the accuracy of the actual rotation angle that photo-sensitive cell 146 is calculated is just high more.Therefore, can utilize the slot number that increases on the coding rotary disk 142, promote the accuracy of measuring the actual rotation angle.
In sum, the present invention utilizes photoelectric encoder to measure the actual anglec of rotation of the rotating shaft of motor, and transmits a signal to control module, and control module then judges in order to the control instruction and the aforementioned signal of control motor whether a unusual condition takes place according to one.
Though the present invention with embodiment openly as above; right its is not in order to limit the present invention; have in the technical field under any and know the knowledgeable usually; without departing from the spirit and scope of the present invention; when doing a little change and retouching, so protection scope of the present invention is as the criterion when looking claims person of defining.
Claims (11)
1. an automatic ground cleaning device is characterized in that, comprising:
Motor has rotating shaft;
Control module, the output control instruction is to control above-mentioned motor; And
Photoelectric encoder comprises:
Coding rotary disk is fixed in above-mentioned rotating shaft and along with above-mentioned rotating shaft is rotated;
Light-emitting component is used to launch light to above-mentioned coding rotary disk; And
Photo-sensitive cell is used to receive the light by above-mentioned coding rotary disk,
Wherein above-mentioned photoelectric encoder sends a signal to above-mentioned control module, and above-mentioned control module judges according to above-mentioned control instruction and above-mentioned signal whether unusual condition takes place.
2. automatic ground according to claim 1 cleaning device, it is characterized in that, above-mentioned light-emitting component and above-mentioned photo-sensitive cell are separately positioned on the both sides of above-mentioned coding rotary disk, and be positioned on the straight line that is parallel to above-mentioned rotating shaft, make above-mentioned photo-sensitive cell be suitable for receiving emission from above-mentioned light-emitting component and penetrate the light of above-mentioned coding rotary disk.
3. automatic ground according to claim 1 cleaning device is characterized in that, when above-mentioned unusual condition took place, above-mentioned control module output abnormality was got rid of instruction to control above-mentioned motor.
4. automatic ground according to claim 3 cleaning device is characterized in that, above-mentioned unusual eliminating instruction drives above-mentioned motor counter-rotating.
5. automatic ground according to claim 3 cleaning device is characterized in that, above-mentioned unusual eliminating instruction stops above-mentioned motor rotation.
6. automatic ground according to claim 1 cleaning device is characterized in that, above-mentioned automatic ground cleaning device also comprises man-machine interface, and above-mentioned control module cooperates above-mentioned man-machine interface to come the output abnormality signal.
7. whether the detection method of an operating state of motor in order to the motor that detects automatic ground cleaning device unusual condition takes place, and it is characterized in that above-mentioned detection method comprises:
The output control instruction is to control above-mentioned motor;
Emit beam to coding rotary disk, above-mentioned coding rotary disk is coupled to the rotating shaft of above-mentioned motor;
Receive light by above-mentioned coding rotary disk with the transmission signal; And
Judge according to above-mentioned control instruction and above-mentioned signal whether above-mentioned unusual condition takes place.
8. detection method according to claim 7 is characterized in that, above-mentioned detection method also comprises when above-mentioned unusual condition takes place, the step of output abnormality signal.
9. detection method according to claim 7 is characterized in that, above-mentioned detection method comprises that also when above-mentioned unusual condition took place, output abnormality was got rid of the step of instruction.
10. detection method according to claim 9 is characterized in that, above-mentioned unusual eliminating instruction drives above-mentioned motor counter-rotating.
11. detection method according to claim 9 is characterized in that, above-mentioned unusual eliminating instruction stops above-mentioned motor rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910003575A CN101779938A (en) | 2009-01-20 | 2009-01-20 | Automatic floor cleaning device and method for detecting operating state of motor thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910003575A CN101779938A (en) | 2009-01-20 | 2009-01-20 | Automatic floor cleaning device and method for detecting operating state of motor thereof |
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| CN101779938A true CN101779938A (en) | 2010-07-21 |
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| CN200910003575A Pending CN101779938A (en) | 2009-01-20 | 2009-01-20 | Automatic floor cleaning device and method for detecting operating state of motor thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102376201A (en) * | 2010-08-17 | 2012-03-14 | 冠捷投资有限公司 | Display device capable of changing viewing angle and rotary machine platform |
| CN102519558A (en) * | 2011-12-28 | 2012-06-27 | 西南计算机有限责任公司 | Detector for correcting measuring accuracy of sonic nozzle of diaphragm gas meter |
| CN105212810A (en) * | 2014-06-30 | 2016-01-06 | 谢火县 | A kind of soap-solution device being controlled positive and negative rotation of motor and liquid outlet quantity by angle numeration |
| CN105395136A (en) * | 2014-09-15 | 2016-03-16 | 江苏美的清洁电器股份有限公司 | Dust collector, side brush abnormity detector and control method and device of side brush motor |
| CN105625214A (en) * | 2016-02-04 | 2016-06-01 | 四川大管家科技有限公司 | Parking lock direct-current motor detecting and controlling system and intelligent parking lock |
| CN112369983A (en) * | 2020-10-28 | 2021-02-19 | 珠海格力电器股份有限公司 | Speed detection method and device for side brush of sweeper, storage medium and sweeper |
| CN117463667A (en) * | 2023-12-26 | 2024-01-30 | 河北德润厚天科技股份有限公司 | Cleaning device and cleaning method for water quality detection equipment |
-
2009
- 2009-01-20 CN CN200910003575A patent/CN101779938A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102376201A (en) * | 2010-08-17 | 2012-03-14 | 冠捷投资有限公司 | Display device capable of changing viewing angle and rotary machine platform |
| CN102519558A (en) * | 2011-12-28 | 2012-06-27 | 西南计算机有限责任公司 | Detector for correcting measuring accuracy of sonic nozzle of diaphragm gas meter |
| CN102519558B (en) * | 2011-12-28 | 2013-08-28 | 西南计算机有限责任公司 | Detector for correcting measuring accuracy of sonic nozzle of diaphragm gas meter |
| CN105212810A (en) * | 2014-06-30 | 2016-01-06 | 谢火县 | A kind of soap-solution device being controlled positive and negative rotation of motor and liquid outlet quantity by angle numeration |
| WO2016000294A1 (en) * | 2014-06-30 | 2016-01-07 | 谢火县 | Soap liquid machine for controlling positive and reverse rotations of motor and liquid output volume by means of angle counting |
| CN105212810B (en) * | 2014-06-30 | 2018-07-31 | 谢火县 | A kind of counted by angle controls the soap-solution device of positive and negative rotation of motor and liquid outlet quantity |
| CN105395136A (en) * | 2014-09-15 | 2016-03-16 | 江苏美的清洁电器股份有限公司 | Dust collector, side brush abnormity detector and control method and device of side brush motor |
| CN105625214A (en) * | 2016-02-04 | 2016-06-01 | 四川大管家科技有限公司 | Parking lock direct-current motor detecting and controlling system and intelligent parking lock |
| CN112369983A (en) * | 2020-10-28 | 2021-02-19 | 珠海格力电器股份有限公司 | Speed detection method and device for side brush of sweeper, storage medium and sweeper |
| CN112369983B (en) * | 2020-10-28 | 2021-07-06 | 珠海格力电器股份有限公司 | Speed detection method and device for side brush of sweeper, storage medium and sweeper |
| CN117463667A (en) * | 2023-12-26 | 2024-01-30 | 河北德润厚天科技股份有限公司 | Cleaning device and cleaning method for water quality detection equipment |
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Open date: 20100721 |