CN111506053A

CN111506053A - Motion control method and device and cleaning equipment

Info

Publication number: CN111506053A
Application number: CN201910091091.7A
Authority: CN
Inventors: 黄晓波
Original assignee: Beijing Etechwin Electric Co Ltd
Current assignee: Beijing Etechwin Electric Co Ltd
Priority date: 2019-01-30
Filing date: 2019-01-30
Publication date: 2020-08-07
Anticipated expiration: 2039-01-30
Also published as: CN111506053B

Abstract

The invention relates to a motion control method, a motion control device and cleaning equipment, wherein the motion control method comprises the steps of receiving a first detection signal of a front detection component and a second detection signal of a rear detection component in the process that a cross beam moves along a first direction; judging whether the beam is in a deflection state according to the first detection signal and the second detection signal; and if the cross beam deflects, adjusting the rotating speed of the motor at least one end part side of the two end parts of the cross beam in the length direction according to the first detection signal, the second detection signal and the preset reference speed so as to correct the state of the cross beam. The embodiment of the invention provides a motion control method and device and cleaning equipment, which can monitor and correct walking deflection in real time when the cleaning equipment walks, improve the obstacle crossing capability of the cleaning equipment, and avoid the jamming of the cleaning equipment in the service process, so that the energy consumption of a system is reduced, and the cleaning efficiency of flat plate structures such as a photovoltaic panel is ensured.

Description

Motion control method and device and cleaning equipment

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a motion control method and device and cleaning equipment.

Background

Cleaning device is the automation equipment that can walk on the flat board and clean the surface of flat board, consequently uses very extensively, especially in photovoltaic technology field, can clean the photovoltaic board through cleaning device, and then guarantees the power generation benefit of photovoltaic board.

However, in the process of walking of the cleaning device in the prior art, the walking deviation of the cleaning device may be caused by the phenomena of errors, slipping and the like of the walking wheels at the two ends of the cross beam, and the walking deviation of the cleaning device may cause the obstacle crossing capability of the cleaning device to be reduced, even the cleaning device is stuck in the operation process, the power consumption of the system is increased, and the cleaning efficiency of flat plate structures such as a photovoltaic panel is affected.

Therefore, a new motion control method, device and cleaning apparatus are needed.

Disclosure of Invention

The embodiment of the invention provides a motion control method, a motion control device and cleaning equipment.

In one aspect, an embodiment of the present invention provides a motion control method for a cleaning device, where the cleaning device includes a beam, a front detection component and a rear detection component, the beam is movable with respect to a flat plate, the beam has two opposite ends in a length direction of the beam, and the front detection component and the rear detection component are located at a same end and are disposed at two sides of the beam in a width direction of the beam, and the motion control method includes: receiving a first detection signal of a front detection component and a second detection signal of a rear detection component in the process that the beam moves along the first direction; judging whether the beam is in a deflection state according to the first detection signal and the second detection signal; and if the cross beam deflects, adjusting the rotating speed of the motor at least one end part side of the two end parts of the cross beam according to the first detection signal, the second detection signal and the preset reference speed so as to correct the state of the cross beam.

According to an aspect of the embodiment of the present invention, the determining whether the beam is in the skew state according to the first detection signal and the second detection signal specifically includes: and if one of the first detection signal and the second detection signal is a first preset value and the other is a second preset value, judging that the beam is in a deflection state.

According to an aspect of the embodiment of the present invention, if the beam is deflected, adjusting the rotation speed of the motor at least one of the two ends of the beam according to the first detection signal, the second detection signal and the preset reference speed to correct the state of the beam specifically includes: determining a leading end and a lagging end of the cross beam in the operation process according to the first detection signal and the second detection signal; comparing the traveling speed of the lagging end with a preset reference speed; based on the comparison, the rotational speed of the motor at the leading end and/or the lagging end is adjusted to correct the state of the cross beam.

According to an aspect of an embodiment of the present invention, the step of adjusting the rotation speed of the motor on the leading end and/or the lagging end to correct the state of the cross beam according to the comparison result includes: if the traveling speed of the lag end is smaller than the preset reference speed, increasing the rotating speed of the motor of the lag end until the first detection signal and the second detection signal are respectively a second preset value; or if the travelling speed of the lagging end is less than the preset reference speed, the rotating speed of the motor of the lagging end is increased, and if the travelling speed of the lagging end reaches the preset reference speed and the first detection signal and the second detection signal are not both the second preset value, the rotating speed of the motor of the leading end is decreased until the first detection signal and the second detection signal are respectively the second preset value.

According to an aspect of an embodiment of the present invention, the step of adjusting the rotation speed of the motor on the leading end and/or the lagging end to correct the state of the cross beam according to the comparison result includes: if the advancing speed of the lagging end is greater than or equal to the preset reference speed, the rotating speed of the motor of the leading end is reduced until the first detection signal and the second detection signal are respectively a second preset value; or if the travelling speed of the lagging end is greater than or equal to the preset reference speed, the rotating speed of the motor of the leading end is reduced, and if the travelling speed of the leading end reaches the preset reference speed and the first detection signal and the second detection signal are uneven to a second preset value, the rotating speed of the motor of the lagging end is increased until the first detection signal and the second detection signal are respectively the second preset value.

According to an aspect of the embodiments of the present invention, after until the first detection signal and the second detection signal are respectively the second predetermined value, the method further includes: acquiring the accumulated times of normal operation of the cross beam after the state correction; if the accumulated times of normal operation reach a first preset threshold, adjusting the operation speeds of the leading end and the lagging end to preset reference speeds respectively; and if the first detection signal is a second preset value and the second detection signal is the second preset value, adding 1 to the accumulated normal operation times.

According to an aspect of the embodiment of the present invention, the step of determining the leading end and the lagging end of the cross beam during operation according to the first detection signal and the second detection signal specifically comprises: if one of the first detection signal and the second detection signal is a first predetermined value and the other is a second predetermined value; if the first detection signal at the current moment is a first preset value and the accumulated times of the first detection signal being the first preset value is a second preset threshold, determining that the end where the front detection component is located is a leading end and the other end is a lagging end in the first direction; or, if the second detection signal is the first predetermined value at the current time and the number of times of accumulation of the second detection signal being the first predetermined value is the second predetermined threshold, it is determined that the end where the front detection part is located is the lagging end and the other end is the leading end in the first direction.

According to an aspect of an embodiment of the invention, the method further comprises: if the first detection signal is a first preset value at the current moment and the number of times of accumulation of the first detection signal which is the first preset value is added with 1, resetting the number of times of accumulation of the second detection signal which is the first preset value; or, if the second detection signal is the first predetermined value at the current moment and the number of times of accumulation of the second detection signal as the first predetermined value is added by 1, clearing the number of times of accumulation of the first detection signal as the first predetermined value.

According to an aspect of an embodiment of the invention, the method further comprises: if the first detection signal is a first preset value at the current moment and the accumulated times of the first detection signal being the first preset value are a second preset threshold, clearing the accumulated times of the first detection signal being the first preset value and the first detection signal being the first preset value; and if the second detection signal is the first preset value at the current moment and the number of times of the second detection signal being the first preset value is a second preset threshold, clearing the number of times of the second detection signal being the first preset value and the second detection signal being the first preset value.

According to an aspect of an embodiment of the invention, the method further comprises: acquiring the accumulated times of abnormal operation of the cross beam; if the accumulated times of abnormal operation reach a third preset threshold value, determining that the cleaning equipment has a fault; and if the first detection signal is a first preset value and the second detection signal is a first preset value, adding 1 to the accumulated number of abnormal operation.

In another aspect, a motion control device for a cleaning apparatus according to an embodiment of the present invention includes a beam, a front detection part and a rear detection part, the beam being movable with respect to a flat plate, the beam having two opposite ends in a length direction of the beam, the front detection part and the rear detection part being located at the same end and being disposed at two sides of the beam in a width direction of the beam, the motion control device including: the receiving module is used for receiving a first detection signal of the front detection component and a second detection signal of the rear detection component in the process that the beam moves along the first direction; the judging module is used for judging whether the cross beam is in a deflection state according to the first detection signal and the second detection signal; and the adjusting module is used for adjusting the rotating speed of the motor at least one end part side of the two end parts of the cross beam according to the first detection signal, the second detection signal and a preset reference speed so as to correct the state of the cross beam if the cross beam deflects.

In another aspect, a cleaning apparatus is provided according to an embodiment of the present invention, which includes a beam, a front detection component, a rear detection component, and the motion control device, wherein the beam is movable relative to a flat plate, the beam has two opposite ends in a length direction of the beam, and the front detection component and the rear detection component are located at a same end and are oppositely disposed on two sides of the beam in a width direction of the beam.

According to another aspect of the embodiment of the present invention, the front detection part and the rear detection part are respectively a proximity switch or a limit switch, and the front detection part and the rear detection part are symmetrically disposed on both sides of the cross beam in the width direction.

According to the motion control method, the motion control device and the cleaning equipment provided by the embodiment of the invention, the first detection signal and the second detection signal fed back by the front detection component and the rear detection component can be received, whether the beam of the cleaning equipment is in a deflection state or not can be judged, if the beam is in the deflection state, the rotating speed of the motor at least on one end part side of the two end parts of the beam in the length direction is adjusted in real time according to the first detection signal, the second detection signal and the preset reference speed, so that the state of the beam is corrected, the deflection of the cleaning equipment is further corrected, the cleaning equipment is ensured to walk in a range allowed by a deflection error, the obstacle crossing capability of the cleaning equipment is improved, the problems of blockage, system power consumption increase and the like caused by the walking deflection of the cleaning equipment are avoided, and the stability and the adaptability of the cleaning equipment are improved.

Drawings

Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a schematic structural view of a cleaning apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of a partial structure of a cleaning apparatus according to an embodiment of the present invention;

FIG. 3 is a flow chart illustrating a motion control method according to a first embodiment of the present invention;

FIG. 4 is a flow chart illustrating a motion control method according to a second embodiment of the present invention;

FIG. 5 is a schematic view of a cleaning apparatus according to an embodiment of the present invention in a deflected state;

FIG. 6 is a perspective view of another deflected state of a cleaning apparatus of an embodiment of the present invention;

FIG. 7 is a flow chart illustrating a motion control method according to a third embodiment of the present invention;

FIG. 8 is a schematic flow chart of a motion control method according to a fourth embodiment of the present invention;

fig. 9 is a flowchart schematically illustrating an operation control method according to a fifth embodiment of the present invention;

fig. 10 is a schematic structural diagram of a motion control device according to an embodiment of the present invention.

Wherein:

x-length direction; y-width direction; m-a first direction;

10-a cross beam; 101-a lower end; 102-an upper end; 20-a front detection component; 30-rear detection component; 40-a walking unit; 401-a frame; 402-road wheels; 403-a motor; 50-cleaning unit.

In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.

Detailed Description

Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention. In the drawings and the following description, at least some well-known structures and techniques have not been shown in detail in order to avoid unnecessarily obscuring the present invention; also, the dimensions of some of the structures may be exaggerated for clarity. Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

The cleaning equipment provided by the embodiment of the invention can be used for cleaning the surface of a flat plate. Especially in the field of photovoltaic technology, can be used for cleaning the surface of photovoltaic panels. The following embodiments of the present invention are described with reference to a cleaning apparatus, a motion control method, and a device, only by way of example, but the cleaning apparatus of the embodiments of the present invention is not limited to the following embodiments, and may be mounted on a flat plate structure to be cleaned in other fields, and protect the flat plate structure.

For a better understanding of the present invention, a cleaning apparatus, a motion control method, and a device according to embodiments of the present invention will be described in detail below with reference to fig. 1 to 10.

Referring to fig. 1 and fig. 2 together, fig. 1 shows a schematic structural diagram of a cleaning apparatus according to an embodiment of the present invention, and fig. 2 shows a schematic partial structural diagram of the cleaning apparatus according to the embodiment of the present invention. The cleaning device provided by the embodiment of the invention comprises a cross beam 10, a walking unit 40 and a sweeping unit 50, wherein the cross beam 10 has a preset length and is provided with two

opposite end parts

101 and 102 in the length direction X of the cross beam, each end part is movably connected with one walking unit 40, and each walking unit 40 comprises a frame 401 connected with the cross beam 10, a walking wheel 402 arranged on the frame 401 and a motor 403 for driving the walking wheel 402 to rotate. Each end of the cross member 10 extends into the frame 401 of the traveling unit 40 connected thereto and is movably connected to the frame 401. The cleaning unit 50 is connected to the beam 10 and can move with the beam 10 to clean the corresponding photovoltaic panel.

When the cleaning device is not deflected, the beam 10 of the cleaning device is perpendicular to the corresponding frame 401 of the walking unit 40, that is, in the width direction Y of the beam 10, the included angles α and β between the beam 10 and the corresponding frame 401 are equal in value, or the absolute value of the difference between the included angles α and β is within a predetermined range, for example, in some alternative examples, the predetermined range is any value between 0 ° and 5 ° and includes 5 ° end value.

When the cleaning apparatus is deflected, the angular state between the beam 10 and the corresponding frame 401 of the traveling unit 40 is changed, and the absolute value of the difference between the angles α and β between the beam 10 and the corresponding frame 401 in the width direction Y of the beam 10 exceeds a predetermined range, that is, the beam 10 is considered to be deflected.

Therefore, in order to accurately know whether the cross beam 10 is deflected or not, the cleaning apparatus further includes a front detection component 20 and a rear detection component 30, the front detection component 20 and the rear detection component 30 are located at the same end of the cross beam 10 and are connected to the traveling unit 40 at the side of the end, and may be specifically connected to the frame 401 of the traveling unit 40, for convenience of description, the end corresponding to the side where the front detection component 20 and the rear detection component 30 are located is the lower end 101, and the other end is the upper end 102.

In some alternative examples, the front detection component 20 and the rear detection component 30 may be proximity switches, respectively, when the cleaning device deflects to cause the beam 10 to deflect, the lower end 101 of the beam 10 rotates relative to the traveling unit 40 to a detection range of the front detection component 20 or the rear detection component 30, so that the front detection component 20 or the rear detection component 30 is triggered to feed back the cleaning device to deflect. In order to optimize the performance of the cleaning apparatus, the front detection member 20 and the rear detection member 30 may be disposed symmetrically with respect to each other in the width direction Y of the cross member 10.

It is understood that the front detection part 20 and the rear detection part 30 are proximity switches, but not limited thereto, in some other examples, the front detection part 20 and the rear detection part 30 may also be limit switches, so that when the beam 10 is deflected due to the deflection of the cleaning device, the lower end 101 of the beam 10 is rotated relative to the walking unit 40 and touches the front detection part 20 or the rear detection part 30, and the deflection of the cleaning device can also be fed back.

In order to monitor whether the cleaning device is deviated in a walking manner in real time and correct the deviation when the cleaning device in each embodiment is walking, so as to improve the obstacle crossing capability of the cleaning device, avoid the jamming of the cleaning device in a service process, and meet the requirements on the cleaning efficiency of flat plate structures such as a photovoltaic panel, etc., an embodiment of the invention further provides a motion control method, and the motion control method in the embodiment of the invention is described in detail below with reference to the attached drawings.

Referring to fig. 3, fig. 3 is a schematic flow chart of a motion control method according to a first embodiment of the present invention, and the motion control method provided in the embodiment of the present invention can be used in the cleaning apparatus according to the above embodiments, as shown in fig. 3, the motion control method includes the following steps S11 to S13:

in step S11, the first detection signal of the front detection part 20 and the second detection signal of the rear detection part 30 during the movement of the cross beam 10 in the first direction M are received.

Wherein, during the movement of the receiving beam 10 along the first direction M, the first direction M may be a direction along which the photovoltaic panel extends, and when the cleaning apparatus is not deflected, the first direction M may be parallel to the width direction Y of the beam 10. The first detection signal of the front detection part 20 may be a first predetermined value or a second predetermined value, and the second detection signal of the rear detection part 30 may be the first predetermined value or the second predetermined value as well. The first predetermined value and the second predetermined value have different values and may be in various combinations, and in some alternative examples, the first predetermined value may be 1 and the second predetermined value may be 0, however, it is only an alternative way to define the first predetermined value as 1 and the second predetermined value as 0, and it may also be adjusted to other values as required as long as the first detection signal and the second detection signal can be distinguished.

When the front detection part 20 is triggered, the fed back first detection signal is a first predetermined value, and when the front detection part is not triggered, the fed back first detection signal is a second predetermined value, and likewise, when the rear detection part 30 is triggered, the fed back second detection signal is the first predetermined value, and when the rear detection part is not triggered, the fed back second detection signal is the second predetermined value.

In step S12, it is determined whether the beam 10 is in a deflected state based on the first detection signal and the second detection signal.

Because the front detection component 20 and the rear detection component 30 are respectively a proximity switch or a limit switch, when the cleaning device is not tilted and is tilted, the relative positions of the cross beam 10, the front detection component 20 and the rear detection component 30 are different, when the cleaning device is tilted to cause the cross beam 10 to rotate relative to the frame 401, the front detection component 20 or the rear detection component 30 is triggered, and whether the cross beam 10 is in a tilted state can be judged according to a first detection signal and a second detection signal fed back by the front detection component 20 and the rear detection component 30.

As an alternative embodiment, if one of the first detection signal and the second detection signal is a first predetermined value and the other is a second predetermined value, the beam 10 is determined to be in the deflection state.

In one example, if the first detection signal is a first predetermined value and the second detection signal is a second predetermined value, indicating that the front detection member 20 is triggered, then the beam 10 is determined to be deflected.

In another example, if the first detection signal is a second predetermined value and the second detection signal is a first predetermined value, indicating that the rear detection member 30 is triggered, it is also possible to determine that the beam 10 is deflected.

In step S13, if the cross beam 10 is deflected, the rotation speed of the motor 403 on at least one of the two ends of the cross beam 10 in the longitudinal direction X is adjusted based on the first detection signal, the second detection signal, and the preset reference speed to correct the state of the cross beam 10.

The preset reference speed can be a determined speed value, and in an initial working state of the cleaning device, the walking wheels 402 of the walking units 40 on the two sides of the beam 10 all advance along the photovoltaic panel at the preset reference speed, so that the walking wheels advance at the preset reference speed, the running stability of the cleaning device on the photovoltaic panel can be ensured, and meanwhile, the cleaning effect of the cleaning device on the photovoltaic panel can be optimized.

Through step 13, the rotating speed of the motor 403 positioned at the corresponding end of the beam 10 can be determined and adjusted according to the first detection signal fed back by the front detection component 20, the second detection signal fed back by the rear detection component 30, and the preset reference speed, and the speed of the traveling wheel 402 of the traveling unit 40 driven by the corresponding motor 403 can be further adjusted according to the preset reference speed, so that under the condition that the requirement for deviation correction of the cleaning equipment is met, the cleaning effect on the photovoltaic panel in the deviation correction process and after deviation correction can be further ensured.

Referring to fig. 4, fig. 4 is a flowchart illustrating a motion control method according to a second embodiment of the invention. In specific implementation, step 13 may be refined into different forms as long as the deviation correction of the detection device can be achieved by using the first detection signal fed back by the front detection component 20, the second detection signal fed back by the rear detection component 30, and the preset reference speed, and in some optional examples, step 13 in fig. 3 may be refined into steps 131 to 133 in fig. 4.

In step 131, the leading and lagging ends of the beam 10 during operation are determined based on the first and second detection signals.

The leading end and the lagging end are respectively one end in the longitudinal direction X of the cross beam 10, and may be the upper end 102 or the lower end 101. When the cross member 10 is tilted, the end of the cross member 10 corresponding to the traveling unit 40 located at the front end in the first direction M is a leading end, and correspondingly, the end of the cross member 10 corresponding to the traveling unit 40 located at the rear end in the first direction M is a lagging end.

In some optional examples, step 131 may be specifically detailed as determining that, in the first direction M, the end where the front detection device 20 is located is a leading end, the other end is a lagging end, that is, the lower end 101 is a leading end, and the upper end 102 is a lagging end, if one of the first detection signal and the second detection signal is a first predetermined value and the other one is a second predetermined value, and if the first detection signal at the current time is the first predetermined value and the accumulated number of times that the first detection signal is the first predetermined value is a second predetermined threshold value.

Referring to fig. 5, fig. 5 is a schematic diagram of a cleaning device according to an embodiment of the invention in a deflected state.

As shown in fig. 5, when the cleaning apparatus is tilted at the current time, the relative position between the beam 10 and the frames 401 of the two traveling units 40 is changed, the lower end 101 rotates to the triggering range of the front detection part 20, so that the first detection signal fed back by the front detection part 20 is the first predetermined value, and the rear detection part 30 is not triggered due to the movement of the lower end 101 of the beam 10 in the direction away from the rear detection part 30, that is, the second detection signal fed back by the rear detection part 30 at the current time is the second predetermined value, it can be determined that the lower end 101 where the front detection part 20 is located is the leading end and the upper end 102 is the lagging end in the first direction M.

The second preset threshold mentioned in the detailed description of step 131 according to the embodiment of the present invention may be set as required, and in one example, the specific value of the second preset threshold may be 1, that is, when the number of times of the first detection signal is the first predetermined value is 1, the lower end 101 where the front detection component 20 is located may be determined to be the leading end, or when the number of times of the second detection signal is the first predetermined value is 1, the lower end 101 where the front detection component 20 is located may be determined to be the lagging end.

Of course, in some other examples, the second preset threshold may also be an integer greater than 1, for example, 2, 3, 5, 10, and the like, and by introducing the second preset threshold and limiting it to be greater than 1, it can be avoided that erroneous determination is made due to occurrence of a mis-sampling or a single accidental event, which results in a validation error at the leading end and the lagging end and affects deviation correction of the cleaning device.

As a preferred implementation manner, the motion control method provided in the embodiment of the present invention further includes: and if the first detection signal is the first preset value at the current moment and the number of times of the first detection signal being the first preset value is added by 1, clearing the number of times of the second detection signal being the first preset value and the second detection signal being the first preset value. With the arrangement, the interlocking can be formed between the accumulation of the first detection signal as the first preset value and the accumulation of the second detection signal as the first preset value. When the number of times that the first detection signal is the first preset value is accumulated, the accumulated number of times that the second detection signal is the first preset value is cleared, so that misjudgment of the leading end and the lagging end due to simultaneous accumulation of the first detection signal and the second detection signal is avoided, and meanwhile, the overlapping influence of the accumulated number of times that the second detection signal is the first preset value in the next time on the accumulated number of times that the second detection signal is the first preset value in the previous time can be avoided.

In some optional examples, if the first detection signal is the first predetermined value at the current time and the number of times that the first detection signal is the first predetermined value is increased by 1 until the second preset threshold is reached, the first detection signal is the first predetermined value, and the number of times that the first detection signal is the first predetermined value is cleared. Through the step, the accuracy of confirming the leading end and the lagging end each time can be ensured, and the influence of the number of times of accumulating the first detection signal as the first preset value at the last time on the number of times of accumulating the first detection signal as the first preset value at the next time is avoided.

Of course, the above-mentioned refinement of step 131 is only an optional embodiment, and in some other examples, step 131 may also be specifically refined in other step forms, as an optional aspect, if one of the first detection signal and the second detection signal is a first predetermined value and the other is a second predetermined value, and if the second detection signal is the first predetermined value at the present time and the number of times of the second detection signal being the first predetermined value is a second preset threshold, it is determined that the lower end 101 where the front detection component 20 is located is a lagging end and the upper end 102 is a leading end in the first direction.

Referring to fig. 6, fig. 6 is a schematic diagram illustrating another deflection state of the cleaning device according to the embodiment of the invention.

As shown in fig. 6, when the cleaning apparatus is tilted at the present moment, the relative position between the beam 10 and the frames 401 of the two traveling units 40 is changed, the lower end 101 rotates to the triggering range of the rear detection member 30, so that the second detection signal fed back from the rear detection member 30 is the first predetermined value, and the front detection member 20 is not triggered due to the movement of the lower end 101 of the beam 10 in the direction away from the front detection member 20, that is, when the first detection signal fed back from the front detection member 20 is the second predetermined value at the present moment, it can be determined that the lower end 101 where the front detection member 20 is located is the lagging end and the upper end 102 is the leading end in the first direction M.

The selection and principle of the value of the second preset threshold mentioned in the refinement of step 131 in this example are the same, and are not described herein again.

As an optional implementation manner, the motion control method provided in the embodiment of the present invention further includes: if the second detection signal is the first predetermined value at the current moment and the number of times of accumulation of the second detection signal as the first predetermined value is added by 1, the interlock effect can be achieved by clearing the number of times of accumulation of the first detection signal as the first predetermined value and the first detection signal as the first predetermined value.

In one example, if the second detection signal is the first predetermined value at the current time, and 1 is added to the number of times that the second detection signal is the first predetermined value until the second detection signal is the second preset threshold, the number of times that the second detection signal is the first predetermined value and the second detection signal is the first predetermined value is cleared. Through the step, the accuracy of confirming the leading end and the lagging end every time can be ensured, and the influence of the number of times of accumulating the second detection signal with the first preset value in the last time on the number of times of accumulating the second detection signal with the first preset value in the next time is avoided.

In step 132, the travel speed of the lag end is compared to a preset reference speed.

Since the predetermined reference speed is already determined, the traveling speed of the lagging end can be directly obtained by the speed detector, and in some examples, the traveling speed of the lagging end obtained directly or indirectly can also be obtained by converting the rotating speed of the motor 403 driving the traveling wheel 402 corresponding to the lagging end, and the traveling speed of the lagging end obtained directly or indirectly can be compared with the predetermined reference speed.

In step 133, the rotational speed of the motor 403 on the leading end and/or the lagging end is adjusted based on the comparison to correct the condition of the beam 10.

The comparison results are divided into two types, wherein the advancing speed of the lagging end is smaller than the preset reference speed, the advancing speed of the lagging end is larger than or equal to the preset reference speed, the rotating speed of the motor 403 at the leading end and/or the lagging end side is determined and adjusted according to the two different comparison structures, the state of the cross beam 10 can be corrected quickly, and the running state of the cleaning equipment can be adjusted better.

Referring to fig. 7, fig. 7 is a flowchart illustrating a motion control method according to a third embodiment of the invention. Fig. 7 differs from fig. 4 in that step 133 in fig. 4 can be further refined to step 1331 or step 1332 in fig. 7.

In step 1331, if the traveling speed of the lagging end is less than the preset reference speed, the rotation speed of the motor 403 at the lagging end is increased until the first detection signal and the second detection signal are respectively the second predetermined value.

When the speed of the lag end is greater than that of the lead end, the inclination angle of the cross beam 10 of the cleaning equipment is gradually reduced, so that the cross beam 10 is far away from the triggering range of the front detection component 20 and the rear detection component 30, and the deviation rectification requirement of the cleaning equipment is met.

Of course, further refinement of step 133 is not limited to step 1331, please continue to refer to FIG. 7, in some other examples, step 133 of FIG. 4 may be further refined to step 1332 of FIG. 7.

In step 1332, if the traveling speed of the lagging end is less than the predetermined reference speed, the rotation speed of the motor 403 at the lagging end is increased, and if the traveling speed of the lagging end reaches the predetermined reference speed and the first detection signal and the second detection signal are not both the second predetermined value, the rotation speed of the motor 403 at the leading end is decreased until the first detection signal and the second detection signal are respectively the second predetermined value.

When the traveling speed of the lag end reaches the preset reference speed and the first detection signal and the second detection signal are not both the second predetermined value, it is indicated that one of the front detection component 20 and the rear detection component 30 is still in a triggered state at this time, and it is indicated that the cleaning equipment is not aligned yet, that is, the cross beam 10 is still in a deflection state. At this time, the rotation speed of the motor 403 at the lagging end is stopped to be increased, and the rotation speed of the motor 403 at the leading end is reduced until the first detection signal and the second detection signal are respectively the second preset value, so as to meet the requirement of correcting the deviation of the cleaning equipment.

The step 1332 of refining can also realize the requirement of correcting the deviation of the cleaning equipment, and simultaneously can ensure that the running speed difference of the walking units 40 at the two ends of the length direction X of the beam 10 is smaller, thereby being convenient for adjustment and ensuring the cleaning effect of the deviation correcting process on the photovoltaic panel on the basis of ensuring the requirement of correcting the deviation.

The embodiment shown in fig. 7 is an alternative way to refine step 133 on the premise that the traveling speed of the lag end is less than the preset reference speed, and when the traveling speed of the lag end is greater than or equal to the preset reference speed, step 133 may adopt other alternative embodiments, which will be further described with reference to fig. 8.

Optionally, referring to fig. 8, fig. 8 is a schematic flow chart illustrating a motion control method according to a fourth embodiment of the present invention. Fig. 8 differs from fig. 4 in that step 133 in fig. 4 can be further refined to step 1333 or step 1334 in fig. 8.

In step 1333, if the traveling speed of the lagging end is greater than or equal to the predetermined reference speed, the rotation speed of the motor 403 at the leading end is reduced until the first detection signal and the second detection signal are respectively the second predetermined value.

If the advancing speed of the lagging end is greater than or equal to the preset reference speed, the advancing speed of the leading end is greater, in order to ensure that the cleaning effect on the photovoltaic panel can be better ensured in the deviation rectifying process of the cleaning equipment, the rotating speed of the motor 403 of the leading end is continuously reduced, so that the speed of the driving walking unit 40 is reduced, the advancing speed of the leading end of the beam 10 is further reduced, when the speed of the leading end is smaller than the advancing speed of the lagging end, the inclination angle of the beam 10 of the cleaning equipment is gradually reduced, the beam 10 is far away from the triggering range of the front detection part 20 and the rear detection part 30, and the deviation rectifying requirement on the beam 10 can be also met.

Of course, the further refinement of step 133 in fig. 4 is not limited to step 1333, please continue to refer to fig. 8, and in some other examples, step 133 in fig. 4 may be further refined to step 1334 in fig. 8.

In step 1334, if the traveling speed of the lagging end is greater than or equal to the preset reference speed, the rotation speed of the motor 403 at the leading end is decreased, and if the traveling speed of the leading end reaches the preset reference speed and the first detection signal and the second detection signal are not uniform by the second predetermined value, the rotation speed of the motor 403 at the lagging end is increased until the first detection signal and the second detection signal are respectively the second predetermined value.

Wherein, if the advancing speed of the lagging end is greater than or equal to the preset reference speed, the advancing speed of the leading end is greater, in order to better ensure that the cleaning effect on the photovoltaic panel can be better ensured in the deviation rectifying process of the cleaning equipment, the speed of the driving walking unit 40 is reduced by firstly reducing the rotating speed of the motor 403 of the leading end, the speed of the leading end of the beam 10 is reduced, when the speed of the leading end reaches the preset reference speed and the first detection signal and the second detection signal are not uniform by a second preset value, it indicates that one of the front detection part 20 and the rear detection part 30 is still in a triggered state, the cleaning equipment is not yet aligned, that is, the beam 10 is still in a deflection state, at this time, the rotating speed of the motor 403 of the leading end is stopped to be reduced, and the rotating speed of the motor 403 of the lagging end is increased until the first detection signal and the second detection signal are respectively the second preset value, so as to meet the requirement of deviation correction of the cleaning equipment.

As an alternative implementation manner, in step 1331 and step 1332 of fig. 7 and step 1333 and step 1334 of fig. 8, after the time when the first detection signal and the second detection signal are respectively the second predetermined value, the motion control method according to the embodiment of the present invention further includes:

the accumulated number of times of normal operation of the state-corrected rear cross member 10 is obtained.

If the accumulated times of normal operation reach a first preset threshold, adjusting the operation speeds of the leading end and the lagging end to preset reference speeds respectively; and if the first detection signal is a second preset value and the second detection signal is the second preset value, adding 1 to the accumulated normal operation times.

And when the first detection signal and the second detection signal are both the second preset value, which indicates that the cleaning equipment normally operates after correction, adding 1 to the accumulated normal operation frequency. The first preset threshold may be 1, and of course, may also be greater than 1, and may be specifically set according to requirements. By adjusting the running speeds of the leading end and the lagging end of the corrected beam 10 to preset reference speeds respectively, the corrected cleaning device can be prevented from deflecting again in a short running time due to the speed difference between the leading end and the lagging end of the beam 10 of the corrected cleaning device. Meanwhile, the whole corrected cleaning equipment can be guaranteed to run at a preset reference speed, and the cleaning effect of the corrected cleaning equipment on the photovoltaic panel is further guaranteed.

Optionally, when the accumulated number of normal operations is increased by 1 until the first preset threshold is reached, the cleaning device is cleared, so that the accuracy of the accumulated number of normal operations after each correction of the cleaning device can be ensured. Meanwhile, when the number of normal operation accumulations is increased by 1, the number of accumulations that the first detection signal is the first predetermined value and the second detection signal is the second predetermined value or the number of accumulations that the second detection signal is the first predetermined value and the first detection signal is the second predetermined value is cleared.

As an optional implementation manner, the motion control method according to each of the above embodiments of the present invention further includes:

the cumulative number of times of abnormal operation of the cross member 10 is obtained.

If the accumulated times of abnormal operation reach a third preset threshold value, determining that the cleaning equipment has a fault; and if the first detection signal is a first preset value and the second detection signal is a first preset value, adding 1 to the accumulated number of abnormal operation.

When the first detection signal is a first predetermined value and the second detection signal is a first predetermined value, which indicates that the cleaning device is abnormally operated, and may be that the installation of the front detection part 20 or the rear detection part 30 is abnormal, the accumulated number of times of abnormal operation is increased by 1. The value of the third preset threshold may be 1, certainly may also be greater than 1, and specifically may be set according to requirements, and when greater than 1, the false sampling or the false judgment made by the occurrence of a single accidental event can be avoided, and the occurrence of an abnormal phenomenon in a long term can be confirmed, so as to prompt the occurrence of a fault.

Optionally, when the accumulated number of times of abnormal operation is increased by 1 until the third preset threshold value is reached, the cleaning device is cleared, so that the accuracy of the accumulated number of times of abnormal operation again after each fault is eliminated can be ensured. Meanwhile, when the number of times of the abnormal operation is increased by 1, the number of times of the abnormal operation is reset to the number of times of the abnormal operation, the number of.

Referring to fig. 9, fig. 9 is a flowchart illustrating an operation control method according to a fifth embodiment of the invention. For further details of the above operation control method, the operation control method shown in fig. 9 includes steps 901 to 922.

For convenience of description, the first predetermined value is 1, and the second predetermined value is 0.

In step 901, the first detection signal returned by the front detection part 20 and the second detection signal returned by the rear detection part 30 are monitored and step 902 is executed.

In step 902, it is determined whether the first detection signal is 1, and if the first detection signal is 1, step 903 is executed.

In step 903, it is determined whether the second detection signal is 1, and if the second detection signal is not 1, which indicates that the lower end 101, i.e., the end on the side where the front detection member 20 is located, is the leading end, step 904 is executed.

In step 904, the lower end lead count value is incremented by 1, and the other count values are cleared to zero to execute step 905.

In step 905, it is determined whether the cumulative lower end lead time exceeds a second preset threshold, if the cumulative lower end lead time exceeds the second preset threshold, step 906 is executed, otherwise, step 901 is executed again.

In step 906, the lower end lead accumulated number of times that the second preset threshold has been reached is cleared and step 907 is executed.

In step 907, it is determined whether the operation speed of the upper end portion, i.e., the lag end, is less than a preset reference speed, if the operation speed of the upper end portion is less than the preset reference speed, step 908 is performed, otherwise, step 909 is performed.

In step 908, the rotation speed of the motor 403 of the upper end portion corresponding to the traveling unit 40 is increased, and the process returns to step 901.

In step 909, the rotation speed of the motor of the lower end portion 101 corresponding to the traveling unit 40 is reduced and the process returns to step 901.

In step 903, it is determined whether the second detection signal is 1, and if the second detection signal is 1, which indicates that the operating device may have a fault, step 910 is executed.

In step 910, the abnormal operation count value is incremented by 1, and the other count values are cleared to zero to execute step 911.

In step 911, it is determined whether the cumulative number of times of abnormal operation exceeds a third preset threshold, if the cumulative number of times of abnormal operation exceeds the third preset threshold, step 912 is executed, otherwise, step 901 is executed again.

In step 912, a fault is reported to the cleaning device, and the cumulative number of abnormal operations is cleared, where the fault of the cleaning device may specifically include an installation abnormality of the front detection component 20 and/or the rear detection component 30.

In step 902, it is determined whether the first detection signal is 1, and if the first detection signal is not 1, step 913 is executed.

In step 913, it is determined whether the second detection signal is 1, and if the second detection signal is 1, the upper end 102 is the leading end, then step 914 is executed.

In step 914, the upper end lead count value is incremented by 1, and the other count values are cleared, and step 915 is executed.

In step 915, it is determined whether the cumulative upper end lead time exceeds a second predetermined threshold, if so, step 916 is executed, otherwise, step 901 is returned to.

In step 916, the upper end lead accumulation number that has reached the second preset threshold is cleared and step 917 is performed.

In step 917, it is determined whether the lower end portion operation speed, i.e., the operation speed of the lag end, is less than a preset reference speed, and if the lower end portion operation speed is less than the preset reference speed, step 918 is executed, otherwise, step 919 is executed.

In step 918, the rotation speed of the motor 403 of the lower end portion corresponding to the road wheel unit 40 is increased and the process returns to perform step 901.

In step 919, the rotation speed of the motor 403 of the traveling unit 40 corresponding to the upper end portion is reduced, and the process returns to step 901.

In step 913, it is determined whether the second detection signal is 1, and if the second detection signal is not 1, it indicates that the cleaning apparatus may be corrected and normally operated, step 920 is performed.

In step 920, add 1 to the normal operation count value, clear the other count values and perform step 921.

In step 921, it is determined whether the cumulative number of times of normal operation exceeds a first preset threshold, if the cumulative number of times of normal operation exceeds the first preset threshold, step 922 is executed, otherwise, step 901 is executed again.

In step 922, the accumulated number of normal operations is cleared, and the operation speeds of the upper end portion and the lower end portion are restored to be the preset reference speed, specifically, the speeds of the corresponding road wheels 402 can be changed by adjusting the rotation speeds of the motors 403 on the side of the lower end portion 101 and the upper end portion 102, and then the operation speeds of the two end portions are adjusted to be the preset reference speed.

In summary, the motion control method provided by the above embodiments of the present invention can receive the first detection signal and the second detection signal fed back by the front detection component 20 and the rear detection component 30, determine whether the beam 10 of the cleaning device is in a deflection state, and if in a deflection state, the rotation speed of the motor 403 of at least one of the two ends of the cross beam 10 in the length direction X is adjusted in real time according to the first detection signal, the second detection signal and the preset reference speed, to correct the state of the cross beam 10, thereby realizing the correction of the deflection of the cleaning equipment, ensuring that the cleaning equipment walks within a range allowed by deflection error, improving the obstacle crossing capability of the cleaning equipment, the problems of blockage, system power consumption increase and the like caused by walking deflection of the cleaning equipment are solved, and the stability and the adaptability of the cleaning equipment are improved.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a motion control device according to an embodiment of the invention. As shown in fig. 10, the motion control device may be used for the cleaning apparatuses of the above embodiments, and includes a receiving module 100, a judging module 200, and an adjusting module 300.

The receiving module 100 is configured to receive a first detection signal of the front detection component 20 and a second detection signal of the rear detection component 30 during the movement of the beam 10 along the first direction M.

The determining module 200 is configured to determine whether the beam 10 is in a deflection state according to the first detection signal and the second detection signal.

The adjusting module 300 is configured to adjust a rotation speed of the motor 403 on at least one end side of the two ends of the beam 10 in the length direction X according to the first detection signal, the second detection signal and a preset reference speed to correct the state of the beam 10 if the beam 10 is deflected.

The motion control device provided by the embodiment of the invention can be used for the cleaning equipment of each embodiment and is matched with the cleaning equipment of each embodiment for use, so that the deviation of the cleaning equipment is corrected, the cleaning equipment is ensured to walk within a deviation error allowable range, the obstacle crossing capability of the cleaning equipment is improved, the problems of blockage, system power consumption increase and the like caused by the walking deviation of the cleaning equipment are avoided, and the stability and the adaptability of the cleaning equipment are improved.

The cleaning equipment provided by the embodiment of the invention comprises the cross beam 10, the front detection part 20 and the rear detection part 30 which are arranged at the same end part of the length direction X of the cross beam 10 and the motion control device of the embodiment, and the front detection part 20 and the rear detection part 30 are oppositely arranged at two sides of the cross beam 10 in the width direction Y of the cross beam 10, so that whether the self operation is deviated or not can be detected in real time, and the deviation is corrected, therefore, the cleaning equipment has higher obstacle crossing capability, low energy consumption, high stability and better adaptability.

It should be clear that the embodiments in this specification are described in a progressive manner, and the same or similar parts in the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. For the device embodiments, reference may be made to the description of the method embodiments in the relevant part. Embodiments of the invention are not limited to the specific steps and structures described above and shown in the drawings. Those skilled in the art may make various changes, modifications and additions to, or change the order between the steps, after appreciating the spirit of the embodiments of the invention. Also, a detailed description of known process techniques is omitted herein for the sake of brevity.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of an embodiment of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

Embodiments of the present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. For example, the algorithms described in the specific embodiments may be modified without departing from the basic spirit of the embodiments of the present invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the embodiments of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. A motion control method for a cleaning device, the cleaning device comprising a beam, a front detection component and a rear detection component, the beam being movable relative to a plate, the beam having two opposite ends in its longitudinal direction, the front detection component and the rear detection component being located at the same end and being disposed opposite to each other on both sides of the beam in its width direction, the motion control method comprising:

receiving a first detection signal of the front detection component and a second detection signal of the rear detection component in the process that the cross beam moves along the first direction;

judging whether the beam is in a deflection state or not according to the first detection signal and the second detection signal;

and if the cross beam deflects, adjusting the rotating speed of a motor at the side of at least one end part of the two end parts of the cross beam according to the first detection signal, the second detection signal and a preset reference speed so as to correct the state of the cross beam.

2. The motion control method according to claim 1, wherein the determining whether the beam is in a skew state according to the first detection signal and the second detection signal specifically comprises:

and if one of the first detection signal and the second detection signal is a first preset value and the other one is a second preset value, judging that the beam is in a deflection state.

3. The motion control method according to claim 1, wherein the adjusting the rotation speed of the motor on at least one of the two end portions of the beam according to the first detection signal, the second detection signal, and a preset reference speed to correct the state of the beam, if the beam is deflected, specifically comprises:

determining a leading end and a lagging end of the cross beam in the operation process according to the first detection signal and the second detection signal;

comparing the traveling speed of the lag end with the preset reference speed;

and adjusting the rotation speed of the motor on the leading end and/or the lagging end according to the comparison result so as to correct the state of the cross beam.

4. The motion control method according to claim 3, wherein the step of adjusting the rotation speed of the motor on the leading end and/or the lagging end to correct the state of the cross beam based on the comparison result comprises:

if the traveling speed of the lagging end is less than the preset reference speed, increasing the rotating speed of the motor of the lagging end until the first detection signal and the second detection signal are respectively a second preset value;

or if the traveling speed of the lagging end is less than the preset reference speed, increasing the rotating speed of the motor of the lagging end, and if the traveling speed of the lagging end reaches the preset reference speed and the first detection signal and the second detection signal are not both the second preset value, decreasing the rotating speed of the motor of the leading end until the first detection signal and the second detection signal are respectively the second preset value.

5. The motion control method according to claim 3, wherein the step of adjusting the rotation speed of the motor on the leading end and/or the lagging end to correct the state of the cross beam based on the comparison result comprises:

if the advancing speed of the lagging end is greater than or equal to the preset reference speed, the rotating speed of the motor of the leading end is reduced until the first detection signal and the second detection signal are respectively a second preset value; alternatively, the first and second electrodes may be,

if the traveling speed of the lagging end is greater than or equal to the preset reference speed, the rotating speed of the motor of the leading end is reduced, and if the traveling speed of the leading end reaches the preset reference speed and the first detection signal and the second detection signal are uneven to a second preset value, the rotating speed of the motor of the lagging end is increased until the first detection signal and the second detection signal are respectively the second preset value.

6. The motion control method according to claim 4 or 5, wherein after the period until the first detection signal and the second detection signal are the second predetermined values, respectively, the method further comprises:

obtaining the accumulated times of normal operation of the cross beam after the state correction;

if the accumulated normal operation times reach a first preset threshold, respectively adjusting the operation speeds of the leading end and the lagging end to the preset reference speed;

and if the first detection signal is the second preset value and the second detection signal is the second preset value, adding 1 to the accumulated normal operation times.

7. The motion control method of claim 3, wherein the step of determining the leading end and the lagging end of the beam during operation based on the first detection signal and the second detection signal comprises:

if one of the first detection signal and the second detection signal is a first predetermined value and the other is a second predetermined value;

if the first detection signal is a first preset value at the current moment and the accumulated number of times that the first detection signal is the first preset value is a second preset threshold, determining that the end where the front detection component is located is the leading end and the other end is the lagging end in the first direction;

alternatively, the first and second electrodes may be,

and if the second detection signal is a first preset value at the current moment and the accumulated number of times that the second detection signal is the first preset value is the second preset threshold, determining that the end where the front detection part is located is the lagging end and the other end is the leading end in the first direction.

8. The motion control method of claim 7, further comprising:

if the first detection signal is a first preset value at the current moment and the number of times of accumulation of the first detection signal as the first preset value is added by 1, clearing the number of times of accumulation of the second detection signal as the first preset value;

alternatively, the first and second electrodes may be,

and if the second detection signal is a first preset value at the current moment and the number of times of accumulation of the second detection signal as the first preset value is added by 1, clearing the number of times of accumulation of the first detection signal as the first preset value.

9. The motion control method of claim 8, further comprising:

if the first detection signal is a first preset value at the current moment and the accumulated number of times that the first detection signal is the first preset value is the second preset threshold, resetting the accumulated number of times that the first detection signal is the first preset value and the first detection signal is the first preset value;

and if the second detection signal is a first preset value at the current moment and the accumulated time of the second detection signal being the first preset value is the second preset threshold, clearing the accumulated time of the second detection signal being the first preset value and the accumulated time of the second detection signal being the first preset value.

10. The motion control method of claim 1, further comprising:

acquiring the accumulated times of abnormal operation of the cross beam;

if the accumulated times of abnormal operation reach a third preset threshold value, determining that the cleaning equipment breaks down;

and if the first detection signal is a first preset value and the second detection signal is the first preset value, adding 1 to the accumulated number of abnormal operation.

11. A motion control device for a cleaning apparatus, the cleaning apparatus comprising a beam, a front detection part and a rear detection part, the beam being movable relative to a plate, the beam having two opposite ends in a length direction of the beam, the front detection part and the rear detection part being located at the same end and being oppositely disposed at two sides of the beam in a width direction of the beam, the motion control device comprising:

the receiving module is used for receiving a first detection signal of the front detection component and a second detection signal of the rear detection component in the process that the beam moves along the first direction;

the judging module is used for judging whether the beam is in a deflection state according to the first detection signal and the second detection signal;

and the adjusting module is used for adjusting the rotating speed of a motor at least one end part side of the two end parts of the cross beam according to the first detection signal, the second detection signal and a preset reference speed so as to correct the state of the cross beam if the cross beam deflects.

12. A cleaning apparatus comprising a cross member movable with respect to a plate, the cross member having two opposite ends in its longitudinal direction, a front detecting member, a rear detecting member, and the motion control device of claim 11, wherein the front detecting member and the rear detecting member are located at the same end and are disposed opposite to each other on both sides of the cross member in its width direction.

13. The cleaning apparatus according to claim 12, wherein the front detection member and the rear detection member are a proximity switch or a limit switch, respectively, and the front detection member and the rear detection member are symmetrically disposed on both sides of the cross member in the width direction.