CN111506053B

CN111506053B - Motion control method and device and cleaning equipment

Info

Publication number: CN111506053B
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: 2023-06-23
Anticipated expiration: 2039-01-30
Also published as: CN111506053A

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 of moving a cross beam along a first direction; judging whether the cross beam is in a deflection state according to the first detection signal and the second detection signal; and if the cross beam is deflected, regulating the rotating speed of the motor at the side of at least one of the two ends 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, a motion control device and cleaning equipment, which can monitor walking deflection in real time and correct the walking deflection when the cleaning equipment walks, improve obstacle surmounting capacity of the cleaning equipment, avoid clamping stagnation in the service process, reduce system energy consumption and ensure cleaning efficiency of flat plate structures such as photovoltaic panels and the like.

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

The cleaning equipment is automatic equipment capable of walking on the flat plate and cleaning the surface of the flat plate, so that the cleaning equipment is very wide in application, especially in the technical field of photovoltaics, and can clean the photovoltaic plate through the cleaning equipment, thereby ensuring the power generation benefit of the photovoltaic plate.

However, in the prior art, during the walking process of the cleaning device, the walking deflection of the cleaning device may be caused due to the phenomena of walking wheel errors, slipping and the like at the two ends of the cross beam, and the walking deflection of the cleaning device may cause the obstacle surmounting capability of the cleaning device to be reduced, even the phenomenon of jamming of the cleaning device during the operation process is caused, the system power consumption is increased, and the cleaning efficiency of the flat plate structures such as the photovoltaic panel and the like is affected.

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

Disclosure of Invention

The embodiment of the invention provides a motion control method, a motion control device and cleaning equipment, wherein the motion control method can monitor the walking deflection in real time and correct the walking deflection when the cleaning equipment walks, so that the obstacle crossing capacity of the cleaning equipment is improved, the clamping stagnation of the cleaning equipment in the service process is avoided, the energy consumption of a system is reduced, and the cleaning efficiency of flat plate structures such as a photovoltaic plate is ensured.

In one aspect, according to an embodiment of the present invention, there is provided a motion control method for a cleaning apparatus including a cross member, a front detecting member and a rear detecting member, the cross member being movable relative to a flat plate, the cross member having two opposite ends in a longitudinal direction thereof, the front detecting member and the rear detecting member being located at the same end and being disposed opposite to both sides of the cross member in a width direction thereof, the motion control method including: receiving a first detection signal of the front detection component and a second detection signal of the rear detection component in the process of moving the cross beam along the first direction; judging whether the cross beam is in a deflection state according to the first detection signal and the second detection signal; and if the cross beam is deflected, regulating the rotating speed of the motor at the side of at least one 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 an embodiment of the present invention, determining whether the beam is in a deflected 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 cross 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 on 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 in the operation process of the cross beam according to the first detection signal and the second detection signal; comparing the travelling speed of the hysteresis end with a preset reference speed; and according to the comparison result, the rotating speed of the motor on the leading end and/or the lagging end is adjusted so as to correct the state of the cross beam.

According to an aspect of the embodiment of the present invention, the step of adjusting the rotation speed of the motor at the leading end and/or the trailing end to correct the state of the beam according to the comparison result includes: if the advancing speed of the hysteresis end is smaller than the preset reference speed, the rotating speed of the motor of the hysteresis end is increased until the first detection signal and the second detection signal are respectively a second preset value; or if the advancing speed of the lag end is smaller than the preset reference speed, the rotating speed of the motor of the lag end is increased, and if the advancing speed of the lag end reaches the preset reference speed and the first detection signal and the second detection signal are not equal to the second preset value, the rotating speed of the motor of the lead end is reduced until the first detection signal and the second detection signal are respectively the second preset value.

According to an aspect of the embodiment of the present invention, the step of adjusting the rotation speed of the motor at the leading end and/or the trailing end to correct the state of the beam according to the comparison result includes: if the advancing speed of the lag end is greater than or equal to the preset reference speed, the rotating speed of the motor of the lead end is reduced until the first detection signal and the second detection signal are respectively a second preset value; or if the advancing speed of the lag end is greater than or equal to the preset reference speed, the rotating speed of the motor of the lead end is regulated down, and if the advancing speed of the lead end reaches the preset reference speed and the first detection signal and the second detection signal are not uniform by a second preset value, the rotating speed of the motor of the lag end is regulated up until the first detection signal and the second detection signal are respectively the second preset value.

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

According to one aspect of the embodiment of the present invention, the step of determining the leading end and the trailing end in the beam operation process according to the first detection signal and the second detection signal specifically includes: 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; 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 is a second preset threshold value, determining that the end part of the front detection component is a leading end and the other end part of the front detection component is a lagging end in the first direction; or 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 a second preset threshold value, determining that the end where the front detection component is located is a lagging end and the other end is a leading end in the first direction.

According to an aspect of the embodiment of the present 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 is added with 1, resetting the accumulated times of the second detection signal being the first preset value and the second detection signal being the first preset value; or if the second detection signal is the first preset value at the current moment and the accumulated number of times that the second detection signal is the first preset value is added by 1, 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 is cleared.

According to an aspect of the embodiment of the present 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 value, resetting the accumulated times of the first detection signal being the first preset value; if the second detection signal is a first preset value at the current moment and the accumulated times of the second detection signal being the first preset value are a second preset threshold value, the accumulated times of the second detection signal being the first preset value and the second detection signal being the first preset value are cleared.

According to an aspect of the embodiment of the present invention, the method further comprises: acquiring the accumulated number 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 fails; 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, according to an embodiment of the present invention, there is provided a motion control device for a cleaning apparatus including a cross member, a front detecting member and a rear detecting member, the cross member being movable relative to a flat plate, the cross member having two opposite ends in a longitudinal direction thereof, the front detecting member and the rear detecting member being located at the same end and being disposed opposite to both sides of the cross member in a width direction thereof, 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 of moving the cross beam 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 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 the preset reference speed so as to correct the state of the cross beam if the cross beam is deflected.

In still another aspect, according to an embodiment of the present invention, there is provided a cleaning apparatus including a cross member, a front detecting member, a rear detecting member, and the motion control device described above, the cross member being movable relative to a plate, the cross member having two opposite ends in a longitudinal direction thereof, the front detecting member and the rear detecting member being located at the same end and being disposed opposite to each other on both sides of the cross member in a width direction thereof.

According to still another aspect of the embodiment of the present invention, the front detection part and the rear detection part are proximity switches or limit switches, respectively, and 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 cross beam of the cleaning equipment is in a deflection state or not is judged, if the cross beam is in the deflection state, the rotating speed of a motor at the side of at least one of the two ends of the cross beam in the length direction is regulated in real time according to the first detection signal, the second detection signal and the preset reference speed, so that the state of the cross beam is corrected, the correction of the deflection of the cleaning equipment is realized, the cleaning equipment is ensured to walk within the allowable range of a deflection error, the obstacle crossing capability of the cleaning equipment is improved, the problems of blockage, increase of system power consumption 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 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 of a motion control method according to a first embodiment of the present invention;

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

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

FIG. 6 is a perspective view of another skewed state of a cleaning apparatus in accordance with embodiments of the invention;

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

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

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

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

Wherein:

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

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

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

Detailed Description

Features and exemplary embodiments of various aspects of the invention are described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the 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 invention by showing examples of the invention. In the drawings and the following description, at least some well-known structures and techniques have not been shown in detail in order not to unnecessarily obscure 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 device provided by the embodiment of the invention can be used for cleaning the surface of a flat plate. Especially in the photovoltaic technology field, can be used for cleaning the surface of a photovoltaic panel. The following embodiments of the present invention will be described with reference to cleaning apparatuses, motion control methods, and devices for cleaning photovoltaic panels, but the application of the cleaning apparatuses of the embodiments of the present invention is not limited to the following embodiments, and the cleaning apparatuses may be mounted on and protected from flat panel structures having a cleaning function in other fields.

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 are 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 invention, and fig. 2 shows a schematic partial structural diagram of a cleaning apparatus according to an embodiment of the invention. The cleaning device provided by the embodiment of the invention comprises a cross beam 10, a walking unit 40 and a cleaning unit 50, wherein the cross beam 10 has a preset length and 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 the 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 beam 10 extends into the frame 401 of the walking unit 40 connected thereto and is movably connected to the frame 401. The cleaning unit 50 is connected to the cross beam 10 and is movable with the cross beam 10 to clean the corresponding photovoltaic panel.

When the cleaning device is not deflected, the cross beam 10 and the corresponding frame 401 of the travelling unit 40 are perpendicular to each other, i.e. the angles α and β between the cross beam 10 and the corresponding frame 401 in the width direction Y of the cross beam 10 are equal in value, or the absolute value of the difference between the angles α and β is within a predetermined range, e.g. in some alternative examples, anywhere between 0 and 5 ° and including the 5 ° end value.

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

Therefore, in order to accurately determine whether the cross beam 10 is deflected, the cleaning apparatus further includes a front detection member 20 and a rear detection member 30, where the front detection member 20 and the rear detection member 30 are located at the same end of the cross beam 10 and are connected to the traveling unit 40 on the side of the end, specifically may be connected to the frame 401 of the traveling unit 40, and for convenience of the following description, the corresponding end of the front detection member 20 and the rear detection member 30 on the side is the lower end 101, and the other end is the upper end 102.

In some alternative examples, the front detection part 20 and the rear detection part 30 may be proximity switches, respectively, when the cleaning device is deflected to cause the cross beam 10 to deflect, the lower end 101 of the cross beam 10 rotates relative to the walking unit 40 to be within the detection range of the front detection part 20 or the rear detection part 30, so that the front detection part 20 or the rear detection part 30 is triggered, and the cleaning device is deflected in a feedback manner. In order to make the performance of the cleaning apparatus more optimal, the front detecting member 20 and the rear detecting member 30 are optionally disposed symmetrically to each other in the width direction Y of the cross member 10.

It will be appreciated that the front detection member 20 and the rear detection member 30 are merely an alternative embodiment of a proximity switch, but not limited thereto, and in some other examples, the front detection member 20 and the rear detection member 30 may also be limit switches, when the cleaning device is deflected to cause the cross beam 10 to deflect, so that the lower end 101 of the cross beam 10 rotates relative to the travelling unit 40 and touches the front detection member 20 or the rear detection member 30, and the cleaning device can be fed back to deflect.

In order to monitor whether the cleaning device is inclined and correct in real time when the cleaning device in each embodiment walks, so as to improve the obstacle surmounting capability of the cleaning device, avoid the clamping stagnation of the cleaning device in the service process, and ensure the cleaning efficiency of flat plate structures such as photovoltaic panels, the embodiment of the invention also provides a motion control method, and the motion control method of the embodiment of the invention is described in detail below with reference to the accompanying drawings.

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

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

Wherein the first direction M may be a direction along which the photovoltaic panel extends during movement of the receiving beam 10 in the first direction M, which may be parallel to the width direction Y of the beam 10 when the cleaning device is not deflected. 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 may be different from each other, 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, and of course, defining the first predetermined value to be 1 and the second predetermined value to be 0 is only an alternative, and may be adjusted to other values as required, so long as the first detection signal and the second detection signal can be distinguished.

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

In step S12, it is determined whether the cross member 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, the relative positions of the beam 10 and the front detection component 20 and the rear detection component 30 are different when the cleaning device is in the two states of no inclination and no inclination, and when the cleaning device is inclined to cause the 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 beam 10 is in an inclined state can be judged according to the first detection signal and the 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, it is determined that the cross beam 10 is in the deflected 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, 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 post-detection member 30 is triggered, it is also possible to determine that the cross beam 10 is deflected.

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

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

The rotation speed of the motor 403 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 in step 13, and the speed of the travelling wheel 402 of the travelling unit 40 driven by the corresponding motor 403 can be adjusted based on the preset reference speed, so that the cleaning effect of the photovoltaic panel in and after the correction can be ensured under the condition that the correction requirement of the cleaning device is met.

Referring to fig. 4, fig. 4 is a schematic flow chart of a motion control method according to a second embodiment of the invention. In specific implementation, the step 13 may be refined to 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 pre-detection component 20, the second detection signal fed back by the post-detection component 30, and the preset reference speed, and in some alternative examples, the step 13 in fig. 3 may be refined to the steps 131 to 133 in fig. 4.

In step 131, the leading end and the trailing end of the beam 10 during operation are determined based on the first detection signal and the second detection signal.

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

In some optional examples, step 131 may be specifically refined to determine that, in the first direction M, the end where the front-end detection device 20 is located is the leading end, and the other end is the trailing end, that is, the lower end 101 is the leading end, and the upper end 102 is the trailing end, if one of the first detection signal and the second detection signal is the first predetermined value and the other is the second predetermined value, and if the first detection signal is the first predetermined value and the cumulative number of times the first detection signal is the first predetermined value is the second predetermined threshold at the present moment.

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

As shown in fig. 5, when the cleaning apparatus is tilted at the present time, the relative positions of the cross beam 10 and the frames 401 of the two traveling units 40 are changed, the lower end portion 101 is rotated to the trigger range of the front detection unit 20, so that the first detection signal fed back by the front detection unit 20 is a first predetermined value, and since the lower end portion 101 of the cross beam 10 moves away from the rear detection unit 30, the rear detection unit 30 is not triggered, that is, the second detection signal fed back by the rear detection unit 30 at the present time is a second predetermined value, it can be determined that, in the first direction M, the lower end portion 101 where the front detection unit 20 is located is a leading end, and the upper end portion 102 is a trailing end.

The second preset threshold mentioned in the refinement of step 131 of the embodiment of the present invention may be set according to a requirement, and in one example, the specific value of the second preset threshold may be 1, that is, when the cumulative number of times that the first detection signal is the first preset value is 1 time, it may be determined that the lower end portion 101 where the front detection unit 20 is located is the leading end, or when the cumulative number of times that the second detection signal is the first preset value is 1 time, it may be determined that the lower end portion 101 where the front detection unit 20 is located is the lagging end.

Of course, in some other examples, the second preset threshold may also be an integer greater than 1, for example, a value of 2, 3, 5, 10, etc., and by introducing the second preset threshold and limiting that the second preset threshold is greater than 1, it is able to avoid that the error sampling or the occurrence of a single accidental event makes an erroneous judgment, so that the error in confirmation of the leading end and the lagging end affects the deviation correction of the cleaning device.

As a preferred implementation manner, the motion control method provided by the embodiment of the present invention further includes: 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 increased by 1, the accumulated times of the second detection signal being the first preset value and the second detection signal being the first preset value are cleared. By the arrangement, the first detection signal and the second detection signal can be interlocked with each other. When the times of the first detection signal being the first preset value are accumulated, the accumulated times of the second detection signal being the first preset value are cleared, so that misjudgment on an advance end and a retard end caused by simultaneous accumulation of the first detection signal and the second detection signal is avoided, and meanwhile, the overlapping influence of the accumulated times of the second detection signal being the first preset value on the accumulated times of the next second detection signal being the first preset value can be avoided.

In some optional examples, if the first detection signal is a first predetermined value at the current time and the accumulated 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 accumulated number of times that the first detection signal is the first predetermined value and the first detection signal is the first predetermined value is cleared. Through the step, the accuracy of the confirmation of the leading end and the lagging end can be ensured, and the influence of the last accumulated times of the first detection signal as the first preset value on the next accumulated times of the first detection signal as the first preset value is avoided.

Of course, the above refinement of step 131 is only an alternative embodiment, and in some other examples, step 131 may specifically further refine other step forms, as an alternative manner, 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 second detection signal at the current moment is the first predetermined value and the cumulative number of times the second detection signal is the first predetermined value is a second predetermined threshold, then it is determined that, in the first direction, the lower end 101 where the front detection component 20 is located is a lag end and the upper end 102 is a lead end.

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

As shown in fig. 6, when the cleaning apparatus is tilted at the present time, the relative positions of the cross beam 10 and the frames 401 of the two traveling units 40 are changed, the lower end portion 101 is rotated to the trigger range of the rear detection unit 30, so that the second detection signal fed back by the rear detection unit 30 is a first predetermined value, and since the lower end portion 101 of the cross beam 10 moves away from the front detection unit 20, the front detection unit 20 is not triggered, that is, the first detection signal fed back by the front detection unit 20 at the present time is a second predetermined value, it can be determined that, in the first direction M, the lower end portion 101 where the front detection unit 20 is located is a lag end, and the upper end portion 102 is a lead end.

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 in detail here.

As an optional implementation manner, the motion control method provided by the embodiment of the present invention further includes: 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 added with 1, 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 is cleared, and the interlocking effect can be achieved.

In one example, if the second detection signal is a first predetermined value at the current time and the accumulated number of times that the second detection signal is the first predetermined value is increased by 1 until the second predetermined threshold value is reached, the accumulated 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 the confirmation of the leading end and the lagging end can be ensured, and the influence of the accumulated times of the first preset value of the second detection signal on the accumulated times of the first preset value of the second detection signal in the next time can be avoided.

In step 132, the travel speed of the retard end is compared with a preset reference speed.

Wherein, since the predetermined reference speed has been determined, the travel speed of the lagging end can be obtained directly by the speed detector, and of course, in some examples, the travel speed of the lagging end can also be obtained according to the rotation speed conversion of the motor 403 driving the travelling wheel 402 corresponding to the lagging end, and the travel 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 lead end and/or the lag end is adjusted based on the comparison result to correct the state of the cross beam 10.

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

Referring to fig. 7, fig. 7 is a flow chart of 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 may be further refined to step 1331 or step 1332 in fig. 7.

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

The traveling speed of the lag end is smaller than the preset reference speed, which means that the traveling unit 40 at the lag end has an increased speed to correct the deviation allowance of the cleaning device, and the speed of the traveling wheel 402 driven by the motor is continuously increased by increasing the rotating speed of the motor 403 at the lag end, so that the traveling speed of the lag end of the cross beam 10 is increased, and when the speed of the lag end is greater than the speed of the lead end, the inclination angle of the cross beam 10 of the cleaning device 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 correction requirement of the cleaning device is met.

Of course, further refinement of step 133 is not limited to step 1331, with continued reference to FIG. 7, and 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 lag end is less than the preset reference speed, the rotation speed of the motor 403 of the lag end is increased, and if the traveling speed of the lag end reaches the preset reference speed and the first detection signal and the second detection signal are not equal to the second predetermined value, the rotation speed of the motor 403 of the lead end is decreased until the first detection signal and the second detection signal are respectively the second predetermined value.

The traveling speed of the lagging end is smaller than the preset reference speed, which means that the traveling unit 40 at the lagging end has an increasing speed to correct the deviation allowance of the cleaning device, the rotating speed of the motor 403 at the lagging end is adjusted to increase the speed of the traveling wheel 401 driven by the motor, so as to increase the traveling speed of the lagging end of the cross beam 10, and when the traveling speed of the lagging end reaches the preset reference speed and the first detection signal and the second detection signal are not uniform to the second preset value, which means that one of the front detection component 20 and the rear detection component 30 is still in the triggered state at the moment, which means that the cleaning device is not regulated yet, i.e. the cross beam 10 is still in the deviation state. At this time, the rotation speed of the motor 403 at the lag end is stopped to be increased, and the rotation speed of the motor 403 at the lead end is reduced until the first detection signal and the second detection signal are respectively the second predetermined value, so as to meet the deviation correction of the cleaning device.

The correction requirement on the cleaning equipment can be met through the refinement step 1332, meanwhile, the running speed difference of the traveling units 40 at the two ends of the length direction X of the cross beam 10 is smaller in the correction process of the cleaning equipment, the adjustment is convenient, and the cleaning effect on the photovoltaic panel in the correction process can be guaranteed on the basis of guaranteeing the correction requirement.

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

Optionally, referring to fig. 8, fig. 8 is a schematic flow chart of 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 may be further refined to step 1333 or step 1334 in fig. 8.

In step 1333, if the traveling speed of the lag end is greater than or equal to the preset reference speed, the rotation speed of the motor 403 of the lead end is reduced until the first detection signal and the second detection signal are respectively the second predetermined values.

If the advancing speed of the trailing end is greater than or equal to the preset reference speed, the advancing speed of the leading end is greater, so that the cleaning effect of the photovoltaic panel can be better ensured in the process of correcting the cleaning device, the speed of the driven traveling unit 40 is reduced by continuously reducing the rotating speed of the motor 403 of the leading end, and then the advancing speed of the leading end of the cross beam 10 is reduced, and when the advancing speed of the leading end is less than the advancing speed of the trailing end, the inclination angle of the cross beam 10 of the cleaning device 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 correction requirement on the cross beam 10 can be met.

Of course, further refinement of step 133 in fig. 4 is not limited to step 1333, and with continued reference to fig. 8, in some other examples, step 133 in fig. 4 may be further refined to step 1334 in fig. 8.

In step 1334, if the running speed of the lag end is greater than or equal to the preset reference speed, the rotation speed of the motor 403 of the lead end is reduced, and if the running speed of the lead 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 of the lag end is increased until the first detection signal and the second detection signal are respectively the second predetermined value.

If the traveling speed of the trailing end is greater than or equal to the preset reference speed, the traveling 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 process of correcting the cleaning device, the speed of the leading end motor 403 is reduced by firstly reducing the rotating speed of the leading end motor so as to reduce the speed of the driven traveling unit 40, the speed of the leading end of the cross 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 uneven by a second preset 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, it is indicated that the cleaning device is not aligned, that is, the cross beam 10 is still in a skew state, at this time, the rotating speed of the leading end motor 403 is stopped being reduced, and the rotating speed of the trailing end motor 403 is increased until the first detection signal and the second detection signal are respectively the second preset values, so as to meet the correction requirements on the cleaning device.

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

The number of times of normal operation of the cross member 10 after the state correction is accumulated is obtained.

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

When the first detection signal and the second detection signal are both the second preset value, the cleaning equipment is normally operated after correction, and the accumulated number of normal operation is increased by 1. The value of the first preset threshold may be 1, or may be greater than 1, which may be specifically set according to the requirement. By adjusting the running speeds of the leading end and the trailing end of the corrected cross beam 10 to the preset reference speeds, respectively, it is possible to prevent the corrected cleaning apparatus from being deflected again in a shorter time of running due to the speed difference between the leading end and the trailing end of the corrected cleaning apparatus cross beam 10. 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 operation is increased by 1 until the first preset threshold is reached, the accumulated number of normal operation can be cleared, so that the accuracy of the accumulated number of normal operation after each correction of the cleaning equipment can be ensured. Meanwhile, when the accumulated number of normal operation is added with 1, the accumulated number of times that the first detection signal is a first preset value and the second detection signal is a second preset value or the accumulated number of times that the second detection signal is the first preset value and the first detection signal is the second preset value is cleared.

As an alternative implementation manner, the motion control method according to each embodiment of the present invention further includes:

the cumulative number of abnormal operations 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 fails; 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, it is explained that the cleaning apparatus is abnormally operated, possibly the installation of the front detection part 20 or the rear detection part 30 is abnormal, and the number of times of abnormal operation is added by 1. The value of the third preset threshold can be 1, or can be larger than 1, specifically can be set according to requirements, when the value is larger than 1, false sampling or false judgment can be avoided or single accidental occurrence can be avoided, abnormal phenomena can be confirmed to exist for a long time, and faults are prompted.

Optionally, when the cumulative number of abnormal operations is increased by 1 until the third preset threshold is reached, the cleaning device is cleared, so that the accuracy of the cumulative number of abnormal operations again after each fault removal of the cleaning device can be ensured. Meanwhile, when the accumulated number of abnormal operation is added with 1, the accumulated number of the first detection signal which is a first preset value and the second detection signal which is a second preset value, the accumulated number of the second detection signal which is a first preset value and the first detection signal which is a second preset value and the accumulated number of normal operation are cleared.

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

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

In step 901, the first detection signal returned from the front detection unit 20 and the second detection signal returned from the rear detection unit 30 are monitored and step 902 is performed.

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

In step 903, it is determined whether the second detection signal is 1, and if the second detection signal is not 1, it is determined that the lower end 101, that is, the end on the side of the front detection unit 20 is the leading end, step 904 is performed.

In step 904, the lower end advance count value is incremented by 1, and the other count values are cleared and step 905 is performed.

In step 905, it is determined whether the number of times of advance accumulation of the lower end portion exceeds a second preset threshold, if the number of times of advance accumulation of the lower end portion exceeds the second preset threshold, step 906 is executed, otherwise, step 901 is executed again.

In step 906, the lower end advance cumulative number of times that has reached the second preset threshold is cleared and step 907 is performed.

In step 907, it is determined whether the running speed of the upper end, i.e. the hysteresis end, is smaller than the preset reference speed, if the running speed of the upper end is smaller than the preset reference speed, step 908 is executed, otherwise, step 909 is executed.

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 execution returns to step 901.

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

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

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

In step 912, the cleaning device failure is reported, and the accumulated number of abnormal operation times is cleared, where the cleaning device failure may specifically include an abnormal installation of the front detection unit 20 and/or the rear detection unit 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 performed.

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

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

In step 915, it is determined whether the number of advanced accumulation at the upper end exceeds a second preset threshold, if the number of advanced accumulation at the upper end exceeds the second preset threshold, step 916 is executed, otherwise, step 901 is executed.

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

In step 917, it is determined whether the running speed of the lower end, i.e., the running speed of the retard end, is less than the preset reference speed, if the running speed of the lower end 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 step 901.

In step 919, the rotation speed of the motor 403 of the travel 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 is indicated that the cleaning device may have been corrected and operated normally, and step 920 is performed.

In

step

920, 1 is added to the normal operation count value, and the other count values are cleared and step 921 is performed.

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

In step 922, the accumulated number of normal operations is cleared, and the operation speeds of the upper and lower ends are restored to the preset reference speed, specifically, the speeds of the corresponding travelling wheels 402 can be changed by adjusting the rotation speeds of the motors 403 on the sides of the lower end 101 and the upper end 102, so as to adjust the operation speeds of the two ends to the preset reference speed.

In summary, according to the motion control method provided by the embodiments of the present invention, the first detection signal and the second detection signal fed back by the front detection component 20 and the rear detection component 30 can be received, so as to determine whether the cross beam 10 of the cleaning device is in a deflected state, and if the cross beam 10 is in the deflected state, the rotation speed of the motor 403 on 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, so as to correct the state of the cross beam 10, thereby correcting the deflection of the cleaning device, ensuring that the cleaning device walks within a range allowed by a deflection error, improving the obstacle crossing capability of the cleaning device, avoiding the problems of blockage and increased system power consumption caused by the walking deflection of the cleaning device, and improving the stability and adaptability of the cleaning device.

Referring to fig. 10, fig. 10 is a schematic diagram illustrating a motion control apparatus according to an embodiment of the invention. As shown in fig. 10, the motion control device may be used in the cleaning apparatus of the above embodiments, and the motion control device 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 a movement of the beam 10 along the first direction M.

The judging module 200 is configured to judge whether the beam 10 is in a deflected state according to the first detection signal and the second detection signal.

The adjusting module 300 is configured to adjust the rotation speed of the motor 403 on at least one of the two ends of the beam 10 in the length direction X according to the first detection signal, the second detection signal, and the 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 and matched with the cleaning equipment of the embodiments, so that correction of the deflection of the cleaning equipment is realized, the cleaning equipment is ensured to walk within a range allowed by a deflection error, the obstacle surmounting capability of the cleaning equipment is improved, the problems of blockage, increased system power consumption 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.

The cleaning device according to the embodiment of the present invention includes the cross beam 10, the front detection member 20 and the rear detection member 30 disposed at the same end of the cross beam 10 in the length direction X, and the motion control device according to the foregoing embodiment, and the front detection member 20 and the rear detection member 30 are disposed at two sides of the cross beam 10 in the width direction Y of the cross beam 10, so as to detect whether the self-operation is deflected in real time, correct the deflection, and have a higher obstacle surmounting capability, low energy consumption, high stability, and better adaptability.

It should be understood that, in the present specification, each embodiment is described in an incremental manner, and the same or similar parts between the embodiments are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. For device embodiments, reference may be made to the description of method embodiments for relevant points. The 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 will appreciate that various alterations, modifications, and additions may be made, or the order of steps may be altered, after appreciating the spirit of the embodiments of the present invention. Also, a detailed description of known method techniques is omitted here for the sake of brevity.

The functional blocks shown in the above-described structural block diagrams may be implemented in 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, a plug-in, a 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 over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, 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 the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.

Embodiments of the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. For example, the algorithms described in particular embodiments may be modified without departing from the basic spirit of embodiments of the invention. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of 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 apparatus including a cross member movable relative to a flat plate, a front detection member and a rear detection member, the cross member having two opposite ends in a longitudinal direction thereof, the front detection member and the rear detection member being located at the same end and being disposed opposite to both sides of the cross member in the longitudinal direction thereof, 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 of moving the cross beam along a first direction;

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

if the beam is deflected, adjusting the rotation speed of the motor at the end part side of at least one of the two end parts 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, wherein the method specifically comprises the following steps:

when one of the first detection signal and the second detection signal is a first preset value and the other is a second preset 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 value, 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 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 value, determining that the end where the front detection component is located is the lagging end and the other end is the leading end in the first direction;

comparing the travelling speed of the hysteresis end with the preset reference speed;

and according to the comparison result, adjusting the rotating speed of the motor on the leading end and/or the lagging end 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 deflected 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 cross beam is in a deflection state.

3. The motion control method according to claim 1, wherein the step of adjusting the rotation speed of the motor at the leading end and/or the trailing end to correct the state of the cross member according to the comparison result comprises:

if the advancing speed of the hysteresis end is smaller than the preset reference speed, the rotating speed of the motor of the hysteresis end is increased until the first detection signal and the second detection signal are respectively a second preset value;

or if the running speed of the lag end is smaller than the preset reference speed, the rotating speed of the motor of the lag end is increased, and if the running speed of the lag end reaches the preset reference speed and the first detection signal and the second detection signal are not uniform to be a second preset value, the rotating speed of the motor of the lead end is reduced until the first detection signal and the second detection signal are respectively the second preset value.

4. The motion control method according to claim 1, wherein the step of adjusting the rotation speed of the motor at the leading end and/or the trailing end to correct the state of the cross member according to the comparison result comprises:

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

And 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, and if the advancing 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, 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.

5. The motion control method according to claim 3 or 4, characterized in that after the up to the first detection signal and the second detection signal, respectively, are the second predetermined values, the method further comprises:

acquiring the accumulated number of normal operation of the cross beam after the state correction;

if the accumulated times of normal operation reach a first preset threshold value, 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 number of normal operation.

6. The method of motion control according to claim 1, further comprising:

If the first detection signal at the current moment is a first preset value and the accumulated times of the first detection signal for the first preset value are increased by 1, resetting the accumulated times of the second detection signal for the first preset value and the second detection signal for the first preset value;

or alternatively, the process may be performed,

if the second detection signal is a first preset value at the current moment and the second detection signal is the accumulated time of the first preset value plus 1, the accumulated time of the first detection signal is the first preset value and the first detection signal is the first preset value is cleared.

7. The method of motion control according to claim 6, further comprising:

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 the second preset threshold value, resetting the accumulated times of the first detection signal being the first preset value;

and if the second detection signal is a first preset value at the current moment and the accumulated times of the second detection signal for the first preset value are the second preset threshold value, resetting the accumulated times of the second detection signal for the first preset value and the second detection signal for the first preset value.

8. The method of motion control according to claim 1, further comprising:

acquiring the accumulated number 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 fails;

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 abnormal operation frequency.

9. A motion control device for a cleaning apparatus, the cleaning apparatus comprising a cross beam, a front detection member and a rear detection member, the cross beam being movable relative to a plate, the cross beam having two opposite ends in a longitudinal direction thereof, the front detection member and the rear detection member being located at the same end and being disposed opposite to each other on both sides of the cross beam in a width direction thereof, 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 of moving the cross beam along the first direction;

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

The adjusting module is configured to adjust a rotation speed of the motor at the end portion side of 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 if the beam is deflected, so as to correct a state of the beam, and specifically includes:

10. The cleaning apparatus, comprising a cross member, a front detecting member, a rear detecting member, and the motion control device according to claim 9, wherein the cross member is movable relative to the plate, the cross member has two opposite end portions in the longitudinal direction thereof, and the front detecting member and the rear detecting member are located at the same end portion and are disposed opposite to each other on both sides of the cross member in the longitudinal direction thereof.

11. The cleaning apparatus according to claim 10, wherein the front detection member and the rear detection member are proximity switches or limit switches, 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.