CN114812463A - Method for detecting arrival edge of cleaning machine, detection device, cleaning machine and medium - Google Patents
Method for detecting arrival edge of cleaning machine, detection device, cleaning machine and medium Download PDFInfo
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- CN114812463A CN114812463A CN202210736008.9A CN202210736008A CN114812463A CN 114812463 A CN114812463 A CN 114812463A CN 202210736008 A CN202210736008 A CN 202210736008A CN 114812463 A CN114812463 A CN 114812463A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
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- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method for detecting the arrival edge of a cleaning machine, a detection device, the cleaning machine and a medium, belonging to the technical field of cleaning equipment, wherein the method comprises the following steps: acquiring operation parameters of at least two walking units; and when the operation parameters of the at least two walking units are larger than or equal to the preset parameter values, confirming that the cleaning machine reaches the edge. According to the technical scheme, the accuracy of the cleaner in detecting and judging the edge is improved.
Description
Technical Field
The invention relates to the technical field of cleaning equipment, in particular to a method for detecting the arrival edge of a cleaning machine, a detection device, the cleaning machine and a storage medium.
Background
Along with the development of science and technology and the improvement of the living standard of people, cleaning equipment is more and more favored by users. Especially, the cleaning machine for wiping the smooth surfaces of doors, windows, floors and the like effectively solves the problem that the cleaning of the doors, the windows, the floors and the like is inconvenient for users. The existing cleaning machine cannot distinguish stains from edges in the operation process, the stains are easily judged as the edges by mistake, and the accuracy rate of edge detection is low.
Disclosure of Invention
The invention provides a method and a device for detecting the arrival edge of a cleaning machine, a window cleaning machine and a medium, and aims to improve the accuracy of the cleaning machine on the detection of the edge of glass.
To achieve the above object, the present invention provides a method of detecting an arrival edge of a cleaning machine, the cleaning machine including at least two traveling units, the method including:
acquiring operation parameters of at least two walking units;
and when the operation parameters of the at least two walking units are larger than or equal to the preset parameter values, confirming that the cleaning machine reaches the edge.
In some embodiments, confirming that the cleaning machine reaches the edge when the operating parameter of the at least two traveling units is greater than or equal to a preset parameter value includes:
when the running parameter of one of the walking units is greater than or equal to a preset parameter value, acquiring the inclination angle of the cleaning machine;
controlling the other walking unit to run according to the inclination angle of the cleaning machine;
and when the operation parameter of the other walking unit is greater than or equal to the preset parameter value, determining that the cleaning machine reaches the edge.
In some embodiments, obtaining operating parameters of at least two walking units comprises:
when the running parameters of at least two walking units are obtained, the distance parameter between the cleaning machine and the outside is obtained;
when the operating parameters of at least two walking units are greater than or equal to the preset parameter values, confirming that the cleaning machine reaches the edge, comprising:
and when the running parameters of the at least two walking units are greater than or equal to the preset parameter values and the distance parameters are less than or equal to the preset distance values, confirming that the cleaning machine reaches the edge.
In some embodiments, confirming that the cleaning machine reaches the edge when the operating parameter of the at least two traveling units is greater than or equal to a preset parameter value includes:
when the running parameters of at least two walking units are larger than or equal to preset parameter values, acquiring distance parameters between the cleaning machine and the outside;
and confirming that the cleaning machine reaches the edge when the distance parameter is smaller than or equal to the preset distance value.
In some embodiments, confirming that the cleaning machine reaches the edge when the operating parameter of the at least two traveling units is greater than or equal to a preset parameter value includes:
when the running parameters of at least two walking units are greater than or equal to preset parameter values, acquiring state information of an edge detection switch of the cleaning machine;
when the edge detection switch is in a trigger state, the cleaner is confirmed to reach the edge.
In some embodiments, the operating parameter is one or more of operating current, torque, operating power, motor speed.
The invention also provides a detection device, which is applied to the cleaning machine and comprises at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores computer program instructions executable by the at least one processor to cause the at least one processor to perform the method for detecting an edge of a cleaning machine as described above.
The invention also provides a cleaning machine which comprises a machine body, at least two walking units and the detection device, wherein the detection device is arranged on the machine body, each walking unit comprises a walking disc which is rotatably arranged on the machine body, and the walking disc of at least one unit rotates to drive the machine body to move.
In some embodiments, the cleaning machine further comprises a negative pressure device and at least two cleaning discs, the cleaning discs are arranged on the machine body, cavities are formed in the cleaning discs, and one walking disc is accommodated in one cavity; the negative pressure device is communicated with the cavity and is used for providing negative pressure for the cavity.
In some embodiments, the cleaning disc is polygonal in shape.
The invention also provides a storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for detecting the edge of the cleaning machine is realized.
According to the technical scheme, in the operation process of the cleaning machine, the operation parameters of at least two walking units are obtained in real time or at regular time for analysis, and when the operation parameters of the at least two walking units are analyzed to be larger than or equal to preset parameter values, the cleaning machine is confirmed to reach the edge; whether the running parameters of each walking unit are larger than or equal to the preset parameter values or not is analyzed, so that the states of the at least two walking units respectively detecting the edge are verified and confirmed mutually, and the accuracy of detecting the edge of the cleaning machine is improved.
Drawings
FIG. 1 is a schematic bottom view of a cleaning machine according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for detecting an edge of a cleaning machine according to an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of the cleaning machine of the present invention in which two traveling units reach the position of the glass frame along the traveling direction;
FIG. 4 is a schematic flow chart illustrating a method for detecting an edge of a cleaning machine according to a second embodiment of the present invention;
FIG. 5 is a schematic view of a structure of a cleaning machine of the present invention in which one of the traveling units reaches the position of the glass rim in the traveling direction;
FIG. 6 is a schematic view of a cleaning machine according to a second embodiment of the present invention in operation;
FIG. 7 is a schematic flow chart illustrating a method for detecting an edge of a cleaning machine according to a third embodiment of the present invention;
FIG. 8 is a perspective view of a top view of a cleaning machine in accordance with a third embodiment of the present invention;
FIG. 9 is a perspective side view of a cleaning machine in accordance with a third embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a distance detection state of the cleaning machine of the present invention when the cleaning machine is away from the glass frame and close to the glass frame;
FIG. 11 is a schematic flow chart illustrating a method for detecting an edge of a cleaning machine according to a fourth embodiment of the present invention;
FIG. 12 is a schematic structural diagram of a detection apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 13 is a schematic view of a cleaning machine according to an embodiment of the present invention;
FIG. 14 is a schematic view of a portion of the cleaning machine of the embodiment of FIG. 13;
fig. 15 is an exploded view of a portion of the structure of the cleaning machine in the embodiment of fig. 14.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a method for detecting the edge of a cleaning machine, which is executed in the working operation process of the cleaning machine and is used for detecting the edge of a surface to be cleaned with a frame. Referring to fig. 1, the cleaning machine has a structure including a machine body 10 and at least two traveling units 20 (two units are taken as an example) disposed on the machine body 10, and the cleaning machine implements wiping and cleaning of a surface to be cleaned by alternately traveling or simultaneously traveling the two traveling units 20, wherein the surface to be cleaned may be a smooth surface such as a door and window surface, a floor surface, a wall surface, etc., for example, a tile surface, a wood board surface, a metal plate surface, etc.; in the following examples of the present invention, the surface to be cleaned is exemplified by glass. The cleaning machine can be a cleaning machine which needs to be adsorbed on a surface to be cleaned, such as a window cleaning machine, a wall cleaning machine, a top cleaning machine and the like, and can also be a cleaning machine which does not need to be adsorbed on the surface to be cleaned, such as a floor cleaning machine and the like.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for detecting an edge of a cleaning machine according to an embodiment of the present invention.
In this embodiment, the method of detecting that the cleaning machine has reached the edge includes:
step S10, acquiring operation parameters of at least two walking units 20;
in the normal walking operation process of the cleaning machine, the operation parameters of the two walking units 20 are obtained in real time or at regular time, and the obtained operation parameters are analyzed; the operation parameter is a preset parameter, and a parameter threshold (i.e., a preset parameter value) is preset in the system and is used for comparing with the currently acquired operation parameter to determine whether the operation parameter of the walking unit 20 is normal and stable. The operation parameters of the traveling unit 20 are one or more driving parameters for driving the traveling disk of the traveling unit 20 to move by the driving part (usually, a motor) of the traveling unit 20. The operating parameter may be an operating current, and the corresponding preset parameter value is a current threshold (for example, between 0.1A and 1A, optionally 0.3A, 0.6A, 0.65A, 0.9A, etc.); the operating parameter may also be torque, with corresponding preset parameter values being torque thresholds (e.g., between 0.01Nm-0.1Nm, optionally 0.01Nm, 0.06Nm, 0.07Nm, 0.09Nm, etc.); the operation parameter may also be operation power, and the corresponding preset parameter value is a power threshold (for example, between 10W and 100W, and may be 30W, 35W, 70W, 90W, and the like); the operation parameter can also be the motor rotating speed, and the corresponding preset parameter value is a rotating speed threshold (for example, 10000r/min-30000r/min, optionally 20000r/min, 18000r/min, 11000r/min and the like); of course, the operation parameters may be other parameters that can be converted and calculated with the above-mentioned operation parameters.
In step S20, when the operation parameters of at least two traveling units 20 are greater than or equal to the preset parameter values, it is confirmed that the cleaning machine reaches the edge.
When the operation parameter of one of the traveling units 20 is analyzed to be greater than or equal to the preset parameter value, it is indicated that the traveling resistance of the traveling disk of the traveling unit 20 is increased, and the traveling resistance may be increased when the cleaning machine travels to the position of the glass frame 40 and touches the glass frame 40 (refer to fig. 3), or may be increased when the traveling disk of the traveling unit 20 touches tough stains and the traveling resistance is increased; when the analyzed operation parameters of the at least two traveling units 20 are greater than or equal to the preset parameter values, it is basically determined that the at least two traveling units 20 touch the glass frame 40 (refer to fig. 3), and it is determined that the cleaning machine reaches the edge.
In the method for detecting the edge of the cleaning machine, in the operation process of the cleaning machine, the operation parameters of at least two walking units 20 are obtained in real time or at regular time for analysis, and when the operation parameters of at least two walking units 20 are analyzed to be greater than or equal to the preset parameter values, the cleaning machine is confirmed to reach the edge; by analyzing whether the operation parameters of each walking unit 20 are all larger than or equal to the preset parameter values, the states of the at least two walking units 20 which detect the edge are verified and confirmed mutually, and therefore the accuracy of detecting the edge of the cleaning machine is improved.
Referring to fig. 4, fig. 4 is a schematic flow chart illustrating a method for detecting the reaching of the edge of the cleaning machine according to the second embodiment of the present invention.
In this embodiment, the step S20 includes:
step S21, when the operation parameter of one of the walking units 20 is greater than or equal to the preset parameter value, acquiring the inclination angle of the cleaning machine;
when the operation parameter of one of the walking units 20 (marked as the first walking unit 20) is analyzed to be greater than or equal to the preset parameter value, it indicates that the walking resistance of the walking disc of the first walking unit 20 is increased, and the reason why the walking resistance of the walking disc of the walking unit 20 is increased may be: 1. the cleaner has walked to glass frame position and has touched the glass frame, and cause the walking resistance increase, 2, the walking dish of first walking unit 20 has touched obstinate spot, and cause the resistance increase of walking. At the moment, acquiring the inclination angle of the cleaning machine; referring to fig. 5 and 6, the inclination angle θ is an angle of the main body 10 deviating from a reference direction F2, wherein the reference direction F2 is a direction perpendicular to the traveling direction F1 of the cleaning machine; for example, the cleaner is traveling in the left-right direction of the glass surface for wiping operation (i.e., the cleaner travel F1 direction is left-right direction, refer to fig. 5 and 6), and the reference direction F2 is up-down direction along the glass surface; the cleaner travels in the up-down direction of the glass surface for wiping operation (i.e., the traveling direction of the cleaner is the up-down direction), and the reference direction is the left-right direction along the glass surface. The tilt angle θ may be determined based on reading the current angle of the gyroscope on the body 10, or by reading the current angle of other angle detecting means on the body 10. When the operation parameter of one of the walking units 20 is analyzed to be greater than or equal to the preset parameter value, the walking unit 20 may be controlled to stop walking, or the walking unit 20 may be controlled to reduce the rotation speed, or the walking unit 20 may be controlled to keep the current operation state.
Step S22, controlling another walking unit 20 to run according to the inclination angle of the cleaning machine;
after the inclination angle of the cleaning machine is acquired, another traveling unit 20 is controlled to travel in a direction in which the inclination angle is decreased according to the acquired inclination angle until the inclination angle is zero, that is, until the body 10 of the cleaning machine reaches a state in which it coincides with the reference direction.
In step S23, when the operation parameter of another traveling unit 20 is greater than or equal to the preset parameter value, it is determined that the cleaning machine has reached the edge.
After the other walking unit 20 is controlled to run according to the acquired inclination angle, whether the current running parameter of the other walking unit 20 is greater than or equal to a preset parameter value or not is analyzed, if the running parameter of the other walking unit 20 is greater than the preset parameter value, the walking unit 20 detects an edge, and it is verified that the resistance of the walking disc of the first walking unit 20 is increased due to the fact that the cleaning machine walks to the edge, and the running parameter is not greater than or equal to the preset parameter value due to the fact that the cleaning disc of the first walking unit 20 touches stubborn stains, so that the cleaning machine is determined to reach the edge.
In this embodiment, after detecting whether the operating parameter of one traveling unit 20 is greater than the preset parameter value, the other traveling unit 20 is controlled to travel to the state where the two traveling units 20 are flush, so as to verify whether the first traveling unit 20 that detects the edge is a misjudgment according to whether the other traveling unit 20 also detects the edge, and thus, the accuracy of the cleaning machine in detecting the edge is improved.
In some embodiments, the method for detecting that the cleaning machine reaches the edge further includes, after controlling the other traveling unit 20 to complete the operation according to the acquired tilt angle, controlling the cleaning machine to continue traveling in the traveling direction if the current operation parameter of the other traveling unit 20 is still smaller than the preset parameter value.
When the current operation parameter of another traveling unit 20 does not exceed (i.e., is less than or equal to) the preset parameter value, it indicates that the second traveling unit 20 does not detect the glass frame, which indicates that the current position has not reached the position of one side edge in the traveling direction of the cleaning machine, i.e., it indicates that the operation parameter of the first traveling unit 20 is greater than the preset parameter value because the cleaning machine has traveled to the position of one side edge in the traveling direction, at this time, the cleaning machine does not need to perform a line changing operation, but controls the two traveling units 20 to continue to normally travel and clean along the traveling direction of the cleaning machine, so as to ensure that the currently cleaned glass line area can be completely cleaned, and ensure that the cleaning machine can thoroughly clean glass.
In some embodiments, after confirming that the cleaning machine reaches the edge, the method of detecting that the cleaning machine reaches the edge further comprises: and controlling the cleaning machine to perform line feed operation. After the cleaner is determined to reach one side glass frame in the traveling direction, the cleaner is controlled to execute line feed operation so as to move to an uncleaned adjacent line to clean other line areas on the glass surface, and therefore the cleaner can realize full-automatic cleaning of automatic line feed through automatic edge detection.
Referring to fig. 7, fig. 7 is a schematic flow chart illustrating a method for detecting the edge of the cleaning machine according to three embodiments of the present invention.
In the present embodiment, step S10 includes:
step S11, when the operation parameters of at least two walking units 20 are obtained, the distance parameter between the cleaning machine and the outside is obtained;
referring to fig. 8 to 10, in the present embodiment, the cleaning machine further includes at least one distance sensor 30 disposed on the machine body 10, the distance sensor 30 is disposed near an edge of one side of the machine body 10, and a detection end of the distance sensor 30 faces an outer circumferential side of the machine body 10 and is disposed in an inclined manner with respect to the machine body 10. In this embodiment, the distance sensor 30 may be a laser distance measuring sensor, an infrared distance measuring sensor, an ultrasonic distance measuring sensor, or other types of distance measuring sensors. In this embodiment, the distance sensor 30 detects the distance by emitting the distance measurement signal obliquely outward toward the glass surface (the direction of the distance measurement signal is shown by the arrow in fig. 9 and 10). The method comprises the steps of acquiring the operating parameters of at least two walking units 20 and simultaneously acquiring the distance parameter between the cleaning machine and the outside; the parameter of the distance between the cleaning machine and the outside may be the distance between the cleaning machine and the glass surface detected by the distance sensor 30, and when the cleaning machine reaches the edge of the glass, the parameter of the distance between the cleaning machine and the outside is the distance between the cleaning machine and the glass frame 40 detected by the distance sensor 30.
In the present embodiment, step S20 includes:
in step S24, when the operation parameter of at least two traveling units 20 is greater than or equal to the preset parameter value and the distance parameter is less than or equal to the preset distance value, it is confirmed that the cleaning machine reaches the edge.
Wherein the preset distance value is a preset distance threshold value in the system. When the glass edge is not reached, the distance parameter detected by the distance sensor 30 is the distance between the cleaning machine and the glass surface (refer to fig. 10), even if there is a dirt interference effect, the transformation amount of the distance is very small, and the distance is always larger than the preset distance value; since the glass frame 40 protrudes higher than the glass surface, when the cleaning machine reaches the position of the glass frame 40, the distance detected by the distance sensor 30 on the traveling side of the cleaning machine is smaller, and the variation is larger, so that the distance detected by the distance detection sensor is smaller than the preset distance value.
Since there is a small probability that the operation parameters of the at least two walking units 20 are increased due to the influence of the resistance of the dirt when it is determined that the operation parameters of the at least two walking units 20 are greater than or equal to the preset parameter values, in this case, the cleaning machine does not reach the edge, in order to avoid the occurrence of such a small probability of misjudgment, the embodiment further verifies by detecting the fed-back distance by the distance sensor 30, that is, whether the distance detected by the distance sensor 30 is less than or equal to the preset distance value is analyzed, and if so, the verification is passed, and it is determined that the cleaning machine really reaches the edge. Of course, if the distance detected by the distance sensor 30 is greater than the preset distance value, the cleaning machine has the above-mentioned edge misjudgment condition with small probability, and does not really reach the glass edge, and at this time, the traveling unit 20 of the cleaning machine may be controlled to continue traveling along the current traveling direction, or to perform other processing steps.
In the method for detecting the edge arrival of the cleaning machine according to the embodiment, when the operation parameters of the at least two walking units 20 are determined to be greater than or equal to the preset parameter values, whether the distance parameter between the cleaning machine and the outside is smaller than or equal to the preset distance value is further verified, that is, whether the cleaning machine really arrives at the edge is further verified through the distance parameter between the cleaning machine and the outside, the condition that the cleaning machine mistakenly judges that the cleaning machine arrives at the edge due to the influence of the resistance of stains on the at least two walking units 20 is effectively eliminated, and the accuracy of the cleaning machine in detecting the edge is further improved.
Compared with the embodiment of fig. 7, in another embodiment, the following steps may be performed:
step S10 does not include a processing step of acquiring a distance parameter between the cleaning machine and the outside; and step S20 includes: when the operation parameters of at least two walking units 20 are greater than or equal to preset parameter values, acquiring distance parameters between the cleaning machine and the outside; and confirming that the cleaning machine reaches the edge when the distance parameter is smaller than or equal to the preset distance value.
Compared with the embodiment shown in fig. 7, the purpose of further verifying whether the cleaning machine really reaches the edge through the distance parameter between the cleaning machine and the outside is realized; in contrast, in this embodiment, the distance parameter between the cleaning machine and the outside is not required to be obtained all the time, but the distance parameter between the cleaning machine and the outside is obtained only when the operation parameters of the at least two traveling units 20 are determined to be greater than or equal to the preset parameter value, so as to further verify whether the cleaning machine really reaches the edge by comparing the distance parameter between the cleaning machine and the outside with the preset distance value. The embodiment can save the acquisition frequency of the distance parameter between the cleaning machine and the outside and save the process resources.
Referring to fig. 11, fig. 11 is a schematic flow chart illustrating a method for detecting an edge of a cleaning machine according to a fourth embodiment of the present invention.
In the present embodiment, step S20 includes:
step S25, when the operation parameters of the at least two walking units 20 are greater than or equal to preset parameter values, obtaining state information of an edge detection switch of the cleaning machine;
and step S26, confirming that the cleaning machine reaches the edge when the edge detection switch is in a trigger state.
In this embodiment, at least one edge detection switch (e.g., a resettable switch or other type of detection switch device) is further disposed at the traveling side edge of the body of the cleaning machine, and when the cleaning machine reaches the glass edge, the edge detection switch contacts with the glass frame and is changed to a trigger state.
When the operation parameters of the at least two walking units 20 are determined to be larger than or equal to the preset parameter values, further acquiring the state information of an edge detection switch of the cleaning machine, determining whether the edge detection switch is triggered, and further verifying whether the cleaning machine really reaches the edge according to the state of the edge detection switch; when the edge detection switch is determined to be in the trigger state, the fact that the cleaning machine really reaches the edge is determined, the situation that the cleaning machine judges that the cleaning machine really reaches the edge due to the fact that at least two walking units 20 are influenced by the resistance of dirt is effectively eliminated, and the accuracy of the cleaning machine for detecting the edge is further improved. Upon determining that the edge detection switch is in the non-activated state, it may be determined that the cleaning machine has not actually reached the edge, at which point the travel unit 20 of the cleaning machine may be controlled to continue traveling in the current direction of travel, or to perform other processing steps.
Based on the method for detecting the arrival edge of the cleaning machine proposed in the foregoing embodiment, the present invention also proposes an edge detecting device, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores computer program instructions executable by the at least one processor to cause the at least one processor to perform the method of detecting an edge of a cleaning machine in any of the embodiments described above.
Referring to fig. 12, fig. 12 is a schematic structural diagram of a detection apparatus in a hardware operating environment according to an embodiment of the present invention.
The detection device of the embodiment of the invention can be a desktop computer, a notebook computer, a palm computer, a server and other computing equipment. As shown in fig. 12, the detecting means may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the detection device configuration shown in FIG. 12 does not constitute a limitation of the detection device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 12, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a detection program.
In the detection apparatus shown in fig. 12, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke the detection program stored in the memory 1005.
Based on the method for detecting the reaching edge of the cleaning machine proposed by the foregoing embodiment, the present invention further provides a storage medium storing a computer program, and when the computer program is executed by a processor, the method for detecting the reaching edge of the cleaning machine described in the foregoing embodiment is implemented, and the method for detecting the reaching edge of the cleaning machine at least includes the following steps:
step 1, obtaining operation parameters of at least two walking units;
and 2, when the running parameters of at least two walking units are greater than or equal to the preset parameter values, confirming that the cleaning machine reaches the edge.
Referring to fig. 1 and 13 to 15, the present invention further provides a cleaning machine, which includes a machine body 10, at least two traveling units 20, and the detection device, where the detection device is disposed on the machine body 10, and the specific structure of the detection device refers to the above embodiments. Wherein, the walking unit 20 comprises a walking disc 210 rotatably mounted on the body 10, and the walking disc 210 of at least one walking unit 20 rotates to drive the body 10 to move.
In this embodiment, at least two cleaning discs 310 are installed at the bottom of the body 10, the walking disc 210 and the cleaning discs 310 are sleeved with each other, and the walking disc 210 moves to drive the body 10 and the cleaning discs 310 to move. The cleaning tray 310 and the walking tray 210 are sleeved with each other, so that the cleaning tray 310 can play a role of assisting in supporting the walking tray 210, and the walking tray 210 is prevented from slipping when encountering water, so that the walking tray 210 stably walks. Preferably, the cleaning cloth can be sleeved on the cleaning disc 310, and after the cleaning is completed or when the cleaning cloth has more stains, the cleaning cloth on the cleaning disc 310 can be replaced, so that the use is convenient.
In some embodiments, the cleaning plate 310 is designed in a polygonal shape, and a regular polygonal (e.g., regular thirty-sided) shape structure is preferred in certain embodiments, i.e., a regular polygonal cleaning plate 310 is used. Thus, compared with the conventional cleaning machine using a circular cleaning disc, when the cleaning machine of the embodiment travels to the position of the glass frame, the friction force between the cleaning disc 310 and the glass frame is larger, the variation of the operation parameters (such as current) of the traveling unit 20 is more obvious, the magnitude of the preset parameter value can be increased, the misjudgment condition caused by the increase of the operation parameters due to the stains is reduced, and the accuracy of detecting and judging the edge through the operation parameters of the traveling unit 20 is effectively improved.
Further, a cavity is formed in the cleaning plate 310, a walking plate 210 is accommodated in the cavity, and the negative pressure device 700 is communicated with the cavity and used for providing negative pressure for the cavity, so that the walking plate 210 and the cleaning plate 310 are adsorbed on the surface to be cleaned in operation. Wherein the negative pressure device 700 is a blower, an air pump or a vacuum pump.
Further, an air flow channel can be formed in the machine body 10, a negative pressure device 700 can be correspondingly arranged on the machine body 10, the negative pressure device 700 is communicated with the air flow channel, and the air flow channel is communicated with the cavity of the cleaning disc 310, so that when the cleaning machine is used, a closed space communicated with the negative pressure device 700 is formed among the air flow channel, the cavity and the surface to be cleaned, and therefore the negative pressure device 700 generates negative pressure in the air flow channel, and the cleaning machine can be adsorbed on the surface to be cleaned. It can be understood that the air flow channel and the external air pressure have a pressure difference, so that a negative pressure can be generated in the air flow channel, and the cleaning machine can be fixed by the negative pressure in an adsorption mode during operation.
As shown in fig. 15, specifically, the body 10 is provided inside with a middle case 110, and the air flow passage includes a middle passage 111 formed in the middle case 110. The negative pressure device 700 may include a cover 710, a driving member 720 and a wind vane 730, wherein an accommodating cavity 711 is formed in the cover 710, and the accommodating cavity 711 is communicated with the middle passage 111, that is, the accommodating cavity 711 of the cover 710 forms a part of the airflow passage; the driving member 720 and the fan blade 730 are both located in the accommodating cavity 711, the driving member 720 is connected to the fan blade 730 for driving the fan blade 730 to rotate so as to generate negative pressure in the airflow channel, and the driving member 720 is mounted on the middle housing 110 through the mounting frame 740. Because the driving member 720 is disposed in the accommodating cavity, heat generated by the driving member 720 during operation can be taken away by the airflow in the accommodating cavity 711, thereby achieving the purpose of heat dissipation. Preferably, the housing 710 is substantially cylindrical and the driving member 720 is a motor. More specifically, the body 10 is provided with a heating element 120 inside, the heating element 120 is connected to the middle housing 110, and the heating element 120 includes a driving source 121 of the cleaning machine, such as a motor, and a circuit board 122, and the driving source 121 is disposed inside the middle housing 110. When the cleaning machine is in operation, the heat generating element 120 generates heat, which can be dissipated by the air flow in the intermediate channel 111. Specifically, the middle housing 110 includes a heat dissipating part disposed in the middle passage 111 to take away heat of the heat dissipating part through air flow in the middle passage 111, and a heat conducting part connected to the heat generating element 120 generating heat in the body 10 to conduct the heat to the heat dissipating part.
In some embodiments, the cleaning plate 310 of the present embodiment is rotatably disposed on the body 10. In some embodiments, one of the at least two walking discs 210 proposed in the present embodiment is disposed at an inclination, and the inclination angle is adjustable.
In this embodiment, the central axis of the traveling disc 210 is inclined with respect to the central axis of the body 10, so that the traveling disc 210 has a high friction region and a low friction region in contact with a surface to be cleaned when the cleaning apparatus is in operation. The friction force between the high friction area and the surface to be cleaned is larger than that between the low friction area and the surface to be cleaned, so that areas with different pollution degrees of the surface to be cleaned are cleaned.
In some embodiments, the central axis of the walking disc 210 is inclined at an angle of 0 to 30 degrees with respect to the central axis of the body 10. For example, the central axis of the traveling disc 210 is inclined at an angle of 5 degrees, 10 degrees, 15 degrees, 20 degrees, 25 degrees, or 30 degrees with respect to the central axis of the cleaner body, and the angle is adjustable.
The above is only a part or preferred embodiment of the present invention, and neither the text nor the drawings should limit the scope of the present invention, and all equivalent structural changes made by the present specification and the contents of the drawings or the related technical fields directly/indirectly using the present specification and the drawings are included in the scope of the present invention.
Claims (11)
1. A method of detecting the arrival of an edge of a cleaning machine, the cleaning machine comprising at least two walking units, comprising:
acquiring operation parameters of at least two walking units;
and when the operation parameters of the at least two walking units are larger than or equal to the preset parameter values, confirming that the cleaning machine reaches the edge.
2. The method of claim 1, wherein confirming that the cleaning machine reaches the edge when the operating parameter of the at least two traveling units is greater than or equal to a preset parameter value comprises:
when the running parameter of one of the walking units is greater than or equal to a preset parameter value, acquiring the inclination angle of the cleaning machine;
controlling the other walking unit to run according to the inclination angle of the cleaning machine;
and when the operation parameter of the other walking unit is greater than or equal to the preset parameter value, determining that the cleaning machine reaches the edge.
3. The method of claim 1, wherein said obtaining operational parameters of at least two walking units comprises:
when the running parameters of at least two walking units are obtained, the distance parameter between the cleaning machine and the outside is obtained;
when the operating parameters of at least two walking units are greater than or equal to the preset parameter values, confirming that the cleaning machine reaches the edge, comprising:
and when the running parameters of the at least two walking units are greater than or equal to the preset parameter values and the distance parameters are less than or equal to the preset distance values, confirming that the cleaning machine reaches the edge.
4. The method of claim 1, wherein confirming that the cleaning machine reaches the edge when the operating parameter of the at least two traveling units is greater than or equal to a preset parameter value comprises:
when the running parameters of at least two walking units are larger than or equal to preset parameter values, acquiring distance parameters between the cleaning machine and the outside;
and confirming that the cleaning machine reaches the edge when the distance parameter is smaller than or equal to the preset distance value.
5. The method of claim 1, wherein confirming that the cleaning machine reaches the edge when the operating parameters of the at least two traveling units are greater than or equal to the preset parameter values comprises:
when the running parameters of at least two walking units are greater than or equal to preset parameter values, acquiring state information of an edge detection switch of the cleaning machine;
when the edge detection switch is in a trigger state, the cleaner is confirmed to reach the edge.
6. A method according to any one of claims 1 to 5, wherein the operating parameter is one or more of operating current, torque, operating power, motor speed.
7. A detection device applied to a cleaning machine is characterized by comprising at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores computer program instructions executable by the at least one processor to cause the at least one processor to perform the method of detecting an edge of a cleaning machine of any one of claims 1 to 6.
8. A cleaning machine, characterized by, including fuselage, at least two walking units and the detection device of claim 7, the detection device locates the fuselage, the walking unit includes the walking dish that rotationally installs on the fuselage, and the walking dish of at least one walking unit rotates in order to drive the fuselage and remove.
9. The cleaning machine of claim 8 further comprising a negative pressure device and at least two cleaning discs, said cleaning discs being disposed on the machine body, said cleaning discs defining cavities, one walking disc being received in each cavity; the negative pressure device is communicated with the cavity and is used for providing negative pressure for the cavity.
10. The cleaning machine of claim 9 wherein the cleaning pan is polygonal in shape.
11. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of detecting an edge of a cleaning machine according to any one of claims 1 to 6.
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Denomination of invention: Method, detection device, cleaning machine, and medium for detecting the cleaning machine reaching the edge Effective date of registration: 20230718 Granted publication date: 20220930 Pledgee: Bank of China Limited Taiyuan Taixin economic integration development promotion center sub branch Pledgor: SHANXI JIA SHI DA ROBOT TECHNOLOGY Co.,Ltd. Registration number: Y2023140000040 |