CN114831569B - Power-assisted control method and cleaning machine - Google Patents

Power-assisted control method and cleaning machine Download PDF

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Publication number
CN114831569B
CN114831569B CN202210501031.XA CN202210501031A CN114831569B CN 114831569 B CN114831569 B CN 114831569B CN 202210501031 A CN202210501031 A CN 202210501031A CN 114831569 B CN114831569 B CN 114831569B
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China
Prior art keywords
cleaning machine
movement
motor
determining
trend
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CN202210501031.XA
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Chinese (zh)
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CN114831569A (en
Inventor
柳志康
徐伟
陈至灵
李幸
吴任迪
周德化
蒋洪彬
王远
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Tineco Intelligent Technology Co Ltd
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Tineco Intelligent Technology Co Ltd
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Priority to CN202210501031.XA priority Critical patent/CN114831569B/en
Publication of CN114831569A publication Critical patent/CN114831569A/en
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Classifications

    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • 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
    • A47L11/32—Carpet-sweepers
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2218/00—Aspects of pattern recognition specially adapted for signal processing
    • G06F2218/12—Classification; Matching
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers

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  • Electric Vacuum Cleaner (AREA)

Abstract

The embodiment of the invention provides a power control method and a cleaning machine, wherein the method is applied to the cleaning machine and comprises the following steps: acquiring first data and second data in the cleaning machine, wherein the first data and the second data are different types of data; determining a movement trend of the cleaning machine through the first data and the second data; determining the power-assisted direction of the cleaning machine by utilizing the movement trend; and controlling the cleaning machine to provide assistance according to the assistance direction. Through obtaining different types of first data and second data in the cleaning machine, by first data and second data, confirm the motion trend of cleaning machine, utilize the motion trend, confirm the helping hand direction of cleaning machine, provide helping hand according to helping hand direction control cleaning machine, can let the user more laborsaving use cleaning machine, improve user experience.

Description

Power-assisted control method and cleaning machine
Technical Field
The embodiment of the invention relates to the technical field of intelligent control, in particular to a power-assisted control method and a cleaning machine.
Background
Currently, during use of a cleaning machine (e.g., a floor cleaning machine), the roller brush may rub against the floor, causing the cleaning machine to have a forward power, and the user may control the cleaning machine to move forward with little force to clean the floor. However, when the user pulls the cleaning machine backward, a larger force is required, some carpet cleaning machines are heavy, the friction force of the rolling brush is large, and the pulling backward is very laborious. In view of this, it is laborious for the user to always have one direction due to the unidirectional scrolling of the scroll brush.
Disclosure of Invention
In order to solve the technical problem that users always have one direction to be laborious due to unidirectional rolling of the rolling brush, the embodiment of the invention provides a power-assisted control method and a cleaning machine.
In a first aspect of the embodiment of the present invention, there is provided a power control method, applied to a cleaning machine, including:
acquiring first data and second data in the cleaning machine, wherein the first data and the second data are different types of data;
determining a movement trend of the cleaning machine through the first data and the second data;
determining the power-assisted direction of the cleaning machine by utilizing the movement trend;
and controlling the cleaning machine to provide assistance according to the assistance direction.
In a second aspect of the embodiments of the present invention, there is provided a washer including a washer base, a power assist control integrated within the washer base, the power assist control including: the device comprises a motor, a torque sensor, a speed sensor, an MCU, a reduction gearbox, a mechanical differential, auxiliary wheels and transmission shafts;
the auxiliary wheel is connected with the mechanical differential mechanism through the transmission shaft, the mechanical differential mechanism is connected with the reduction gearbox through the main transmission shaft, and the torque sensor is arranged on the main transmission shaft;
The motor is connected with the reduction gearbox through the transmission shaft, the speed sensor is arranged on the transmission shaft between the motor and the reduction gearbox, and the MCU is connected with the torque sensor, the speed sensor and the motor;
the mechanical differential is used for converting the rotation of the auxiliary wheel and the rotation of the base of the cleaning machine into the rotation of the main transmission shaft, and the MCU is used for controlling the motor to output supporting moment by receiving the torque signal of the torque sensor and the rotating speed signal of the speed sensor.
According to the technical scheme provided by the embodiment of the invention, the first data and the second data in the cleaning machine are acquired, wherein the first data and the second data are different types of data, the movement trend of the cleaning machine is determined through the first data and the second data, the power-assisted direction of the cleaning machine is determined by utilizing the movement trend, and the cleaning machine is controlled to provide power assistance according to the power-assisted direction. Through obtaining different types of first data and second data in the cleaning machine, by first data and second data, confirm the motion trend of cleaning machine, utilize the motion trend, confirm the helping hand direction of cleaning machine, provide helping hand according to helping hand direction control cleaning machine, can let the user more laborsaving use cleaning machine, improve user experience.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of an implementation flow of a power control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of another power control method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another power control method according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of a motor-driven rear wheel according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an assembly of a motor according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a Hall pulse signal according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart of an embodiment of a method for determining the rotational speed of a rear wheel of a cleaning machine according to the present invention;
FIG. 8 is a schematic flow chart of another power control method according to an embodiment of the present invention;
FIG. 9 is a schematic flow chart of another power control method according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of the installation of a pressure sensor shown in an embodiment of the present invention;
FIG. 11 is a schematic diagram of acceleration variation in an embodiment of the present invention;
fig. 12 is a schematic structural view of a power assist control device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, a schematic implementation flow chart of a power-assisted control method provided by an embodiment of the present invention is applied to a cleaning machine (e.g. a floor cleaning machine, a carpet cleaning machine), and specifically may include the following steps:
s101, acquiring first data and second data in the cleaning machine, wherein the first data and the second data are different types of data.
In the embodiment of the invention, in order to realize the power control of the cleaning machine, the first data and the second data in the cleaning machine are acquired. Wherein, for the first data and the second data, the data is of different types, meaning that the data type of the first data is different from the data type of the second data.
The first data and the second data are obtained by the first sensor and the second sensor, respectively, wherein the first sensor and the second sensor are different types of sensors, meaning that the sensor type of the first sensor is different from the sensor type of the second sensor.
Alternatively, for the first data and the second data, the first data includes sensor data, meaning that the data collected by the sensor is the first data, and the second data is calculated from the first data, meaning that the second data can be obtained by processing the first data on the basis of obtaining the first data.
S102, determining the movement trend of the cleaning machine through the first data and the second data.
In the embodiment of the invention, for the acquired first data and second data, the movement trend of the cleaning machine can be determined through the first data and the second data.
It should be noted that the movement trend may be, for example, acceleration movement or movement in the opposite direction, and the corresponding movement direction may be the same as or opposite to the actual running direction of the cleaning machine, which is not limited in the embodiment of the present invention.
S103, determining the power assisting direction of the cleaning machine by utilizing the movement trend.
In the embodiment of the invention, the motion trend of the cleaning machine can be utilized to determine the power assisting direction of the cleaning machine.
For example, if the movement trend of the cleaning machine is from rest, it can be determined that the movement direction of the cleaning machine corresponding to the rest start is the power assisting direction of the cleaning machine.
S104, controlling the cleaning machine to provide assistance according to the assistance direction.
In the embodiment of the invention, the power assisting direction of the cleaning machine can be used for controlling the cleaning machine to provide power assistance according to the power assisting direction, so that a user can use the cleaning machine more laborsaving, and the user experience is improved.
Through the description of the technical scheme provided by the embodiment of the invention, the first data and the second data in the cleaning machine are acquired, wherein the first data and the second data are different types of data, the movement trend of the cleaning machine is determined through the first data and the second data, the power assisting direction of the cleaning machine is determined by utilizing the movement trend, and the cleaning machine is controlled to provide power assistance according to the power assisting direction.
Through obtaining different types of first data and second data in the cleaning machine, by first data and second data, confirm the motion trend of cleaning machine, utilize the motion trend, confirm the helping hand direction of cleaning machine, provide helping hand according to helping hand direction control cleaning machine, can let the user more laborsaving use cleaning machine, improve user experience.
As shown in fig. 2, a schematic implementation flow chart of another power control method provided in an embodiment of the present invention is applied to a cleaning machine (e.g. a floor cleaning machine, a carpet cleaning machine), and specifically may include the following steps:
s201, acquiring a speed signal output by a speed sensor in the cleaning machine and acquiring a torque signal output by a torque sensor in the cleaning machine.
In the embodiment of the invention, the speed sensor and the torque sensor are arranged in the cleaning machine base, the speed sensor can acquire a speed signal, and the torque sensor can acquire a torque signal.
Therefore, the speed signal output by the speed sensor in the cleaning machine can be obtained, and the torsion signal output by the torque sensor in the cleaning machine can be obtained, wherein the speed signal and the torsion signal are different types of data.
S202, if the torsion signal exists and the speed signal does not exist, determining that the movement trend of the base of the cleaning machine is to start moving from static.
And S203, if the torsion signal exists and the speed signal is increased, determining that the movement trend of the base of the cleaning machine is acceleration movement.
S204, if the torsion signal exists and the speed signal is reduced, determining that the movement trend of the base of the cleaning machine is to move in the opposite direction.
In the embodiment of the invention, for the torque signal and the speed signal, if the torque signal exists and the speed signal does not exist, the movement of the cleaning machine base is indicated to start from rest, and the movement trend of the cleaning machine base is determined to start from rest.
In addition, for the torque signal and the speed signal, if the torque signal exists and the speed signal (gradually) increases, the acceleration movement of the cleaning machine base is described, and at this time, the movement trend of the cleaning machine base can be determined to be the acceleration movement.
In addition, for the torque signal and the speed signal, if the torque signal is present and the speed signal is (gradually) reduced, it is indicated that the cleaner base moves in the opposite direction, and at this time, it can be determined that the movement tendency of the cleaner base is to move in the opposite direction.
And S205, if the movement trend of the cleaning machine base is from the static start to move, determining the movement direction of the cleaning machine base corresponding to the static start to move as the first power-assisted direction of the cleaning machine.
S206, if the movement trend of the cleaning machine base is acceleration movement, determining the movement direction corresponding to the acceleration movement of the cleaning machine base as a second power-assisted direction of the cleaning machine.
And S207, if the movement trend of the base of the cleaning machine is to move in the opposite direction, determining the opposite direction as a third power-assisted direction of the cleaning machine.
In the embodiment of the invention, for the cleaning machine base, if the movement trend of the cleaning machine base is from stationary, the movement direction corresponding to the stationary movement of the cleaning machine base can be determined to be the first power assisting direction of the cleaning machine, so that the cleaning machine is controlled to provide power assistance according to the first power assisting direction.
In addition, for the cleaning machine base, if the movement trend of the cleaning machine base is acceleration movement, the movement direction corresponding to the acceleration movement of the cleaning machine base can be determined to be a second assistance direction of the cleaning machine, so that the cleaning machine is controlled to provide assistance according to the second assistance direction.
In addition, for the washer base, if the movement tendency of the washer base is to move in the opposite direction, the opposite direction may be determined as a third assistance direction of the washer, so that the washer is controlled to provide assistance in accordance with this third assistance direction.
And S208, if the power assisting direction is the first power assisting direction, adjusting the rotating direction of a motor of the cleaning machine according to the first power assisting direction, wherein the motor is used for driving an auxiliary wheel or a rolling brush in the cleaning machine.
And S209, if the power assisting direction is the second power assisting direction, adjusting the rotation direction of a motor in the cleaning machine according to the second power assisting direction.
And S210, driving a motor in the cleaning machine to continuously output a supporting moment according to the torsion signal and the speed signal.
S211, if the power assisting direction is the third power assisting direction, controlling the motor in the cleaning machine to be powered off.
S212, adjusting the rotation direction of a motor in the cleaning machine according to the third power-assisted direction, and controlling the motor to be electrified to reversely rotate so as to output a supporting moment.
In the embodiment of the invention, as for the assistance direction, if the assistance direction is the first assistance direction, the rotation direction of the motor of the cleaning machine can be adjusted according to the first assistance direction, and the motor is used for driving the auxiliary wheel or the rolling brush in the cleaning machine. In addition, the motor in the cleaning machine can be driven to output supporting moment according to the torsion signal so as to keep the current rotating speed of the motor.
In addition, in the embodiment of the present invention, as for the assist direction, if the assist direction is the second assist direction, the rotation direction of the motor in the cleaning machine may be adjusted according to the second assist direction. In addition, the motor in the cleaning machine can be driven to continuously output supporting torque according to the torque signal and the speed signal.
In addition, in the embodiment of the invention, for the assistance direction, if the assistance direction is the third assistance direction, the motor in the cleaning machine is controlled to be powered off, and the rotation direction of the motor in the cleaning machine is adjusted according to the third assistance direction, and the motor is controlled to be powered on to reversely rotate so as to output the supporting moment.
Through the description of the technical scheme provided by the embodiment of the invention, the speed signal output by the speed sensor in the cleaning machine is obtained, the torque signal output by the torque sensor in the cleaning machine is obtained, and the movement trend of the cleaning machine base is determined according to the speed signal and the torque signal, so that the power assisting direction of the cleaning machine is determined by utilizing the movement trend of the cleaning machine base, and the cleaning machine is controlled to provide power assistance according to the power assisting direction, so that a user can use the cleaning machine more laborsaving, and the user experience is improved.
As shown in fig. 3, a schematic implementation flow chart of another power-assisted control method provided by the embodiment of the invention is provided, and the method is applied to a cleaning machine (such as a floor cleaning machine and a carpet cleaning machine), wherein the cleaning machine comprises a rear wheel, the rear wheel is driven by a motor, a magnetic code disc is installed on a motor rotor, a hall detection plate is installed on a motor shell above the magnetic code disc, and a cleaning machine base or a machine body comprises an acceleration sensor and specifically comprises the following steps:
S301, the magnetic code disc and the Hall detection plate are utilized to acquire the rotating speed of the rear wheel.
S302, determining the movement speed of the cleaning machine corresponding to the rotation speed of the rear wheel according to the conversion ratio of the rotation speed of the rear wheel to the movement speed of the cleaning machine.
In the embodiment of the invention, the rear wheel of the cleaning machine is changed into a rear wheel driven by a motor, and the circuit diagram is correspondingly improved, as shown in fig. 4. In addition, a Hall detection plate is arranged on the motor, so that the movement direction and the rotation speed of the rear wheel can be detected.
Specifically, as shown in fig. 5, a magnetic code disc is mounted on the motor rotor, a motor housing is arranged above the magnetic code disc, and a hall detection plate is mounted on the motor housing. When the motor moves, the Hall detection plate can output a direction signal and a (magnetic field) pulse signal.
Based on this, in the embodiment of the present invention, the pulse signal output by the hall sensing board may be obtained, where when the motor rotor drives the magnetic encoder to rotate, the hall sensor outputs a (low level) pulse signal when the magnet on the magnetic encoder passes through the hall sensor, as shown in fig. 6.
For pulse signals, for example, a timer port connected with the MCU, the MCU inputs a capturing function through the timer, detects the pulse number of the pulse signals, determines the rotating speed of the rear wheel according to the pulse number, and determines the moving speed of the cleaning machine corresponding to the rotating speed of the rear wheel according to the conversion ratio of the rotating speed of the rear wheel to the moving speed of the cleaning machine.
Specifically, as shown in fig. 7, a schematic flow chart of an implementation of a method for determining a rotational speed of a rear wheel of a cleaning machine according to an embodiment of the present invention is shown, where the method is applied to a cleaning machine (e.g., a carpet cleaning machine), and may specifically include the following steps:
and S701, counting the number of pulse signals output by the Hall detection plate in a preset time period, wherein the pulse signals comprise low-level pulse signals.
In the embodiment of the invention, the number of the pulse signals output in the preset time period of the Hall detection plate can be counted, wherein the MCU can input the capturing function through the timer, the number of the pulse signals output in the preset time period of the Hall detection plate is counted, and the pulse signals comprise low-level pulse signals.
For example, in the embodiment of the invention, for the pulse signals, a timer port of the MCU is connected, the MCU inputs the capturing function through the timer, and counts the number of the pulse signals output by the Hall detection board within 1 second, wherein the number of the pulse signals represents the motor rotation speed.
S702, determining the number as the rotating speed of the motor, and determining the rotating speed of the rear wheel corresponding to the rotating speed of the motor according to the conversion ratio of the rotating speed of the motor to the rotating speed of the rear wheel.
In the embodiment of the invention, the number of the pulse signals output in the preset time period of the Hall detection plate represents the rotating speed of the motor, so that the number of the pulse signals output in the preset time period of the Hall detection plate can be determined to be the rotating speed of the motor.
In addition, a certain conversion ratio exists between the motor rotation speed and the rear wheel rotation speed, so that the motor rotation speed is converted according to the conversion ratio of the motor rotation speed and the rear wheel rotation speed, and the rotation speed of the rear wheel corresponding to the motor rotation speed can be determined.
Thus, after the rotational speed of the rear wheel is determined, a certain conversion ratio exists between the rotational speed of the rear wheel and the movement speed of the cleaning machine, and the rotational speed of the rear wheel is converted according to the conversion ratio of the rotational speed of the rear wheel and the movement speed of the cleaning machine, so that the movement speed of the cleaning machine corresponding to the rotational speed of the rear wheel can be determined.
S303, the second data is acceleration, the acceleration is determined according to the movement speed, or the acceleration output by the acceleration sensor is obtained.
In the embodiment of the present invention, for the first data, the movement speed of the washer can be understood, and for the second data, the acceleration of the washer can be understood.
The acceleration of the cleaning machine can be determined according to the movement speed of the cleaning machine, and the calculation mode of the acceleration can refer to the existing mode, so that the embodiments of the present invention are not described in detail herein.
In addition, the motion speed of the cleaning machine can be determined by the acceleration sensor, namely, the acceleration of the cleaning machine output by the acceleration sensor is acquired by collecting the acceleration sensor arranged on the base or the machine body of the cleaning machine.
And S304, if the movement speed is the same as the acceleration direction, determining that the movement trend of the cleaning machine is acceleration movement.
And S305, if the movement speed is opposite to the acceleration direction, determining that the movement trend of the cleaning machine is movement in the opposite direction.
In the embodiment of the invention, for the movement speed and the acceleration of the cleaning machine, if the two directions are the same, the movement trend of the cleaning machine is determined to be accelerated movement, and if the two directions are opposite, the movement trend of the cleaning machine is determined to be opposite movement.
And S306, if the movement trend of the cleaning machine is acceleration movement, determining the movement direction corresponding to the acceleration movement of the cleaning machine as the assistance direction of the cleaning machine.
And S307, if the movement trend of the cleaning machine is that the cleaning machine moves in the opposite direction, determining that the opposite direction is the assistance direction of the cleaning machine.
In the embodiment of the present invention, if the movement trend of the cleaning machine is acceleration movement, it is determined that the movement direction corresponding to the acceleration movement of the cleaning machine is a power assisting direction of the cleaning machine, where the power assisting direction may be referred to as a fourth power assisting direction.
In the embodiment of the present invention, if the movement tendency of the cleaning machine is to move in the opposite direction, it is determined that the opposite direction is the assisting direction of the cleaning machine, and the assisting direction may be referred to as a fifth assisting direction.
And S308, controlling the cleaning machine to provide assistance according to the assistance direction.
In the embodiment of the invention, the assistance direction of the cleaning machine can be used for controlling the cleaning machine to provide assistance according to the assistance direction. The Hall detection plate can output a direction signal, the movement direction of the rear wheel of the cleaning machine is determined according to the direction signal, and the power-assisted direction is combined with the movement direction of the rear wheel, so that the cleaning machine is controlled to provide power.
Specifically, as shown in fig. 8, a schematic implementation flow chart of another power control method provided in an embodiment of the present invention is applied to a cleaning machine (e.g. a floor cleaning machine, a carpet cleaning machine), and may specifically include the following steps:
S801, a direction signal output by the Hall detection plate is obtained.
In the embodiment of the invention, the direction signal output by the Hall detection plate can be obtained, wherein the direction signal comprises a high/low level signal, namely a high level signal and a low level signal. The high level signal and the low level signal here represent different directions of rotation of the motor, respectively.
For example, for the direction signal output by the hall sensing board, which includes a high level signal and a low level signal, assuming that the high level signal represents that the motor is rotating forward, the corresponding rear wheel is rotating forward, and the washer is advancing, the low level signal represents that the motor is rotating backward, the corresponding rear wheel is rotating backward, and the washer is backing.
S802, determining the movement direction of the rear wheel according to the direction signal.
In the embodiment of the invention, as for the direction signal output by the Hall detection plate, the movement direction of the rear wheel can be determined according to the direction signal. The direction signal may be used to determine the rotation direction of the motor, and then the rotation direction of the motor may be used to determine the movement direction of the rear wheel, where there is a mapping relationship between the movement direction of the rear wheel and the rotation direction of the motor, for example, when the motor rotates forward, the rear wheel also rotates forward, and the cleaning machine moves forward, or vice versa.
Specifically, if the direction signal includes a high/low level signal, a first rotation direction of the motor corresponding to the high level signal is determined, and a movement direction of the rear wheel is determined according to the first rotation direction of the motor.
For example, if the direction signal is a high level signal, determining a first rotation direction of the motor corresponding to the high level signal, assuming that the motor rotates forward, then determining a movement direction of the rear wheel according to the first rotation direction of the motor, assuming that the motor rotates forward, and then rotating the rear wheel forward; if the direction signal is a low level signal, determining a second rotation direction of the motor corresponding to the low level signal, if the second rotation direction is reverse rotation, determining a movement direction of the rear wheel according to the second rotation direction of the motor, and if the motor is reverse rotation, the rear wheel is reverse rotation.
S803, controlling the cleaning machine to provide assistance according to the movement direction and the assistance direction.
In the embodiment of the invention, the rotation speed of the motor can be adjusted or the rolling direction of the rolling brush can be adjusted according to the movement direction of the rear wheel and the movement trend of the cleaning machine.
Before executing the step S301, in the case where the cleaning machine is turned on, the relay of the motor is turned off, so that the motor driving the rear wheel is not controlled by the component (i.e., Y1 in fig. 4), and the randomizer (i.e., the cleaning machine) operates.
Subsequently, for the motion direction of the rear wheel and the assistance direction of the cleaning machine, if the motion direction represents forward, and the assistance direction represents forward, a preset forward-pushing assistance parameter is obtained, if the preset motor assistance parameter is non-zero, a relay of the motor is opened, the rotating speed of the motor is adjusted according to the preset forward-pushing assistance parameter, if the preset motor assistance parameter is zero, the disconnection state of the relay of the motor is maintained, or if the motion direction represents forward, and the assistance direction represents forward, the rolling direction of the rolling brush of the cleaning machine is adjusted to be forward.
For example, if the direction of motion of the rear wheel (forward rotation), forward progress may be characterized and the direction of assistance may be characterized, whereby forward motion assistance proceeds or no assistance is provided, depending on the degree of intervention set. Specifically, a preset forward-pushing assistance parameter is obtained, and if the preset motor assistance parameter is zero, the disconnection state of a relay of the motor is maintained, and assistance is not provided any more.
If the preset motor power assisting parameter is non-zero, a relay of the motor is opened, the rotating speed of the motor is adjusted according to the preset forward pushing power assisting parameter, the forward pushing power assisting parameter can represent the percentage of the maximum rotating speed of the motor, and if the forward pushing power assisting parameter is 40%, the rotating speed of the motor can be specifically adjusted to 40% of the maximum rotating speed of the motor, so that forward motion power assisting is carried out, or the rolling direction of a rolling brush of the cleaning machine is adjusted to be forward, so that forward motion power assisting is carried out.
Subsequently, regarding the movement direction of the rear wheel and the power-assisted direction of the cleaning machine, if the movement direction represents forward movement and the power-assisted direction represents backward movement, determining the movement speed of the cleaning machine, if the movement speed of the cleaning machine reaches a preset speed threshold, opening a relay of the motor, acquiring a preset pull-back power-assisted parameter, and adjusting the rotating speed of the motor according to the preset pull-back power-assisted parameter, or adjusting the rolling direction of a rolling brush of the cleaning machine to be reverse movement.
For example, if the direction of motion (forward rotation) of the rear wheel, the forward direction may be characterized, and the direction of assist may be characterized as backward, meaning that the washer is turned from the forward direction (starting forward motion with forward speed) to the backward direction (acceleration opposite to the speed direction, being deceleration), meaning that the user has a tendency to control the washer to backward.
At this time, the movement speed of the cleaning machine may be determined, specifically, the movement speed of the cleaning machine may be determined by the above pulse signal, which is not described in detail herein, and if the movement speed of the cleaning machine reaches a preset speed threshold (for example, is close to 0), the relay of the motor is turned on, a preset pull-back power assisting parameter is obtained, and the rotation speed of the motor is adjusted according to the preset pull-back power assisting parameter, or the rolling direction of the rolling brush of the cleaning machine is adjusted to be reversed.
The pull-back power assisting parameter may represent a percentage of a maximum rotation speed of the motor, for example, the pull-back power assisting parameter is 40%, and the rotation speed of the motor is adjusted according to the preset pull-back power assisting parameter, specifically, the rotation speed of the motor can be adjusted to 40% of the maximum rotation speed of the motor, so that the reverse motion power assisting is advanced, and a user saves effort.
In addition, regarding the movement direction of the rear wheel and the power-assisted direction of the cleaning machine, if the movement direction represents forward movement and the power-assisted direction represents backward movement, determining the acceleration of the cleaning machine, if the acceleration of the cleaning machine is larger than a preset acceleration threshold value, opening a relay of the motor to obtain a preset pull-back power-assisted parameter, and adjusting the rotating speed of the motor according to the preset pull-back power-assisted parameter, or adjusting the rolling direction of a rolling brush of the cleaning machine to be reverse.
For example, if the direction of motion (forward rotation) of the rear wheel, the forward direction may be characterized, and the direction of assist may be characterized as backward, meaning that the washer is turned from the forward direction (starting forward motion with forward speed) to the backward direction (acceleration opposite to the speed direction, being deceleration), meaning that the user has a tendency to control the washer to backward.
At this time, the acceleration of the cleaning machine may be determined, specifically, the acceleration of the cleaning machine may be determined by the pulse signal or the acceleration sensor, which is not described in detail herein, and if the acceleration of the cleaning machine (where the acceleration is negative and takes an absolute value) is greater than a preset acceleration threshold, a relay of the motor is turned on, a preset pull-back power assisting parameter is obtained, and the rotation speed of the motor is adjusted according to the preset pull-back power assisting parameter, or the rolling direction of the rolling brush of the cleaning machine is adjusted to be reversed.
The pull-back power assisting parameter may represent a percentage of a maximum rotation speed of the motor, for example, the pull-back power assisting parameter is 40%, and the rotation speed of the motor is adjusted according to the preset pull-back power assisting parameter, specifically, the rotation speed of the motor can be adjusted to 40% of the maximum rotation speed of the motor, so that the reverse motion power assisting is advanced, and a user saves effort.
In the embodiment of the invention, after the rotating speed of the motor is adjusted according to the preset pull-back power assisting parameter, the pull-back distance of the cleaning machine can be obtained, and if the pull-back distance reaches the preset distance threshold, the rotating speed of the motor is reduced according to the preset motor rotating speed reducing rule, so that the cleaning machine is close to a stop state, and a user can push forward conveniently.
For example, the cleaner is pulled back 40cm at a time, and the assistance force is gradually removed when the pulling back distance reaches 30 cm. Based on the above, after the rotating speed of the motor is adjusted to 40% of the maximum rotating speed of the motor, the pull-back distance of the cleaning machine is obtained, and if the pull-back distance of the cleaning machine reaches 30cm, the rotating speed of the motor is reduced according to a preset motor rotating speed reduction rule, so that the cleaning machine is close to a stop state, and a user can push forward conveniently.
Through the description of the technical scheme provided by the embodiment of the invention, the direction signal output by the Hall detection plate is obtained, the movement direction of the rear wheel is determined according to the direction signal, the power-assisted direction of the cleaning machine is determined, and the rotating speed of the motor is adjusted according to the movement direction and the power-assisted direction, or the rolling direction of the rolling brush of the cleaning machine is adjusted. Therefore, according to the movement direction of the rear wheel and the power-assisted direction of the cleaning machine, the rotating speed of the motor is adjusted, or the rolling direction of the rolling brush of the cleaning machine is adjusted, power assistance is provided for a user, and the user can control the cleaning machine more labor-saving.
As shown in fig. 9, a schematic implementation flow chart of another assistance control method provided by an embodiment of the present invention is applied to a cleaning machine (e.g. a floor cleaning machine, a carpet cleaning machine), where the cleaning machine includes a motion trend detection sensor, and may specifically include the following steps:
s901, acquiring sensor data detected by the motion trend detection sensor in the cleaning machine, and determining the slope of the sensor data.
In the embodiment of the invention, the movement trend detection sensor is arranged on the cleaner body, correspondingly, the sensor data detected by the movement trend detection sensor can be acquired, and the slope of the sensor data detected by the movement trend detection sensor is further determined.
Specifically, for the movement trend detection sensor, a pressure sensor or an acceleration sensor may be specifically included, where the pressure sensor or the acceleration sensor is disposed on the handle of the washing machine or a connection member between the handle and the follower wheel, for detecting the pressure or the acceleration applied to the washing machine by the user.
For example, as shown in FIG. 10, a pressure sensor (e.g., a strain gauge) is provided on the connection between the carpet extractor handle and the wheel (i.e., the follower wheel) for detecting the pressure applied by the user to the carpet extractor.
Correspondingly, the cleaning machine can acquire the pressure or acceleration detected by the pressure sensor or the acceleration sensor, acquire the difference value between adjacent pressures or accelerations, acquire the detection time difference between the adjacent pressures or accelerations, and determine the slope of the pressures or accelerations according to the difference value and the detection time difference.
For example, the carpet extractor acquires the pressure or acceleration detected by the pressure sensor or acceleration sensor, acquires the difference between adjacent pressures or accelerations, and acquires the detection time difference between adjacent pressures or accelerations, as shown in table 1 below.
TABLE 1
For differences between adjacent pressures or accelerations, and for detected time differences between adjacent pressures or accelerations, the differences may be divided by the detected time differences to obtain slopes of the pressures or accelerations, as shown in table 2 below.
TABLE 2
As shown in table 2 above, a corresponding slope may be obtained for adjacent pressures or accelerations, such that there are multiple slopes. When the slope is positive, the user is considered to be using the pushing force, and when the slope is negative, the user is considered to be using the pulling force.
S902, determining the effort trend of the user according to the slope of the sensor data.
In the embodiment of the invention, for the cleaning machine, the effort trend of the user can be determined according to the slope of the sensor data. Where the sensor data is pressure or acceleration, the washer may determine a force trend of the user based on a slope of the pressure or acceleration.
In the actual use process of the cleaning machine, the user can generate the change trend of two directions after making one action. Assuming that the user pushes the washer once, the speed starts from 0, the sensor senses that the acceleration is positive force once, then senses that the acceleration is negative force once again, and then keeps the speed stable.
For example, as shown in fig. 11, when the user pushes the machine (carpet cleaning machine) once, the sensor senses a force with positive acceleration once, and then senses a force with negative acceleration once again, and at this time, it is determined that the movement trend of the machine is the forward direction, the user can be correctly assisted, and the effort-saving effect is achieved.
Based on the above-described idea, for a washer, the user's effort tendency can be determined from the slope of the pressure or acceleration by: acquiring an accumulated value of the slope of the pressure or the acceleration, judging whether the accumulated value is larger than a preset first thrust threshold, if so, acquiring a cumulative value of the slope of the pressure or the acceleration in a preset time period, judging whether the cumulative value is larger than a preset second thrust threshold, and if so, determining that the user has a thrust trend.
For example, as shown in table 2 above, if there are a plurality of slopes, the accumulated value of the slopes of the pressure or the acceleration, that is, the slopes are accumulated, and it is determined whether the accumulated value is greater than X1, if the accumulated value is greater than X1, the accumulated value of the slopes of the pressure or the acceleration, that is, the slopes are decreased, is obtained within 1.5 seconds, and it is determined whether the accumulated value is greater than X2, and if the accumulated value is greater than X2, it is determined that the user has a tendency to thrust.
In addition, for the washer, the force trend of the user can be determined according to the slope of the pressure or acceleration by: acquiring a cumulative value of the slope of the pressure or the acceleration, and judging whether the cumulative value is larger than a preset first tension threshold value; if the accumulated value is larger than a preset first tension threshold value, acquiring an accumulated value of the slope of the pressure or the acceleration in a preset time period; judging whether the accumulated value is larger than a preset second tension threshold value or not, and if the accumulated value is larger than the preset second tension threshold value, determining that the user has a tension trend.
For example, as shown in table 2 above, if there are multiple slopes, the accumulated value of the slope of the pressure or the acceleration, that is, the slope decrease, may be obtained, and it is determined whether the accumulated value is greater than Y1, if the accumulated value is greater than Y1, the accumulated value of the slope of the pressure or the acceleration, that is, the slope accumulation, is obtained within 1.5 seconds, it is determined whether the accumulated value is greater than Y2, and if the accumulated value is greater than Y2, it is determined that the user has a tendency to pull.
S903, determining the movement trend of the cleaning machine according to the force trend of the user.
In the embodiment of the invention, for the force trend of the user, if the user has a thrust trend, the forward trend of the cleaning machine corresponding to the thrust trend of the user can be determined.
Further, for the user's tendency to exert effort, if the user has a tendency to pull, a tendency of the washer to retreat corresponding to the user's tendency to pull may be determined.
S904, determining the power assisting direction of the cleaning machine by utilizing the movement trend.
In the embodiment of the invention, as for the movement trend of the cleaning machine, if the movement trend of the cleaning machine is the forward trend, the forward assistance direction of the cleaning machine corresponding to the forward trend can be determined.
Further, as for the movement tendency of the washer, if the movement tendency of the washer is a backward movement tendency, the backward movement assisting direction of the washer corresponding to the backward movement tendency may be determined.
And S905, controlling the cleaning machine to provide power assistance according to the power assistance direction.
In the embodiment of the invention, regarding the power assisting direction of the cleaning machine, if the power assisting direction is the forward main force direction, the rolling direction of the rolling brush of the cleaning machine is adjusted to be forward rotation or the motor for driving the rear wheel in the cleaning machine is adjusted to be forward rotation according to the forward power assisting direction.
In addition, for the assisting direction of the cleaning machine, if the assisting direction is the backward assisting direction, the rolling direction of the rolling brush of the cleaning machine is adjusted to be reversed or the motor driving the rear wheel in the cleaning machine is adjusted to be reversed according to the backward assisting direction.
In the embodiment of the invention, the friction force generated by friction between the rolling brush and the ground is used for providing assistance, so that a user always saves labor when using the cleaning machine, or the motor for driving the rear wheel in the cleaning machine is adjusted to rotate positively and negatively, so that the user always saves labor when using the cleaning machine.
Through the description of the technical scheme provided by the embodiment of the invention, the sensor data detected by the motion trend detection sensor in the cleaning machine is obtained, the slope of the sensor data is determined, the force trend of the user is determined according to the slope of the sensor data, the motion trend of the cleaning machine is determined according to the force trend of the user, the power assisting direction of the cleaning machine is determined by utilizing the motion trend, and the cleaning machine is controlled to provide power assistance according to the power assisting direction.
The slope of sensor data detected by the motion trend detection sensor in the cleaning machine is used for determining the force trend of the user, the motion trend of the cleaning machine is determined by the force trend of the user, the power-assisted direction of the cleaning machine is determined by the motion trend, the cleaning machine is controlled to provide power assistance according to the power-assisted direction, the power assistance is provided for the user, and the user can control the cleaning machine more labor-saving.
Taking carpet cleaning machine as an example, along with the improvement of the intelligent degree of the carpet cleaning machine, the carpet cleaning machine parts are more and more, the quality of the carpet cleaning machine is inevitably increased, and the carpet cleaning machine is more laborious and reduces user experience during push-pull operation.
Therefore, currently, a motion sensing sensor is installed on a carpet cleaning machine body, and the carpet cleaning machine is sensed to move according to the motion sensing sensor, so that the power assisting is realized by driving a follower wheel of a base through a motor.
Because whether the carpet cleaning machine moves or not is sensed according to the motion sensing sensor, the carpet cleaning machine is extremely harsh to the installation position of the motion sensing sensor, and the judgment accuracy is low and is easy to interfere.
For example, a pressure sensor is installed on a fuselage, and the pressure sensor can only sense positive stress generated by inertial force, and the actual inertial force is synthesized by spatial triaxial acceleration and angular acceleration. Therefore, the pressure sensor senses the movement of the machine body and needs a strict installation position, and the judgment accuracy is low and is easy to interfere. And if a gyroscope is adopted, the requirements on the installation position are high, and the cost is high.
In order to solve the problems, the embodiment of the invention provides a cleaning machine, which comprises a cleaning machine base and a power-assisted control device, wherein the power-assisted control device is integrated in the cleaning machine base and can convert a three-dimensional space force system into a two-dimensional space force system, so that the motion sensing precision is improved, the power-assisted response speed is improved, and the realization is simple and the cost is low.
Specifically, as shown in fig. 12, the assist control device specifically includes a (dc drive) motor, a torque sensor, a speed sensor, an MCU, a reduction gearbox, a mechanical differential, an auxiliary wheel (the auxiliary wheel herein may be understood as an assist wheel driven by a motor), and transmission shafts.
Wherein, auxiliary wheel and mechanical differential mechanism pass through the transmission shaft and connect. The mechanical differential is also a complete set of components, and the drive shaft of each auxiliary wheel is independent, so that three drive shafts are connected with the mechanical differential, and the connection mode is generally key connection.
The mechanical differential mechanism is connected with the reduction gearbox through a main transmission shaft, the torque sensor is arranged on the main transmission shaft, the change of torque is monitored, and the movement of the base of the cleaning machine is perceived (the movement direction is known through the torque sensor). The reduction gearbox is typically a bevel gear reduction gearbox,
the reduction gearbox changes the transmission direction on the one hand and increases the motor output torque on the other hand (the reduction gearbox can change the transmission direction on the one hand and the transmission ratio on the other hand), typically by means of a key connection. The torque sensor is actually a set of couplings that transmit and feed back torque at the same time.
The motor is connected with the reduction gearbox through a transmission shaft, the speed sensor is arranged on the transmission shaft between the motor and the reduction gearbox, and the MCU is connected with the torque sensor, the speed sensor and the motor. In addition, the mechanical differential can distribute different torques to the auxiliary wheels when the base turns, so that the degree of freedom of the auxiliary wheels is increased.
The control principle of the cleaning machine is as follows: due to the existence of the mechanical differential mechanism, the rotation of the auxiliary wheel and the rotation of the base of the cleaning machine are converted into the rotation of the main transmission shaft, and the three-dimensional space force system can be converted into the two-dimensional space force system. The MCU controls the motor to output the supporting moment by receiving a torque signal of the torque sensor and a rotating speed signal of the speed sensor.
When the base of the cleaning machine is static, the torque signal and the rotating speed signal are both 0, and the motor is not started. When the base of the cleaning machine starts to move from rest, the force of the user is the driving force of the auxiliary wheel, the motor is not started, and because the motor is an inertial system (can be regarded as an electromagnetic load), the torque sensor generates corresponding torque signals, the MCU drives the motor according to the torque signals to provide supporting torque, the motor keeps the current rotating speed, and the torque changes to the direction of the main driving of the motor, so that the assistance is realized.
When the cleaning machine base accelerates, the supporting moment of the current motor is insufficient to continue to serve as the main driving force of the auxiliary wheel, the main driving force becomes the force of a user again, at the moment, the torque signal is similar to that when the cleaning machine base starts to move from rest, but the speed (of the cleaning machine base) is continuously increased, at the moment, the torque sensor generates the torque signal, the speed sensor generates the rotating speed signal, and the MCU continuously supplements the supporting moment according to the torque signal and the rotating speed signal (the rotating speed signal can be also called as the speed signal as shown in fig. 1) to drive the motor to continuously assist.
When the base of the cleaning machine moves in the opposite direction, the supporting moment of the front motor becomes a resisting moment, the force of a user becomes a driving moment, the speed is gradually reduced, at the moment, the MCU controls the motor to be powered off, controls the motor to be powered on and reversely rotate to output the supporting moment, and provides the supporting moment for reversing, so that reversing assistance is realized.
The friction moment generated by the rotation of the rolling brush is used as a driving force when the cleaning machine is pushed forward, and is used as a resistance when the cleaning machine is pulled back. Therefore, the cleaning machine can judge the forward, backward, forward and backward deceleration stages according to the speed direction and the moment, and then comprehensively consider the motion condition of the rolling brush to output supporting moment at different stages, so that the power assisting is stable.
The cleaning machine provided by the embodiment of the invention is not influenced by the space component of the inertial force of the machine body, and can accurately sense the motion states of the base such as forward and backward, so as to provide accurate power assistance; the torque and the rotation speed change according to the torque and the rotation speed change to be output quickly, and the response speed is high; the single motor and differential mechanism is used, so that the freedom degree of the base on the rotary motion is fully guaranteed, the cost is low, the motion and the self-motion state of the base rolling brush are fully considered, and the power assisting output is stable. The cleaning machine provided by the embodiment of the invention can quickly and stably provide push-pull assistance for users, and has the advantages of simple structure and low cost.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. A power assist control method, characterized by being applied to a cleaning machine, comprising:
acquiring first data and second data in the cleaning machine, wherein the first data and the second data are different types of data;
the cleaning machine comprises a motion trend detection sensor, and the acquiring of the first data and the second data in the cleaning machine comprises the following steps: acquiring sensor data detected by the motion trend detection sensor in the cleaning machine, and determining the slope of the sensor data;
the motion trend detection sensor comprises a pressure sensor or an acceleration sensor, wherein the pressure sensor or the acceleration sensor is arranged on a connecting piece between a handle of the cleaning machine and a follower wheel and is used for detecting pressure or acceleration applied to the cleaning machine by a user, acquiring sensor data detected by the motion trend detection sensor in the cleaning machine and determining the slope of the sensor data, and the motion trend detection sensor comprises: acquiring pressure or acceleration detected by the pressure sensor or the acceleration sensor in the cleaning machine; acquiring a difference between adjacent pressures or accelerations; acquiring a detection time difference between adjacent pressures or accelerations; determining a slope of the pressure or the acceleration according to the difference and the detection time difference;
Determining a movement trend of the cleaning machine through the first data and the second data, including: determining a force trend of a user based on the slope of the sensor data; determining a movement trend of the cleaning machine through the exertion trend of the user;
said determining a force trend of a user from said slope of said sensor data, comprising: acquiring an accumulated value of the pressure or the slope of the acceleration, and judging whether the accumulated value is larger than a preset first thrust threshold; if the accumulated value is larger than the preset first thrust threshold value, acquiring a accumulated value of the pressure or the slope of the acceleration in a preset time period; judging whether the accumulated value is larger than a preset second thrust threshold value or not, and if the accumulated value is larger than the preset second thrust threshold value, determining that a user has a thrust trend; or, obtaining a cumulative value of the slope of the pressure or the acceleration, and judging whether the cumulative value is larger than a preset first tension threshold value; if the accumulated value is larger than the preset first tension threshold value, acquiring an accumulated value of the pressure or the slope of the acceleration in a preset time period; judging whether the accumulated value is larger than a preset second tension threshold value or not, and if the accumulated value is larger than the preset second tension threshold value, determining that a user has a tension trend;
The determining the movement trend of the cleaning machine through the force trend of the user comprises the following steps: determining a forward trend of the washer corresponding to the user thrust trend; or determining a retreating trend of the cleaning machine corresponding to the user pulling force trend;
determining a power assisting direction of the cleaning machine by using the movement trend, wherein the power assisting direction comprises the following steps of: determining a forward assist direction of the cleaning machine corresponding to the forward trend; or determining a backward power assisting direction of the cleaning machine corresponding to the backward trend;
controlling the cleaning machine according to the assistance direction to provide assistance, comprising: according to the forward power assisting direction, the rolling direction of a rolling brush of the cleaning machine is adjusted to be forward rotation, or a motor driving a rear wheel in the cleaning machine is adjusted to be forward rotation; or according to the backward power assisting direction, the rolling direction of the rolling brush of the cleaning machine is adjusted to be reversed, or the motor for driving the rear wheel in the cleaning machine is adjusted to be reversed.
2. The method of claim 1, wherein the first data and the second data are obtained by a first sensor and a second sensor, respectively, the first sensor and the second sensor being different types of sensors; alternatively, the first data includes sensor data, and the second data is calculated from the first data.
3. The method of claim 2, wherein the washer includes a rear wheel driven by a motor, a magnetic code wheel mounted on the motor rotor, a hall sensing plate mounted on the motor housing above the magnetic code wheel, the washer base including an acceleration sensor;
the acquiring the first data and the second data in the cleaning machine comprises the following steps: the magnetic code disc and the Hall detection plate are utilized to obtain the rotating speed of the rear wheel;
determining the movement speed of the cleaning machine corresponding to the rotation speed of the rear wheel according to the conversion ratio of the rotation speed of the rear wheel to the movement speed of the cleaning machine;
the second data is acceleration, the acceleration is determined according to the movement speed, or the acceleration output by the acceleration sensor is obtained;
the determining the movement trend of the cleaning machine according to the first data and the second data comprises the following steps:
if the movement speed is the same as the acceleration direction, determining that the movement trend of the cleaning machine is acceleration movement;
if the movement speed is opposite to the acceleration direction, determining that the movement trend of the cleaning machine is movement in the opposite direction;
The step of determining the power assisting direction of the cleaning machine by utilizing the movement trend comprises the following steps:
if the movement trend of the cleaning machine is acceleration movement, determining the movement direction corresponding to the acceleration movement of the cleaning machine as the assistance direction of the cleaning machine;
if the movement trend of the cleaning machine is that the cleaning machine moves in the opposite direction, determining that the opposite direction is the power-assisted direction of the cleaning machine;
the control of the cleaning machine according to the assistance direction provides assistance, comprising:
acquiring a direction signal output by the Hall detection plate;
determining a movement direction of the rear wheel according to the direction signal;
and controlling the cleaning machine to provide assistance according to the movement direction and the assistance direction.
4. A method according to claim 3, wherein the direction signal comprises a high/low level signal, and wherein determining the direction of movement of the rear wheel based on the direction signal comprises:
if the direction signal is a high-level signal, determining a first rotation direction of the motor corresponding to the high-level signal;
determining a movement direction of the rear wheel according to the first rotation direction of the motor;
if the direction signal is a low-level signal, determining a second rotating direction of the motor corresponding to the low-level signal, wherein the second rotating direction is opposite to the first rotating direction;
A direction of movement of the rear wheel is determined based on the second direction of rotation of the motor.
5. A method according to claim 3, further comprising, prior to performing the method:
and under the condition that the cleaning machine is started, the relay of the motor is disconnected, so that the motor is not controlled by components and parts and runs along with the cleaning machine.
6. The method of claim 5, wherein said controlling the washer to provide assistance based on the direction of movement and the assistance direction comprises:
if the motion direction represents forward movement and the power-assisted direction represents forward movement, acquiring a preset forward-pushing power-assisted parameter;
if the preset motor boosting parameters are non-zero, opening a relay of the motor, and adjusting the rotating speed of the motor according to the preset forward-pushing boosting parameters;
if the preset motor power assisting parameter is zero, maintaining the disconnection state of a relay of the motor;
or alternatively, the process may be performed,
and if the movement direction represents the forward movement and the power-assisted direction represents the forward movement, adjusting the rolling direction of the rolling brush of the cleaning machine to be positive rotation.
7. The method of claim 5, wherein said controlling the washer to provide assistance based on the direction of movement and the assistance direction comprises:
If the motion direction represents forward motion and the power-assisted direction represents backward motion, determining the motion speed of the cleaning machine;
if the movement speed of the cleaning machine reaches a preset speed threshold, opening a relay of the motor;
and acquiring a preset pull-back power assisting parameter, and adjusting the rotating speed of the motor according to the preset pull-back power assisting parameter, or adjusting the rolling direction of the rolling brush of the cleaning machine to be reverse.
8. The method of claim 5, wherein said controlling the washer to provide assistance based on the direction of movement and the assistance direction comprises:
if the motion direction represents forward movement and the power-assisted direction represents backward movement, determining the acceleration of the cleaning machine;
if the acceleration of the cleaning machine is larger than a preset acceleration threshold value, opening a relay of the motor;
and acquiring a preset pull-back power assisting parameter, and adjusting the rotating speed of the motor according to the preset pull-back power assisting parameter, or adjusting the rolling direction of the rolling brush of the cleaning machine to be reverse.
9. The method according to claim 7 or 8, wherein after adjusting the rotation speed of the motor according to the preset pull-back assist parameter, further comprising:
Acquiring a pull-back distance of the cleaning machine, and judging whether the pull-back distance reaches a preset distance threshold;
and if the pull-back distance reaches the preset distance threshold, reducing the rotating speed of the motor according to a preset motor rotating speed reducing rule.
10. The utility model provides a cleaning machine, its characterized in that, cleaning machine includes cleaning machine base, helping hand controlling means integrates in the cleaning machine base, helping hand controlling means includes: the device comprises a motor, a torque sensor, a speed sensor, an MCU, a reduction gearbox, a mechanical differential, auxiliary wheels and transmission shafts;
the auxiliary wheel is connected with the mechanical differential mechanism through the transmission shaft, the mechanical differential mechanism is connected with the reduction gearbox through the main transmission shaft, and the torque sensor is arranged on the main transmission shaft;
the motor is connected with the reduction gearbox through the transmission shaft, the speed sensor is arranged on the transmission shaft between the motor and the reduction gearbox, and the MCU is connected with the torque sensor, the speed sensor and the motor;
the mechanical differential is used for converting the rotation of the auxiliary wheel and the rotation of the base of the cleaning machine into the rotation of the main transmission shaft, and the MCU is used for controlling the motor to output supporting moment by receiving the torque signal of the torque sensor and the rotating speed signal of the speed sensor;
Acquiring a speed signal output by a speed sensor in the cleaning machine and acquiring a torque signal output by a torque sensor in the cleaning machine;
if the torque signal exists and the speed signal does not exist, determining that the movement trend of the base of the cleaning machine is from stationary;
if the torsion signal exists and the speed signal increases, determining that the movement trend of the cleaning machine base is acceleration movement;
if the torsion signal exists and the speed signal is reduced, determining that the movement trend of the base of the cleaning machine is movement in the opposite direction;
if the movement trend of the cleaning machine base is from static start movement, determining the movement direction of the cleaning machine base corresponding to the static start movement as a first power-assisted direction of the cleaning machine;
if the movement trend of the cleaning machine base is acceleration movement, determining the movement direction corresponding to the acceleration movement of the cleaning machine base as a second power-assisted direction of the cleaning machine;
if the movement trend of the base of the cleaning machine is that the base moves in the opposite direction, determining that the opposite direction is a third power-assisted direction of the cleaning machine;
if the power assisting direction is the first power assisting direction, adjusting the rotating direction of a motor of the cleaning machine according to the first power assisting direction, wherein the motor is used for driving an auxiliary wheel or a rolling brush in the cleaning machine;
If the power assisting direction is the second power assisting direction, adjusting the rotating direction of a motor in the cleaning machine according to the second power assisting direction;
driving a motor in the cleaning machine to continuously output a supporting moment according to the torsion signal and the speed signal;
if the power-assisted direction is the third power-assisted direction, controlling a motor in the cleaning machine to be powered off;
and adjusting the rotation direction of a motor in the cleaning machine according to the third power-assisted direction, and controlling the motor to be electrified to reversely rotate so as to output a supporting moment.
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