CN116763197A - Cleaning apparatus, control method of cleaning apparatus, and storage medium - Google Patents
Cleaning apparatus, control method of cleaning apparatus, and storage medium Download PDFInfo
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- CN116763197A CN116763197A CN202210241483.9A CN202210241483A CN116763197A CN 116763197 A CN116763197 A CN 116763197A CN 202210241483 A CN202210241483 A CN 202210241483A CN 116763197 A CN116763197 A CN 116763197A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 210
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000003860 storage Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 238000003708 edge detection Methods 0.000 claims abstract description 37
- 238000005096 rolling process Methods 0.000 claims description 35
- 230000007613 environmental effect Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000005406 washing Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
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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
-
- 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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4011—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
- A47L11/40—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
- A47L11/4041—Roll shaped surface treating 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
- A47L11/40—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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning 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
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Cleaning In General (AREA)
Abstract
The embodiment of the application discloses cleaning equipment, a control method of the cleaning equipment and a storage medium, wherein the cleaning equipment comprises a machine body component; the cleaning component is arranged at the bottom of the machine body component; an adjusting mechanism connected with the cleaning assembly to adjust the position of the cleaning assembly at the bottom of the machine body assembly; an edge detection mechanism for detecting the edge information of the cleaning component; and the controller is respectively connected with the edge detection mechanism and the adjusting mechanism and is used for: acquiring side information acquired by an edge detection mechanism; and under the condition that the cleaning component is determined not to contact the edge to be cleaned based on the side information, controlling the adjusting mechanism to adjust the position of the cleaning component so that the cleaning component with the adjusted position contacts the edge to be cleaned. The application realizes the automatic detection of whether the edge is close or not, controls the cleaning equipment to move so as to enable the cleaning equipment to be close to the edge when judging that the cleaning equipment is not close to the edge, is more intelligent, and improves the edge cleaning effect.
Description
Technical Field
The application belongs to the technical field of floor cleaners, and particularly relates to cleaning equipment, a control method of the cleaning equipment and a storage medium.
Background
At present, the cleanliness requirements of living and working environments are also increasingly concerned. To alleviate the levels of exertion during cleaning, cleaning products have been developed such as: floor washing machines, and the like.
In the prior art, the floor cleaning machine product can finish cleaning of most living and working environments. However, in the dead space area and the edge area, the cleaning member below the floor scrubber cannot be attached to the dead space area or the edge area, so that these areas cannot be cleaned well, and thus the floor scrubber further becomes a "sanitary dead space". Therefore, each manufacturer can choose to add a structure on the floor washing machine or improve the structure of the cleaning piece, so that the floor washing machine can be touched at least. However, the cleaning person still needs to pay attention to the time, and can lean against dead angle areas and edge areas, and the situation that cleaning is not clean due to carelessness of observation is likely to happen. And are not intelligent and cumbersome to use for some wireless products.
Disclosure of Invention
In order to solve the problems in the prior art, the application provides a cleaning device, a control method of the cleaning device and a storage medium. The device realizes the automatic detection of whether the edge is close or not, controls the cleaning device to move so as to enable the cleaning device to be close to the edge when judging that the cleaning device is not close to the edge, is more intelligent, and improves the edge cleaning effect.
The specific technical scheme provided by the embodiment of the application is as follows:
in a first aspect, there is provided a cleaning apparatus comprising:
a fuselage assembly;
a cleaning assembly mounted to the bottom of the body assembly;
an adjustment mechanism coupled to the cleaning assembly for adjusting the position of the cleaning assembly at the bottom of the body assembly;
an edge detection mechanism to detect side information of the cleaning assembly;
and the controller is respectively connected with the edge detection mechanism and the adjusting mechanism and is used for:
acquiring the side leaning information acquired by the edge detection mechanism;
and controlling the adjusting mechanism to adjust the position of the cleaning assembly under the condition that the cleaning assembly is not contacted with the edge to be cleaned based on the side information, so that the cleaning assembly with the adjusted position is contacted with the edge to be cleaned.
In some embodiments, the cleaning assembly includes a roller brush including a first end surface contactable with an edge to be cleaned; the adjusting mechanism is used for adjusting the position of the rolling brush along the axial direction of the rolling brush;
the controlling the adjustment mechanism to adjust the position of the cleaning assembly includes:
and controlling the adjusting mechanism structure to adjust the position of the rolling brush towards the direction of the first end surface.
In some embodiments, the controlling the adjustment mechanism structure to adjust the position of the roller brush toward the first end face includes:
and controlling the adjusting mechanism structure to adjust the position of the rolling brush towards the direction of the first end face based on the side information.
In some embodiments, the roller brush further has a second end face and a central axis connected to the second end face, the roller brush rotating along the central axis;
the adjustment mechanism includes:
the first gear is sleeved on the central shaft, and the second gear is meshed with the first gear;
the second driving piece is connected with the second gear, and is also connected with the controller through signals, so that the second gear is driven to drive the first gear to rotate under the control of the controller, and the first gear drives the cleaning assembly to move.
In some embodiments, the edge detection mechanism is mounted on the first end face and includes any one of a switch assembly, a pressure sensor, and a distance sensor.
In some embodiments, the adjustment mechanism comprises:
a slide rail extending in the axial direction of the rolling brush;
a slider engaged with the slide rail; one of the slide rail and the slider is mounted on the cleaning assembly, the other is mounted on a support structure in the cleaning apparatus; the method comprises the steps of,
the first driving piece is connected with any one of the sliding rail, the sliding piece and the cleaning component;
the first driving piece is also in signal connection with the controller so as to drive the cleaning assembly to move through cooperation between the sliding rail and the sliding piece under the control of the controller.
In some embodiments, the cleaning device further comprises a sensing assembly coupled to the controller, the sensing assembly configured to obtain environmental information; the controller is further configured to:
determining an operating mode of the cleaning assembly according to the environmental information under the condition that the cleaning assembly is determined to contact the edge to be cleaned based on the side information;
and controlling the cleaning component to work on the edge to be cleaned according to the working mode.
In some embodiments, the determining the operational mode of the cleaning assembly based on the environmental information comprises:
and determining the working mode of the cleaning component in a matching mode in a corresponding relation between preset reference environment information and a reference working mode based on the environment information.
In some embodiments, the operation mode includes a normal operation mode, an edge operation mode;
the numerical value of the working parameter of the side working mode is larger than that of the working parameter of the normal working mode; the operating parameters include suction power of the suction motor for generating suction force; and/or the number of the groups of groups,
the rotational speed of the cleaning assembly.
In a second aspect, there is provided a control method of a cleaning apparatus, the method being used in the cleaning apparatus of the first aspect, the method comprising:
acquiring the side leaning information acquired by the edge detection mechanism;
and controlling the adjusting mechanism to adjust the position of the cleaning assembly under the condition that the cleaning assembly is not contacted with the edge to be cleaned based on the side information, so that the cleaning assembly with the adjusted position is contacted with the edge to be cleaned.
In a third aspect, there is provided a computer-readable storage medium storing a computer program which, when executed by a processor, controls a cleaning apparatus, the method being for use in the cleaning apparatus of the first aspect, the method comprising:
acquiring the side leaning information acquired by the edge detection mechanism;
and controlling the adjusting mechanism to adjust the position of the cleaning assembly under the condition that the cleaning assembly is not contacted with the edge to be cleaned based on the side information, so that the cleaning assembly with the adjusted position is contacted with the edge to be cleaned.
The embodiment of the application has the following beneficial effects:
1. according to the application, through the edge detection mechanism, automatic detection of whether the edge is close or not is realized, when the edge is not close, the cleaning equipment is controlled to move to be close to the edge, artificial judgment and operation are not needed, the whole cleaning process is more intelligent, and the edge cleaning efficiency is improved;
2. according to the application, the edge detection mechanism is arranged on the first end face of the rolling brush, which is in direct contact with the cleaning edge, so that the edge detection mechanism can realize rapid detection, and when the first end face is judged to be not in contact with the cleaning edge, the adjustment mechanism is controlled to drive the rolling brush to move towards the first end face, thereby realizing the position adjustment of the rolling brush;
3. when the rolling brush is controlled to move towards the direction of the first end face, the rolling brush can also move based on the side information collected by the edge detection mechanism, so that the accuracy of the moving direction of the rolling brush is further ensured;
4. the adjusting mechanism can comprise two meshed gears and a driving piece, and the whole structure is compact, high in transmission efficiency and strong in stability;
5. the adjusting mechanism can comprise a sliding rail, a sliding piece and a driving piece, and the cleaning assembly can complete linear motion according to higher precision and has higher moving speed;
6. the application can determine the working modes corresponding to different environments based on the environment information, and realize edge cleaning based on different working modes, thereby being more intelligent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic block-shaped structural view of a cleaning apparatus according to an embodiment of the present disclosure;
FIG. 2 is a flow diagram of a method of controlling a cleaning device according to an embodiment of the present disclosure;
wherein, each sign in the drawings indicates as follows:
10. a fuselage assembly; 20. a controller; 30. a cleaning assembly; 40. an edge detection mechanism; 50. an adjusting mechanism; 60. and a sensing assembly.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.
As described in the background art, in the present day, when a floor scrubber cleans dead space areas or edge areas, the dead space areas or the edge areas cannot be well reached due to structural limitations, and thus, some patents propose to install an edge cleaning member to clean the dead space areas. However, after the edge cleaning member is installed, the cleaning personnel still need to pay attention to the moment to complete the whole cleaning process, so that the situation that the cleaning is not clean due to carelessness in observation is most likely to happen, and in addition, the cleaning machine is not intelligent and is troublesome to use for some wireless products.
In order to solve the above technical problems, the applicant of the present application creatively conceived to perform edge detection using an edge detection mechanism, and when it is judged that the edge cleaning member is not edge-backed, control the movement of the edge cleaning member to achieve edge cleaning.
An embodiment of the first aspect of the present application provides a cleaning apparatus, referring to fig. 1, comprising:
the device comprises a body assembly 10, wherein the body assembly 10 is provided with a handle for a user to hold, and an adsorption motor is arranged in the body assembly 10 and used for generating suction airflow;
the cleaning component 30 is arranged at the bottom of the machine body component 10, and after dirt such as dust is lifted up by the cleaning component 30, the dirt is wrapped and clamped by suction air flow to move so as to be collected;
an adjustment mechanism 50 coupled to the cleaning assembly 30 to adjust the position of the cleaning assembly 30 at the bottom of the body assembly 10;
an edge detection mechanism 40 to detect the edge information of the cleaning member 30;
a controller 20 connected to the edge detection mechanism 40 and the adjustment mechanism 50, respectively, the controller 20 being configured to:
acquiring the side information acquired by the edge detection mechanism 40;
in the case that it is determined that the cleaning member 30 does not contact the edge to be cleaned based on the side information, the adjusting mechanism 50 is controlled to adjust the position of the cleaning member 30 so that the cleaning member 30 with the adjusted position contacts the edge to be cleaned.
In real life, whether it is home, workplace or outdoors, most of the sites are bounded except for stairs, cliffs and other scenes. The edge to be cleaned is actually a space area formed by the intersection of two surfaces to be cleaned, and in general, the two surfaces to be cleaned are vertical, so that the space area is a right-angle area. It is generally considered that one side of the edge to be cleaned (the horizontal plane of the edge to be cleaned) parallel to the earth is the cleaning focus.
When the edge detection mechanism 40 judges that the vertical surface of the edge to be cleaned is not close to the vertical surface (namely, the surface perpendicular to the ground) in cleaning, the adjustment mechanism 50 is controlled to adjust the position of the cleaning assembly 30 so as to contact the vertical surface of the edge to be cleaned, and then the cleaning assembly 30 can be driven to work to finish the cleaning work of the horizontal surface of the edge to be cleaned.
The cleaning apparatus according to the embodiment of the present application firstly implements automatic detection of whether the edge is close by providing the edge detection mechanism 40, and then, when judging that the edge is not close, the controller 20 controls the adjustment mechanism 50 to adjust the position of the cleaning assembly 30 until the edge is close. Compared with the existing cleaning equipment, the application does not need artificial judgment and operation, the whole cleaning process is more intelligent, and the edge cleaning efficiency is improved.
Specifically, a cavity is provided in the body assembly 10, and the controller 20 may be fixed in the cavity. In addition, the cavity is also provided with a water tank, a pipeline, a battery and other parts. The water tank is connected to the cleaning assembly 30 installed at the bottom of the body assembly 10 through a pipe, and supplies water to the cleaning assembly 30 to achieve edge cleaning. The battery is used to power the normal operation of the controller 20, edge detection mechanism 40, adjustment mechanism 50, etc.
In some embodiments of the present application, the cleaning assembly 30 includes a roller brush. The rolling brush comprises a first end face, wherein the first end face can be contacted with the edge to be cleaned; the adjusting mechanism 50 is used for adjusting the position of the rolling brush along the axial direction of the rolling brush;
the controlling and adjusting mechanism 50 adjusts the position of the cleaning assembly 30, including:
the control adjustment mechanism 50 is structured to adjust the position of the roller brush in the direction of the first end face.
Specifically, the rolling brush is of a cylindrical structure and comprises a first end face, and the first end face is perpendicular to the axial direction of the rolling brush. In edge cleaning with the cleaning apparatus, the first end surface of the roll brush may be in direct contact with the vertical surface of the edge to be cleaned, and the edge detection mechanism 40 generates side information based on the relationship between the first end surface of the roll brush and the vertical surface of the edge to be cleaned and sends the side information to the controller 20. When the controller 20 determines that the first end surface of the roller brush is not in contact with the vertical surface of the edge to be cleaned based on the side information, the control and adjustment mechanism 50 is controlled to drive the roller brush to move toward the first end surface, so that the first end surface is closer to the vertical surface of the edge to be cleaned until the first end surface is in contact with the vertical surface of the edge to be cleaned.
In the application, the position of the rolling brush is regulated towards the direction of the first end surface by controlling the structure of the regulating mechanism 50, so that the correctness of the moving direction of the rolling brush is ensured, and a foundation is provided for the subsequent edge cleaning.
On the basis of the above embodiment, the controlling the adjusting mechanism 50 to adjust the position of the roller brush in the direction of the first end surface may specifically include:
based on the side information, the adjusting mechanism 50 is controlled to adjust the position of the roller brush in the direction of the first end face.
The side information may include related information such as a distance between the rolling brush and a vertical plane of the edge to be cleaned, so that based on the related information, the controller 20 can calculate a moving route and a final reaching position of the rolling brush, thereby realizing rapid movement and further ensuring accuracy of a moving direction of the rolling brush.
In the above embodiment, the rolling brush further has a second end face and a central shaft connected to the second end face, and the rolling brush rotates along the central shaft;
the adjusting mechanism 50 specifically includes:
the first gear is sleeved on the central shaft, and the second gear is meshed with the first gear;
the second driving piece is connected with the second gear, and is also connected with the controller 20 in a signal manner so as to drive the second gear to drive the first gear to rotate under the control of the controller 20, and the first gear drives the cleaning assembly 30 to move.
Specifically, in the present embodiment, the first end surface and the second end surface are perpendicular to the central axis of the roller brush. When the cleaning device is used for cleaning, the first end face is close to the edge to be cleaned, and the second end face is far away from the edge to be cleaned. In order not to influence the cleaning effect of the rolling brush, the first gear is sleeved on the central shaft close to the second end face.
The second driving member may be a member, such as a motor, for driving the second gear to rotate. The following describes the driving process using the motor as an example:
the motor shaft is provided with a key groove which can be in transition fit with the hole of the second gear so as to transmit torque. When the controller 20 sends a driving signal to the motor, the motor starts to rotate and drives the second gear to rotate. Because the second gear and the first gear are meshed with each other, the first gear also rotates and drives the rolling brush to move.
The adjusting mechanism 50 formed by the two gear meshing modes has compact structure and high transmission efficiency, and can drive the cleaning assembly 30 with larger quality and has strong stability.
On the basis of the above embodiment, the adjusting mechanism 50 may further include:
a slide rail extending along the axial direction of the rolling brush;
a sliding piece matched with the sliding rail; one of the slide rail and the slider is mounted on the cleaning assembly 30 and the other is mounted on a support structure in the cleaning apparatus; the method comprises the steps of,
a first driving member coupled to any one of the slide rail, the slider, and the cleaning assembly 30;
the first drive member is also in signal communication with the controller 20 to drive the cleaning assembly 30 through engagement between the slide rail and the slider under the control of the controller 20.
Specifically, the sliding rail and the sliding member are fixedly connected with the corresponding cleaning assembly 30 or the supporting structure. The surface of the sliding rail is provided with external threads, the inner surface of the sliding piece is provided with internal threads, and the sliding rail and the sliding piece can move relatively through the cooperation of the internal threads and the external threads.
When the slide rail is mounted on the cleaning assembly 30 in the axial direction of the roll brush and the slide member is mounted on the support structure, the first drive member may be connected to the slide rail or the cleaning assembly 30 in order to drive the cleaning assembly 30 in motion. When the controller 20 sends a signal to the first driving member, the first driving member generates a driving force and transmits the driving force to the slide rail or the cleaning assembly 30, and at this time, the cleaning assembly 30 and the slide rail can slide relative to the sliding member.
When the slide rail is mounted on the support structure in the axial direction of the roll brush and the slider is mounted on the cleaning assembly 30, the first driving member may be connected to the slider in order to drive the cleaning assembly 30 in motion. When the controller 20 sends a signal to the first driving member, the first driving member generates a driving force and transmits the driving force to the sliding member, and at this time, the cleaning assembly 30 and the sliding member can slide relative to the sliding rail.
The first driving member may be a motor, a linear cylinder, or the like. When motor driving is used, better control accuracy can be obtained, and when linear cylinder driving is used, higher speed can be obtained. So that the person skilled in the art can choose the required driving member according to the actual requirements.
The adjusting mechanism 50 composed of the sliding rail, the sliding member and the driving member can enable the cleaning assembly 30 to complete linear motion with high precision and high moving speed.
The edge detection mechanism 40 of the present application is mounted on the first end surface of the roll brush, and includes any one of a switch assembly, a pressure sensor, and a distance sensor, based on the above embodiment.
Specifically, since the first end surface is in direct contact with the vertical surface of the edge to be cleaned, the edge detection mechanism 40 can quickly acquire the edge information when mounted on the first end surface, and the detection performance is improved.
The following describes a specific detection process by taking a switch assembly, a pressure sensor and a distance sensor as examples:
if the edge detection mechanism 40 is a switch assembly, it is turned on and outputs an on signal when the switch assembly detects that the first end face is in contact with the vertical face of the edge to be cleaned, and is turned off when the switch assembly detects that the first end face is not in contact with the vertical face of the edge to be cleaned. When the controller 20 does not receive the on signal, it indicates that the cleaning assembly 30 is not yet bordered at this time.
If the edge detection mechanism 40 is a pressure sensor, the pressure sensor detects pressure data in real time and communicates with the controller 20, and when the controller 20 determines that the pressure data does not reach the pressure threshold range, it is determined that the cleaning assembly 30 is not yet edge-on.
If the edge detection mechanism 40 is a distance sensor, the distance sensor collects the distance between the rolling brush and the vertical plane of the edge to be cleaned in real time and sends the distance to the controller 20, and when the controller 20 judges that the distance data is greater than the preset distance threshold, it is determined that the cleaning assembly 30 is not close to the edge.
It should be understood that one skilled in the art may select the corresponding sensor that may perform the specific function according to the actual needs.
In some embodiments of the present application, the cleaning apparatus further comprises a sensing assembly 60 coupled to the controller 20, with continued reference to FIG. 1, the sensing assembly 60 being configured to obtain environmental information; the controller 20 is also configured to:
in the case that the cleaning assembly 30 is determined to contact the edge to be cleaned based on the side information, determining an operation mode of the cleaning assembly 30 according to the environmental information;
the cleaning assembly 30 is controlled to operate on the edge to be cleaned in accordance with the mode of operation.
Preferably, determining the operational mode of the cleaning assembly 30 based on the environmental information includes:
the operation mode of the cleaning assembly 30 is determined based on matching of the environmental information in a correspondence of preset reference environmental information and a reference operation mode.
In order to improve the cleaning effect and the intelligence, the controller 20 may be pre-stored with data of working modes corresponding to different environments, so that the controller can quickly select based on the pre-stored data when the controller is used in different scenes.
Further, the working modes include a normal working mode and an edge working mode;
wherein, the value of the working parameter of the side working mode is larger than that of the working parameter of the normal working mode; the operating parameters include suction power of the suction motor for generating suction force; and/or the number of the groups of groups,
rotational speed of the cleaning assembly 30.
Specifically, when the suction power is high, the suction force of the suction motor is high, and more dust can be sucked, so that the suction power is a very important parameter of most cleaning devices; when the rotational speed of the cleaning assembly 30 is large, the cleaning ability thereof is enhanced, and deep cleaning can be achieved; if both parameters are raised, the cleaning ability is increased while the suction is increased.
Since the edge areas are often ignored or not cleaned in place, dust, dirt is easily deposited. According to the application, by setting the side working mode, the suction force of the equipment or the cleaning capacity can be improved, or both the suction force and the cleaning capacity can be improved, and the edge cleaning is well completed.
An embodiment of the second aspect of the present application provides a control method of a cleaning apparatus, the method being used in the cleaning apparatus of the embodiment of the first aspect, referring to fig. 2, the method including the steps of:
step 201, acquiring side information acquired by an edge detection mechanism;
and 202, controlling an adjusting mechanism to adjust the position of the cleaning assembly so that the cleaning assembly with the adjusted position contacts the edge to be cleaned under the condition that the cleaning assembly is determined not to contact the edge to be cleaned based on the side information.
In some embodiments, the controlling the adjusting mechanism to adjust the position of the cleaning assembly includes:
the control adjusting mechanism structure adjusts the position of the rolling brush towards the direction of the first end face.
In some embodiments, the controlling the adjusting mechanism structure to adjust the position of the rolling brush toward the direction of the first end surface includes:
based on the side information, the adjusting mechanism structure is controlled to adjust the position of the rolling brush towards the direction of the first end face.
In some embodiments, the edge detection mechanism described above includes any of a switch assembly, a pressure sensor, a distance sensor.
In some embodiments, the control method of the cleaning device further includes:
determining an operating mode of the cleaning assembly according to the environmental information under the condition that the cleaning assembly is determined to contact the edge to be cleaned based on the side information;
the cleaning assembly is controlled to operate the edge to be cleaned according to the operation mode.
In some embodiments, determining the operational mode of the cleaning assembly based on the environmental information includes:
and determining the working mode of the cleaning component by matching in the corresponding relation between the preset reference environment information and the reference working mode based on the environment information.
In some embodiments, the operation modes include a normal operation mode and an edge operation mode;
the numerical value of the working parameter of the side working mode is larger than that of the working parameter of the normal working mode; the operating parameters include suction power of the suction motor for generating suction force; and/or the number of the groups of groups,
rotational speed of the cleaning assembly.
The control method of the cleaning equipment realizes the automatic detection of whether the edge is close or not, controls the cleaning equipment to move so as to enable the cleaning equipment to be close to the edge when judging that the cleaning equipment is not close to the edge, is more intelligent, and improves the edge cleaning effect.
An embodiment of a third aspect of the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor, is used in a cleaning apparatus of an embodiment of the first aspect, the method comprising:
acquiring side information acquired by an edge detection mechanism;
and under the condition that the cleaning component is determined not to contact the edge to be cleaned based on the side information, controlling the adjusting mechanism to adjust the position of the cleaning component so that the cleaning component with the adjusted position contacts the edge to be cleaned.
Program portions of the technology may be considered to be "products" or "articles of manufacture" in the form of executable code and/or associated data, embodied or carried out by a computer readable medium. A tangible, persistent storage medium may include any memory or storage used by a computer, processor, or similar device or related module. Such as various semiconductor memories, tape drives, disk drives, or the like, capable of providing storage functionality for software.
All or a portion of the software may sometimes communicate over a network, such as the internet or other communication network. Such communication may load software from one computer device or processor to another. Thus, another medium capable of carrying software elements may also be used as a physical connection between local devices, such as optical, electrical, electromagnetic, etc., propagating through cable, optical cable, air, etc. Physical media used for carrier waves, such as electrical, wireless, or optical, may also be considered to be software-bearing media. Unless limited to a tangible "storage" medium, other terms used herein to refer to a computer or machine "readable medium" mean any medium that participates in the execution of any instructions by a processor.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (11)
1. A cleaning apparatus, comprising:
a fuselage assembly;
a cleaning assembly mounted to the bottom of the body assembly;
an adjustment mechanism coupled to the cleaning assembly for adjusting the position of the cleaning assembly at the bottom of the body assembly;
an edge detection mechanism to detect side information of the cleaning assembly;
and the controller is respectively connected with the edge detection mechanism and the adjusting mechanism and is used for:
acquiring the side leaning information acquired by the edge detection mechanism;
and controlling the adjusting mechanism to adjust the position of the cleaning assembly under the condition that the cleaning assembly is not contacted with the edge to be cleaned based on the side information, so that the cleaning assembly with the adjusted position is contacted with the edge to be cleaned.
2. The cleaning apparatus of claim 1, wherein the cleaning assembly comprises a roller brush comprising a first end surface contactable with an edge to be cleaned; the adjusting mechanism is used for adjusting the position of the rolling brush along the axial direction of the rolling brush;
the controlling the adjustment mechanism to adjust the position of the cleaning assembly includes:
and controlling the adjusting mechanism structure to adjust the position of the rolling brush towards the direction of the first end surface.
3. The cleaning apparatus of claim 2, wherein the controlling the adjustment mechanism structure to adjust the position of the roller brush toward the first end face comprises:
and controlling the adjusting mechanism structure to adjust the position of the rolling brush towards the direction of the first end face based on the side information.
4. The cleaning apparatus of claim 2, wherein the roller brush further has a second end surface and a central axis connected to the second end surface, the roller brush rotating along the central axis;
the adjustment mechanism includes:
the first gear is sleeved on the central shaft, and the second gear is meshed with the first gear;
the second driving piece is connected with the second gear, and is also connected with the controller through signals, so that the second gear is driven to drive the first gear to rotate under the control of the controller, and the first gear drives the cleaning assembly to move.
5. The cleaning apparatus defined in claim 2, wherein the edge detection mechanism is mounted on the first end face and comprises any one of a switch assembly, a pressure sensor, and a distance sensor.
6. The cleaning apparatus of claim 2, wherein the adjustment mechanism comprises:
a slide rail extending in the axial direction of the rolling brush;
a slider engaged with the slide rail; one of the slide rail and the slider is mounted on the cleaning assembly, the other is mounted on a support structure in the cleaning apparatus; the method comprises the steps of,
the first driving piece is connected with any one of the sliding rail, the sliding piece and the cleaning component;
the first driving piece is also in signal connection with the controller so as to drive the cleaning assembly to move through cooperation between the sliding rail and the sliding piece under the control of the controller.
7. The cleaning apparatus of claim 1, further comprising a sensing assembly coupled to the controller, the sensing assembly configured to obtain environmental information; the controller is further configured to:
determining an operating mode of the cleaning assembly according to the environmental information under the condition that the cleaning assembly is determined to contact the edge to be cleaned based on the side information;
and controlling the cleaning component to work on the edge to be cleaned according to the working mode.
8. The cleaning apparatus of claim 7, wherein the determining the operational mode of the cleaning assembly based on the environmental information comprises:
and determining the working mode of the cleaning component in a matching mode in a corresponding relation between preset reference environment information and a reference working mode based on the environment information.
9. The cleaning apparatus of claim 8, wherein the operating mode comprises a normal operating mode, an bordering operating mode;
the numerical value of the working parameter of the side working mode is larger than that of the working parameter of the normal working mode; the operating parameters include suction power of the suction motor for generating suction force; and/or the number of the groups of groups,
the rotational speed of the cleaning assembly.
10. A method of controlling a cleaning apparatus, wherein the method is used in the cleaning apparatus according to any one of claims 1 to 9, the method comprising:
acquiring the side leaning information acquired by the edge detection mechanism;
and controlling the adjusting mechanism to adjust the position of the cleaning assembly under the condition that the cleaning assembly is not contacted with the edge to be cleaned based on the side information, so that the cleaning assembly with the adjusted position is contacted with the edge to be cleaned.
11. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, is used in a cleaning apparatus as claimed in any one of claims 1 to 9, the method comprising:
acquiring the side leaning information acquired by the edge detection mechanism;
and controlling the adjusting mechanism to adjust the position of the cleaning assembly under the condition that the cleaning assembly is not contacted with the edge to be cleaned based on the side information, so that the cleaning assembly with the adjusted position is contacted with the edge to be cleaned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210241483.9A CN116763197A (en) | 2022-03-11 | 2022-03-11 | Cleaning apparatus, control method of cleaning apparatus, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210241483.9A CN116763197A (en) | 2022-03-11 | 2022-03-11 | Cleaning apparatus, control method of cleaning apparatus, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116763197A true CN116763197A (en) | 2023-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210241483.9A Pending CN116763197A (en) | 2022-03-11 | 2022-03-11 | Cleaning apparatus, control method of cleaning apparatus, and storage medium |
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| Country | Link |
|---|---|
| CN (1) | CN116763197A (en) |
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2022
- 2022-03-11 CN CN202210241483.9A patent/CN116763197A/en active Pending
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