CN215128073U - Cleaning robot and main brush assembly thereof - Google Patents
Cleaning robot and main brush assembly thereof Download PDFInfo
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- CN215128073U CN215128073U CN202120687889.0U CN202120687889U CN215128073U CN 215128073 U CN215128073 U CN 215128073U CN 202120687889 U CN202120687889 U CN 202120687889U CN 215128073 U CN215128073 U CN 215128073U
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Abstract
The utility model relates to a cleaning robot and a main brush assembly thereof, wherein the main brush assembly comprises a main brush which is used for cleaning the surface to be cleaned; the main brush motor is connected with the main brush and used for driving the main brush to rotate; the main brush motor driver is connected with the main brush motor and used for driving the main brush motor; the encoder is arranged on the main brush motor and used for monitoring the rotating speed of the main brush and sending a feedback signal comprising the rotating speed of the main brush to the processor; and the processor is respectively electrically connected with the encoder and the main brush motor driver, receives the feedback signal from the encoder and outputs an indication signal to the main brush motor driver, wherein the main brush motor driver is also used for adjusting the rotating speed of the main brush motor according to the indication signal. Therefore, the cleaning effect of the cleaning robot can be ensured, the cleaning requirement of the cleaning robot is met, and the electric quantity consumed by the cleaning robot can be saved, so that the cruising time of the cleaning robot is prolonged.
Description
Technical Field
The utility model relates to an intelligence house technical field especially relates to a cleaning robot and main brush assembly thereof.
Background
In the related art, cleaning robots, such as an intelligent floor sweeper, an intelligent floor wiper, a window wiping robot, and the like, may be used to clean an area corresponding to a movement locus of the cleaning robot.
However, due to some reasons (e.g., the cleaning robot moves to the cleaning region/position with higher friction) the rotation speed of the main brush may change (e.g., the rotation speed is decreased by the influence of friction), and the changed rotation speed may not meet the current cleaning requirement (e.g., too low rotation speed may cause the cleaning effect of the region to deteriorate and/or the cleaning time required for the cleaning region to be prolonged).
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a cleaning robot and main brush assembly thereof.
In order to solve the above technical problem, according to the utility model discloses an embodiment provides a cleaning robot's main brush assembly, include: the main brush is used for cleaning the surface to be cleaned; the main brush motor is connected with the main brush and used for driving the main brush to rotate; the main brush motor driver is connected with the main brush motor and used for driving the main brush motor; the encoder is arranged on the main brush motor and used for monitoring the rotating speed of the main brush and sending a feedback signal comprising the rotating speed of the main brush to the processor; and the processor is respectively electrically connected with the encoder and the main brush motor driver, receives the feedback signal from the encoder and outputs an indication signal to the main brush motor driver, wherein the main brush motor driver is also used for adjusting the rotating speed of the main brush motor according to the indication signal.
For the main brush assembly of the cleaning robot, in a possible implementation manner, the main brush assembly further includes: and the speed reducer is connected with the main brush motor and the main brush and used for changing the torque output by the main brush motor.
For the main brush assembly of the cleaning robot, in a possible implementation manner, the processor compares the main brush rotation speed in the feedback signal with a preset rotation speed, and outputs an indication signal corresponding to a comparison result to the main brush motor driver, where the preset rotation speed is a preset rotation speed value or a preset rotation speed range.
For the above-mentioned main brush assembly of the cleaning robot, in a possible implementation manner, the preset rotation speed is a preset rotation speed value, and the processor is configured to: when the rotating speed of the main brush is smaller than the preset rotating speed value, outputting a first indicating signal; wherein the main brush motor driver is configured to: and adjusting the main brush motor to increase the output torque according to the first indication signal so as to increase the rotating speed of the main brush.
For the above-described main brush assembly of the cleaning robot, in one possible implementation, the processor is further configured to: when the main brush rotating speed is greater than the preset rotating speed value, outputting a second indicating signal, wherein the second indicating signal is different from the first indicating signal, and wherein the main brush motor driver is further configured to: and adjusting the main brush motor to reduce the output torque according to the second indication signal, so that the rotating speed of the main brush is reduced.
For the main brush assembly of the cleaning robot, in one possible implementation, the preset rotation speed is a preset rotation speed range; when the rotating speed of the main brush in the feedback signal exceeds the preset rotating speed range, the processor outputs a third indicating signal to the main brush motor driver, and the main brush motor driver adjusts the output torque of the main brush motor according to the third indicating signal, so that the rotating speed of the main brush is adjusted to enter the preset rotating speed range.
For the main brush assembly of the cleaning robot described above, in one possible implementation, the encoder is a photoelectric encoder.
For the above-mentioned main brush assembly of the cleaning robot, in one possible implementation, the encoder includes at least a magnetic encoder, and the magnetic encoder includes: an encoder disk which is formed by a plurality of N/S poles alternately arranged; an encoder shaft that rotates coaxially with a shaft of the main brush motor to rotate the encoder disk; a Hall sensor outputting a pulse signal corresponding to a rotation speed of the main brush.
In order to solve the above technical problem, according to another embodiment of the present invention, there is provided a cleaning robot including: a housing; a moving unit for moving the cleaning robot on a surface to be cleaned; and the main brush assembly is arranged at the bottom of the cleaning robot, wherein the cleaning robot moves on the surface to be cleaned through the moving unit and cleans the surface to be cleaned through the main brush assembly.
For the above cleaning robot, in one possible implementation, the moving unit includes: a wheel set; the wheel set motor is connected with the wheel set and used for driving the wheel set; the wheel set speed reducer is connected with the wheel set motor and the wheel set and used for changing the torque output by the wheel set motor so as to enable the wheel set motor to change the rotating speed of the wheel set; and the wheel set motor driver is connected with the wheel set motor and used for driving the wheel set motor.
According to the utility model discloses a cleaning robot and main brush assembly thereof, the encoder monitors the rotational speed of main brush and will send the feedback signal including main brush rotational speed for the treater, the treater receives this feedback signal and to main brush motor drive output instruction signal from the encoder, main brush motor drive receives this instruction signal and adjusts the rotational speed of main brush motor according to this instruction signal from the treater, therefore, thereby not only can ensure cleaning robot's clean effect and satisfy cleaning robot's clean requirement, thereby can also practice thrift the electric quantity that cleaning robot consumed and improve cleaning robot's duration.
Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the present invention and, together with the description, serve to explain the principles of the invention.
FIG. 1 is a block diagram illustrating a main brush assembly of a cleaning robot in accordance with an exemplary embodiment.
FIG. 2 is a block diagram illustrating another cleaning robot main brush assembly according to an exemplary embodiment.
FIG. 3 is a block diagram illustrating a main brush assembly of yet another cleaning robot in accordance with an exemplary embodiment.
FIG. 4 is a block diagram illustrating a main brush assembly of yet another cleaning robot in accordance with an exemplary embodiment.
FIG. 5 is a block diagram illustrating a cleaning robot in accordance with an exemplary embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present invention.
Referring to fig. 5, the cleaning robot 500 may include a housing 420, a moving unit 410, and a main brush assembly 100. The moving unit 410 is used to move the cleaning robot 500 on the surface to be cleaned, and the main brush assembly 100 is disposed at the bottom of the cleaning robot 500 (the disposition is not shown), whereby the cleaning robot 500 can move on the surface to be cleaned via the moving unit 410 and control the main brush of the main brush assembly 100 via the main brush assembly 100 to clean the surface to be cleaned.
The cleaning robot 500 may be, for example, a device for autonomously moving within a space of an actual working area to clean foreign substances (such as dust, dirt, etc.) on a floor or window surface to automatically clean the space, wherein the cleaning robot 500 includes, for example, but not limited to, an intelligent sweeper, an intelligent scrubber, and a window wiper robot.
Here, the space of the actual working area of the cleaning robot 500 may be either a closed space such as a plurality of rooms or an open space such as an outdoor space. In other words, the cleaning robot 500 may be used to clean an indoor space of a certain household to be cleaned, and the cleaning robot 500 may also be used to clean an outdoor space to be cleaned, for example, a floor of a certain square.
In one possible implementation, the motion unit 410 may include: a wheel set; a wheel set motor (not shown) connected to the wheel set for driving the wheel set; a wheel set reducer (not shown) connected to the wheel set motor and the wheel set, for changing a torque output by the wheel set motor to make the wheel set motor change a rotation speed of the wheel set; and a wheel set motor driver (not shown) connected to the wheel set motor for driving the wheel set motor.
It should be understood that the cleaning robot 500 may employ a suitable housing and a suitable motion unit related to the prior art as the housing 420 and the motion unit 410, respectively, and the specific structure of the housing 420 and the motion unit 410 is not specifically expanded in the present embodiment for reasons of space.
Referring to FIG. 1, the main brush assembly 100 may include a processor 101, a main brush motor driver 102, a main brush motor 103, a main brush 104, and an encoder 105. The main brush 104 is used for cleaning a surface to be cleaned; the main brush motor 103 is connected with the main brush 104 and is used for driving the main brush 104 to rotate; the main brush motor driver 102 is connected to the main brush motor 103, and is used to drive the main brush motor 103.
An encoder 105 is disposed on the main brush motor 103 for monitoring the rotational speed of the main brush 104 and transmitting a feedback signal including the rotational speed of the main brush 104 to the processor 101; the processor 101 is electrically connected to the encoder 105 and the main brush motor driver 102, respectively, and is configured to receive the feedback signal from the encoder 105 and output an indication signal to the main brush motor driver 102, where the main brush motor driver 102 is further configured to adjust a rotation speed of the main brush motor 103 according to the indication signal.
In the present embodiment, the surface to be cleaned includes any surface within the space of the actual working area of the cleaning robot 500. The main brush 104 is rotated by the main brush motor 103 to clean a surface to be cleaned, that is, the main brush motor 103 supplies power required for rotation to the main brush 104.
It should be understood that the main brush 104 should be detachable, and the main brush 104 may be implemented using a main brush having an appropriate structure in the related art, and the present embodiment is not particularly limited in the number of the main brushes 104 and the installation position thereof.
The processor 101 may be disposed on a circuit board within the body of the cleaning robot 500, and the processor 101 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Microprocessors (MCUs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), or other electronic devices.
The main brush motor driver 102 controls the main brush motor 103 under the control of the processor 101, thereby controlling the rotational speed of the main brush 104. Specifically, the main brush motor driver 102 may receive an instruction signal from the processor 101 instructing the main brush motor driver 102 to control the rotation speed of the main brush motor 103, and control the rotation speed of the main brush motor 103 according to the received instruction signal, thereby controlling the rotation speed of the main brush 104.
Illustratively, the encoder 105 is disposed on the main brush motor 103, and the encoder 105 may rotate coaxially with the main brush motor 103, so that the encoder 105 may rotate following the rotation of the main brush motor 103, and thus, the encoder 105 may monitor the rotational speed of the main brush motor 103, and accordingly, the rotational speed of the main brush 104 driven by the main brush motor 103. In other words, a signal related to the rotational speed of the main brush 104 may be communicated between the encoder 105 and the main brush 104. The present embodiment does not limit the setting position of the encoder 105. In some embodiments, the encoder 105 may also be non-coaxial with the main brush motor 103, such as by having the shaft of the main brush motor 103 parallel to the shaft of the encoder 105 via a track, or having the shaft of the main brush motor 103 at an angle to the shaft of the encoder 105 via a worm gear mechanism or bevel gear, all of which enable the encoder 105 to monitor the rotational speed of the main brush motor 103, and thus the present invention does not limit the relative positions of the main brush motor 103 and the encoder 105.
The encoder 105 is electrically connected to the processor 101, so that the encoder 105 can send a feedback signal including the rotation speed of the main brush 104 to the processor 101, and the processor 101 can use a related algorithm in the prior art to calculate the rotation speed of the main brush 104 according to the feedback signal, generate the indication signal according to the calculated rotation speed of the main brush 104 and send the indication signal to the main brush motor driver 102 electrically connected to the processor 101, so as to adjust the rotation speed of the main brush motor 103 and further adjust the rotation speed of the main brush 104.
Accordingly, the processor 101 acquires the rotation speed of the main brush 104 via the encoder 105 electrically connected thereto, and outputs an instruction signal for adjusting the rotation speed of the main brush motor 103 to the main brush motor driver 102, and accordingly, the main brush motor driver 103 may receive the instruction signal from the processor 101, and may adjust the rotation speed of the main brush motor 103 according to the received instruction signal, thereby adjusting the rotation speed of the main brush 104 driven by the main brush motor 103.
Like this, can adjust the rotational speed of main brush 104 according to aforementioned rotational speed adjustment mode under the condition that needs adjust the rotational speed of main brush 104, from this, not only can ensure the cleaning effect of cleaning robot 500 to satisfy cleaning robot 500's cleaning requirement, thereby can also practice thrift the electric quantity that cleaning robot 500 consumed and improve cleaning robot 500's time of endurance, and then can improve user's experience.
Therefore, according to the cleaning robot 500 and the main brush assembly 100 thereof of the present invention, the encoder 105 monitors the rotation speed of the main brush 104 and transmits a feedback signal including the rotation speed of the main brush 104 to the processor 101, the processor 101 receives the feedback signal from the encoder 105 and outputs an indication signal to the main brush motor driver 102, and the main brush motor driver 102 receives the indication signal from the processor 101 and adjusts the rotation speed of the main brush motor 103 according to the indication signal, thereby adjusting the rotation speed of the main brush 104.
For example, when the cleaning robot 500 moves to a cleaning region/position with larger friction, the rotation speed of the main brush 104 may change, for example, the rotation speed of the main brush 104 is reduced by the influence of the friction, and the reduced rotation speed may not meet the current cleaning requirement (for example, too small rotation speed may cause the cleaning effect of the region to be degraded and/or the cleaning time required for the cleaning region to be prolonged). In this scenario, the main brush assembly 100 of the cleaning robot 500 may increase the rotation speed of the main brush 104 in the above manner to satisfy the current cleaning requirement (maintain the same cleaning effect when the rotation speed of the main brush reaches the preset rotation speed).
For example, when the cleaning robot 500 moves to a relatively smoother area/position to be cleaned, the rotation speed of the main brush 104 may increase, and in this scenario, although the cleaning effect can be ensured, the amount of power consumed by the cleaning robot 500 may be unnecessarily increased, resulting in a reduction in the duration of the cleaning robot 500, and for this reason, the main brush assembly 100 of the cleaning robot 500 may reduce the rotation speed of the main brush 104 in the above manner to save the amount of power consumed by the cleaning robot 500, thereby increasing the duration of the cleaning robot 500.
Referring to FIG. 2, the main brush assembly 100 may further include a storage unit 109. The storage unit 109 is used to store instructions and data including, but not limited to, map data, temporary data (e.g., position data, speed data, mileage data, etc. of the cleaning robot 500) generated when controlling the operation of the cleaning robot 500, the rotational speed of the main brush 104, correspondence data of the rotational speed of the main brush 104 to an instruction signal for adjusting the rotational speed of the main brush motor 103, and the like. The storage unit 109 may include, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Hard Disk Drive (HDD), and the like.
The processor 101 may read instructions stored in the storage unit 109 to perform the corresponding functions. In the present embodiment, the processor 101 may read the related instruction stored in the storage unit 109 to calculate the rotation speed of the main brush 104 from the feedback signal received from the encoder 105, read the correspondence data between the rotation speed of the main brush 104 stored in the storage unit 109 and the instruction signal for adjusting the rotation speed of the main brush motor 103, acquire the instruction signal corresponding to the rotation speed using the calculated rotation speed of the main brush 104, and transmit the instruction signal to the main brush motor driver 102.
In one possible implementation manner, the processor 101 may compare the rotation speed of the main brush 104 included in the feedback signal received from the encoder 105 with a preset rotation speed (the preset rotation speed may be stored in the storage unit 109 in advance, or calculated in real time based on a certain rule according to real-time operation data of the cleaning robot), and output an indication signal corresponding to a result of the comparison to the main brush motor driver 102, where the preset rotation speed is a preset rotation speed value or a preset rotation speed range.
The processor 101 may read the related instructions stored in the storage unit 109 to compare the rotation speed of the main brush 104 with the preset rotation speed, and output a corresponding indication signal to the main brush motor driver 102 according to the comparison result.
For example, the storage unit 109 may store the following instructions: and comparing the rotating speed of the main brush with a preset rotating speed value, and if the rotating speed of the main brush is less than the preset rotating speed value, outputting an indicating signal for increasing the rotating speed of the main brush. In this case, the processor 101 may read the aforementioned instructions stored in the storage unit 109, compare the rotation speed of the main brush 104 with a preset rotation speed value, and output an instruction signal for increasing the rotation speed of the main brush motor 103 to the main brush motor driver 102 when the rotation speed of the main brush 104 is less than the preset rotation speed value. Accordingly, the main brush motor driver 103 may receive the indication signal from the processor 101, and may adjust the output torque of the main brush motor 103 according to the received indication signal, thereby increasing the rotational speed of the main brush 104 driven by the main brush motor 103. Therefore, when the rotation speed of the main brush 104 is less than the preset rotation speed value, the rotation speed of the main brush 104 is increased according to the above manner, and thus, the same cleaning effect as when the rotation speed of the main brush reaches the preset rotation speed value can be maintained.
Illustratively, the storage unit 109 may also store the following instructions: and comparing the rotating speed of the main brush with a preset rotating speed value, and if the rotating speed of the main brush is greater than the preset rotating speed value, outputting an indicating signal for reducing the rotating speed of the main brush. In this case, the processor 101 may read the aforementioned instructions stored in the storage unit 109, compare the rotation speed of the main brush 104 with a preset rotation speed value, and output an instruction signal for decreasing the rotation speed of the main brush motor 103 to the main brush motor driver 102 when the rotation speed of the main brush 104 is greater than the preset rotation speed value. Accordingly, the main brush motor driver 103 may receive the indication signal from the processor 101, and may adjust the output torque of the main brush motor 103 according to the received indication signal, thereby decreasing the rotational speed of the main brush 104 driven by the main brush motor 103. Thus, when the rotation speed of the main brush 104 is greater than the preset rotation speed value, the rotation speed of the main brush 104 is reduced according to the aforementioned manner, so that the amount of electricity consumed by the cleaning robot 500 can be saved, thereby improving the endurance time of the cleaning robot 500.
Illustratively, the storage unit 109 may also store the following instructions: and judging whether the rotating speed of the main brush exceeds a preset rotating speed range, and if the rotating speed of the main brush exceeds the preset rotating speed range, outputting an indicating signal for enabling the rotating speed of the main brush to enter the preset rotating speed range. In this case, the processor 101 may read the aforementioned instruction stored in the storage unit 109, determine whether the rotation speed of the main brush 104 exceeds a preset rotation speed range, and output an instruction signal for adjusting the rotation speed of the main brush motor 103 to the main brush motor driver 102 when the rotation speed of the main brush 104 exceeds the preset rotation speed range. Accordingly, the main brush motor driver 103 may receive the indication signal from the processor 101, and may adjust the output torque of the main brush motor 103 according to the received indication signal, thereby bringing the rotation speed of the main brush 104 driven by the main brush motor 103 into a preset rotation speed range. Thus, when the rotation speed of the main brush 104 does not fall within the preset rotation speed range, the rotation speed of the main brush 104 is increased/decreased according to the aforementioned manner so that the rotation speed of the main brush 104 falls within the preset rotation speed range, and thus, not only can the cleaning effect of the cleaning robot 500 (maintaining the same cleaning effect when the rotation speed of the main brush falls within the preset rotation speed range) be ensured to thereby satisfy the cleaning requirement of the cleaning robot 500, but also the amount of electricity consumed by the cleaning robot 500 can be saved to thereby improve the endurance time of the cleaning robot 500.
With continued reference to FIG. 2, the main brush assembly 100 may also include a speed reducer 106. The speed reducer 106 is connected to the main brush motor 103 and the main brush 104, and changes the torque output from the main brush motor 103. In the present embodiment, a power input end of the reducer 106 is connected to the main brush motor 103, and a power output end of the reducer 106 is connected to the main brush 104, and the reducer 106 adjusts torque (power) transmitted from the main brush motor 104 and transmits the adjusted torque to the main brush 104 to adjust the rotation speed of the main brush 110.
Referring to fig. 3, the encoder 105 may include a photoelectric encoder 1051. The encoder can be, for example, an E6B2-CWZ6C photoelectric rotary incremental encoder or the like. In this embodiment, the rotation speed of the main brush 104 may be monitored via the photoelectric encoder 1051, and a feedback signal including the rotation speed of the main brush 104 may be transmitted to the processor 101, and accordingly, the processor 101 may control the rotation speed of the main brush 104 in the above-described manner.
Continuing to refer to fig. 3, the encoder 105 may further include a magnetic encoder 1053, such as a YC2010-31 brushless motor incremental hall magnetosensitive encoder or a QY1503-SPI mini-encoder. In this embodiment, the rotational speed of the main brush 104 may be monitored via the magnetic encoder 1053 and a feedback signal including the rotational speed of the main brush 104 may be sent to the processor 101, and accordingly, the processor 101 may control the rotational speed of the main brush 104 in the manner described above.
Referring to FIG. 4, the magnetic encoder 1053 may include an encoder disk 1053-1, an encoder shaft 1053-2, and a Hall sensor 1053-3, wherein the encoder disk 1053-1 may be formed by a plurality of alternating N/S poles (N represents a north magnetic field and S represents a south magnetic field), and in some embodiments, the encoder shaft 1053-2 rotates coaxially with the shaft of the main brush motor 103 to rotate the encoder disk 1053-1, and the Hall sensor 1053-3 outputs a pulse signal corresponding to the rotational speed of the main brush 104. It is of course also possible, as mentioned in the above embodiments, to make the encoder shaft non-coaxial with the main brush motor by means of tracks, worm gears, bevel gears.
In this embodiment, the hall sensor 1053-3 outputs a pulse signal corresponding to the rotational speed of the main brush 104, which may correspond to a feedback signal including the rotational speed of the main brush 104, to the processor 101, and the processor 101 may control the rotational speed of the main brush 104 in the above-described manner.
It should be noted that the photoelectric sensor needs to rely on light sensing to realize detection, but the working environment of the cleaning robot often has a lot of dust, and the long-time working of the cleaning robot can generate dust accumulation to affect the judgment of the photoelectric sensor. Therefore, the Hall sensor is used and senses by means of magnetism, and cannot be influenced by dust, so that the Hall sensor can keep accurate in use for a long time.
For example, even if the rotational speed of the main brush 104 is within the preset rotational speed range, the processor 101 may output an indication signal to the main brush motor driver 102 that the rotational speed of the main brush motor 103 does not need to be changed, and accordingly, the rotational speed of the main brush 104 does not naturally need to be changed. It should be noted that, in the present invention, adjusting the rotation speed of the main brush motor also includes not changing the rotation speed of the main brush motor.
Similarly, even if the rotation speed of the main brush 104 is equal to the preset rotation speed value, the processor 101 may output an indication signal to the main brush motor driver 102 that the rotation speed of the main brush motor 103 does not need to be changed, and accordingly, the rotation speed of the main brush 104 does not naturally need to be changed.
That is, it may be set that the processor 101 outputs the indication signal to the main brush motor driver 102 regardless of the magnitude relationship of the rotation speed of the main brush 104 and the preset rotation speed value and whether the rotation speed of the main brush 104 is within the preset rotation speed range, only with the difference in the specific content of the indication signal. Of course, if the rotation speed of the main brush 104 is the same as the preset rotation speed value or the rotation speed of the main brush 104 is within the preset rotation speed range, the processor 101 may not output the indication signal to the main brush motor driver 102.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A main brush assembly of a cleaning robot, comprising:
the main brush is used for cleaning the surface to be cleaned;
the main brush motor is connected with the main brush and used for driving the main brush to rotate;
the main brush motor driver is connected with the main brush motor and used for driving the main brush motor;
the encoder is arranged on the main brush motor and used for monitoring the rotating speed of the main brush and sending a feedback signal comprising the rotating speed of the main brush to the processor; and
a processor electrically connected to the encoder and the main brush motor driver, respectively, receiving the feedback signal from the encoder, and outputting an indication signal to the main brush motor driver,
wherein the main brush motor driver is further configured to adjust a rotational speed of the main brush motor according to the indication signal.
2. The primary brush assembly of claim 1, further comprising:
and the speed reducer is connected with the main brush motor and the main brush and used for changing the torque output by the main brush motor.
3. The primary brush assembly of claim 1,
the processor compares the main brush rotating speed in the feedback signal with a preset rotating speed and outputs an indication signal corresponding to the comparison result to the main brush motor driver,
wherein the preset rotating speed is a preset rotating speed value or a preset rotating speed range.
4. The primary brush assembly of claim 3, wherein the predetermined speed is a predetermined speed value, the processor configured to:
when the rotating speed of the main brush is smaller than the preset rotating speed value, outputting a first indicating signal;
wherein the main brush motor driver is configured to:
and adjusting the main brush motor to increase the output torque according to the first indication signal so as to increase the rotating speed of the main brush.
5. The primary brush assembly of claim 4, wherein the processor is further configured to:
when the main brush rotating speed is larger than the preset rotating speed value, outputting a second indicating signal, wherein the second indicating signal is different from the first indicating signal,
wherein the main brush motor driver is further configured to:
and adjusting the main brush motor to reduce the output torque according to the second indication signal, so that the rotating speed of the main brush is reduced.
6. The primary brush assembly of claim 3, wherein the predetermined rotational speed is a predetermined range of rotational speeds; when the rotating speed of the main brush in the feedback signal exceeds the preset rotating speed range, the processor outputs a third indicating signal to the main brush motor driver, and the main brush motor driver adjusts the output torque of the main brush motor according to the third indicating signal, so that the rotating speed of the main brush is adjusted to enter the preset rotating speed range.
7. The main brush assembly of any of claims 1-6, wherein the encoder is an opto-electronic encoder.
8. The main brush assembly of any of claims 1-6, wherein the encoder includes at least a magnetic encoder, the magnetic encoder comprising:
an encoder disk which is formed by a plurality of N/S poles alternately arranged;
an encoder shaft that rotates coaxially with a shaft of the main brush motor to rotate the encoder disk;
a Hall sensor outputting a pulse signal corresponding to a rotation speed of the main brush.
9. A cleaning robot, characterized by comprising:
a housing;
a moving unit for moving the cleaning robot on a surface to be cleaned; and
the main brush assembly according to any one of claims 1 to 8, provided at a bottom of the cleaning robot,
wherein the cleaning robot moves on the surface to be cleaned via the moving unit and cleans the surface to be cleaned via the main brush assembly.
10. The cleaning robot according to claim 9, wherein the moving unit includes:
a wheel set;
the wheel set motor is connected with the wheel set and used for driving the wheel set;
the wheel set speed reducer is connected with the wheel set motor and the wheel set and used for changing the torque output by the wheel set motor so as to enable the wheel set motor to change the rotating speed of the wheel set; and
and the wheel set motor driver is connected with the wheel set motor and used for driving the wheel set motor.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120687889.0U CN215128073U (en) | 2021-04-02 | 2021-04-02 | Cleaning robot and main brush assembly thereof |
| PCT/CN2022/084867 WO2022206967A1 (en) | 2021-04-02 | 2022-04-01 | Rotation speed control method, cleaning robot and main brush assembly thereof, and storage medium |
| US18/478,976 US20240023780A1 (en) | 2021-04-02 | 2023-09-29 | Method for controlling rotating speed, cleaning robot, and storage medium |
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| CN202120687889.0U CN215128073U (en) | 2021-04-02 | 2021-04-02 | Cleaning robot and main brush assembly thereof |
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| CN215128073U true CN215128073U (en) | 2021-12-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022206967A1 (en) * | 2021-04-02 | 2022-10-06 | 速感科技（北京）有限公司 | Rotation speed control method, cleaning robot and main brush assembly thereof, and storage medium |
| IL297359B1 (en) * | 2022-10-18 | 2023-07-01 | Maytronics Ltd | Pool surface slipperiness detection |
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2021
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022206967A1 (en) * | 2021-04-02 | 2022-10-06 | 速感科技（北京）有限公司 | Rotation speed control method, cleaning robot and main brush assembly thereof, and storage medium |
| IL297359B1 (en) * | 2022-10-18 | 2023-07-01 | Maytronics Ltd | Pool surface slipperiness detection |
| IL297359B2 (en) * | 2022-10-18 | 2023-11-01 | Maytronics Ltd | Pool surface slipperiness detection |
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