CN215424434U - Cleaning equipment and motion control device thereof - Google Patents
Cleaning equipment and motion control device thereof Download PDFInfo
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- CN215424434U CN215424434U CN202120952597.5U CN202120952597U CN215424434U CN 215424434 U CN215424434 U CN 215424434U CN 202120952597 U CN202120952597 U CN 202120952597U CN 215424434 U CN215424434 U CN 215424434U
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Abstract
The utility model relates to the technical field of cleaning machines, and particularly discloses a cleaning device and a motion control device thereof. The motion control device comprises a motion direction sensing device, a steering sensing device, a speed regulation sensing device and a controller. The user sets the movement direction, the steering information and the speed information of the cleaning equipment by adjusting the movement direction sensing device, the steering sensing device and the speed regulation sensing device, and the controller controls the movement of the cleaning equipment according to the movement direction, the steering information and the speed information. So, can save the physical demands that the user used the cleaning equipment operation, promote user experience, practice thrift manufacturing cost simultaneously.
Description
Technical Field
The utility model relates to the technical field of cleaning machines, in particular to a cleaning device and a motion control device thereof.
Background
With the rapid development of society and the change of labor resources and labor costs, the demands of cleaning machines such as floor sweeping machines and floor washing machines are increasing. However, as the cleaning function of the cleaning device is increased, the cleaning device becomes larger and heavier, and the movement speed and direction of the cleaning device are difficult to control simply by manpower.
In order to solve the problems, the prior art controls the movement of the cleaning device by means of manual driving and wireless remote control. The cleaning equipment adopting the manual driving mode has higher manufacturing cost, and the manual driving device can increase the volume of the cleaning equipment; the cleaning equipment adopting the wireless remote control mode needs to be additionally provided with a remote control transmitting and receiving device, the manufacturing cost is increased, and meanwhile, the cleaning equipment is controlled to move in a remote control mode, so that the use experience of a user is influenced.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present invention provides a cleaning device and a motion control device thereof, a user can directly control the steering and the speed of the cleaning device by adjusting a steering sensing device and a speed-adjusting sensing device, so that the physical consumption of the user in the operation of using the cleaning device is reduced, the user experience is improved, and the manufacturing cost is reduced.
In a first aspect, an embodiment of the present application provides a motion control device for a cleaning apparatus, including: the device comprises a steering sensing device, a speed regulation sensing device, a motion direction sensing device and a controller. Wherein, the steering sensing device, the speed regulation sensing device and the motion direction sensing device are all coupled with the mover. The steering sensing device generates steering information of the cleaning equipment according to the operation of a user; the speed regulation sensing device is used for generating speed regulation information of the cleaning equipment according to the operation of a user; the movement direction sensing device is used for generating the movement direction of the cleaning equipment according to the operation of a user; the controller is used for obtaining the movement direction, the steering information and the speed regulation information, determining the steering parameter of the cleaning equipment according to the steering information, determining the speed parameter of the cleaning equipment according to at least one of the steering parameter and the speed regulation information, and controlling the cleaning equipment to move according to the movement direction, the steering parameter and the speed parameter.
For example, when a user uses the cleaning equipment to work, the steering sensing device is adjusted to generate steering information and/or the speed regulation sensing device is adjusted to generate speed regulation information, a controller of the cleaning equipment calculates motion parameters according to the steering information and the speed regulation information after detecting the steering information of the steering sensing device and the speed regulation information generated by the speed regulation sensing device, and converts the motion parameters into control parameters, and after the control parameters are transmitted to the motor driver, the motor driver drives the motion execution device to realize the motion of the cleaning equipment. So, the user turns to induction system and speed governing induction system through the regulation and can realize the control to the cleaning device motion, has saved the physical demands that the user used the cleaning device operation, has promoted user experience, need not increase remote control transmission and receiving arrangement or man-operated driving device simultaneously, has reduced manufacturing cost.
In one possible implementation of the first aspect, the cleaning device further comprises a thrust structure, and the steering sensing device and the speed regulation sensing device are disposed on the thrust structure. For example, in some embodiments, the steering sensing device is disposed in a first region of the thrust structure, i.e., an active region of the cleaning device on the left hand of the user; in other embodiments, the speed regulation sensing device is disposed in the second region of the thrust structure, i.e., the active region of the cleaning device in which the right hand of the user is moving. So, the user when hand push cleaning device carries out the operation, adjusts with the left hand and turns to induction system, can control cleaning device with right hand speed governing induction system and move, has saved the physical demands that the user used cleaning device to carry out the operation, has promoted user experience.
In one possible implementation of the first aspect, the steering sensing device is a single-shaft rocker potentiometer or an absolute encoder.
In one possible implementation of the first aspect, the speed-regulating sensing device is a limitless rotary encoder or a potentiometer.
In a possible implementation of the first aspect described above, the cleaning device further comprises a hard stop arrangement, the hard stop arrangement being arranged on the thrust structure.
In one possible implementation of the first aspect, the cleaning device further comprises a safety handle disposed on the pushing structure.
In one possible implementation of the first aspect described above, the cleaning device further comprises a display device; and the steering sensing device and the speed regulation sensing device are arranged in the display device.
For example, in some embodiments, the display device may be a thin film transistor touch screen, the steering sensing device and the speed regulation sensing device are virtual modules implemented by software, the display device of the cleaning device displays an interface of the steering sensing device and the speed regulation sensing device in the touch screen, and a user interactively adjusts the steering sensing device and the speed regulation sensing device with the cleaning device through the touch screen, so as to control the cleaning device to move. So, to the cleaning equipment who possesses the touch-sensitive screen, need not increase extra part just can carry out the motion through turning to induction system and speed governing induction system control cleaning equipment, reduced manufacturing cost when promoting the user and providing.
In a second aspect, the present invention provides a cleaning appliance comprising a motion control device as described in the first aspect above.
In one possible implementation of the second aspect, the cleaning device is a single steering wheel type cleaning device, and the steering engine is used for controlling the steering of the cleaning device by adjusting the direction of the driving wheel relative to the cleaning device.
In one possible implementation of the second aspect, determining a steering parameter of the cleaning device according to the steering information includes: and determining the rotation angle and direction of the steering engine according to the steering information.
In one possible implementation of the second aspect, determining a speed parameter of the cleaning device based on at least one of the steering parameter and the throttle information comprises: and determining the speed and direction of the driving wheel according to the speed regulation information.
In one possible implementation of the second aspect, the cleaning device is a two-wheel differential type cleaning device, including a first driving wheel and a second driving wheel, and the first driving wheel and the second driving wheel are used for controlling the cleaning device to steer by adjusting a speed difference between the first driving wheel and the second driving wheel.
In one possible implementation of the second aspect, determining a speed parameter of the cleaning device based on at least one of the steering parameter and the throttle information comprises: determining the speed and direction of the first driving wheel according to the steering parameter and the speed regulation information; and determining the speed and direction of the second driving wheel according to the steering parameter and the speed regulation information.
Drawings
FIG. 1 illustrates an application scenario of a cleaning appliance motion control apparatus, according to some embodiments of the present invention;
FIG. 2 illustrates a schematic structural view of a cleaning apparatus, according to some embodiments of the present invention;
FIG. 3 illustrates a schematic view of a cleaning apparatus thrust configuration, according to some embodiments of the present invention;
FIG. 4 illustrates a schematic view of a cleaning device display, according to some embodiments of the utility model;
FIG. 5 illustrates a schematic structural view of a cleaning device motion control apparatus, according to some embodiments of the present invention;
FIG. 6 illustrates a schematic view of a steering sensing device, according to some embodiments of the present invention;
FIG. 7 illustrates a flow diagram of a cleaning device motion control method, according to some embodiments of the utility model.
Detailed Description
Embodiments of the present invention include, but are not limited to, a cleaning apparatus and a motion control device thereof.
In order to further explain the technical scheme and the beneficial effects of the embodiment of the utility model, the following further explains the embodiment with reference to the attached drawings.
FIG. 1 illustrates a diagram of an application scenario for a cleaning device motion control apparatus, according to some embodiments of the present invention. As shown in fig. 1, the cleaning apparatus 10 is a cleaning apparatus that can be driven by a motor, and is a large floor washing machine used in places such as supermarkets, dining halls, and airports. In the embodiment shown in fig. 1, the cleaning device 10 includes a thrust structure 11, wherein a movement direction sensing device 1061, a steering sensing device 1062 and a speed regulation sensing device 1063 are disposed on the thrust structure 11, and the movement direction sensing device 1061, the steering sensing device 1062 and the speed regulation sensing device 1063 are disposed on the thrust structure 11. The user acts on the pushing structure 11 to move the cleaning device 10 for cleaning work. When a user pushes the cleaning device 10 to operate, the steering of the cleaning device 10 can be adjusted by acting on the steering sensing device 1062; the adjustment of the movement speed of the cleaning device 10 can be achieved by acting on the speed regulation sensing device 1063. The cleaning device 10 moves according to the movement direction information generated by the movement direction sensing device 1061, the turn information generated by the turn sensing device 1062, and the speed control information generated by the speed control sensing device 1063. Therefore, the cleaning equipment 10 can be controlled to move without being provided with a wireless remote control device, and the manufacturing cost is saved.
FIG. 2 illustrates a schematic structural view of a cleaning apparatus 10, according to some embodiments of the present invention, as shown in FIG. 2, the cleaning apparatus 10 comprising: the device comprises a controller 100, an audio module 101, a display 102, a memory 103, a power module 104, an interface module 105, a sensing module 106, a camera 107, a motor driver 108, a work motor 109, a work execution device 110, a motion motor 111 and a motion execution device 112.
Wherein:
the controller 100 is used for controlling the movement of the cleaning device 10 and the cleaning operation, the controller 100 further includes a processor 1001, and the processor 1001 may include one or more Processing units, for example, a Processing module or a Processing circuit that may include a central Processing Unit (cpu), a graphics Processing Unit (gpu), a digital Signal processor (dsp), a digital Signal processor (digital Signal processor), a Micro-programmed Control Unit (MCU), an Artificial Intelligence (AI) processor, or a Programmable logic device (fpga), etc. The different processing units may be separate devices or may be integrated into one or more processors. For example, in some embodiments of the present invention, processor 1001 may be used to execute motion control algorithms for cleaning apparatus 10, may also be used to control the motion of cleaning apparatus 10 based on the direction of motion, steering parameters, and speed parameters, and may also be used to execute cleaning control algorithms for cleaning apparatus 10 for controlling the cleaning operations of job execution device 110 of cleaning apparatus 10.
The audio module 101 is used to convert digital audio information into an analog audio signal for output, or convert an analog audio input into a digital audio signal. The audio module 101 may be configured to perform a voice alarm when the cleaning apparatus 10 has an operation error, and may also be configured to receive a voice command of a user, the processor 1001 processes the voice command and then generates a control command, and the motor driver 108 drives the cleaning apparatus 10 to perform a cleaning operation and a movement according to the control command, thereby implementing the voice control on the cleaning apparatus 10.
The Display panel of the Display 102 may be a Liquid Crystal Display (LCD), an Organic Light-emitting Diode (OLED), an Active matrix Organic Light-emitting Diode (Active-matrix Organic Light-emitting Diode, AMOLED), a flexible Light-emitting Diode (FLED), a Mini LED, a Micro OLED, a Quantum Dot Light-emitting Diode (QLED), or the like. The display 102 may be used to display the operation status of the cleaning device 10, and may also be used to display the interfaces of the movement direction sensing device 1061, the steering sensing device 1062 and the speed regulation sensing device 1063. It will be appreciated that in some embodiments, display 102 may also include a touch screen, such as a Thin Film Transistor (TFT) touch screen, through which a user may interact with cleaning device 10.
A Memory 103, which may be used for storing data and software programs, and may be a Volatile Memory (Volatile Memory), such as a Random-Access Memory (RAM); or a Non-Volatile Memory (Non-Volatile Memory), such as a Read-Only Memory (ROM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, HDD) or a Solid-State Drive (SSD); or a combination of the above types of memories, or may be a removable storage medium such as a Secure Digital (SD) memory card or the like. For example, the memory 103 may be used to store a program for controlling the cleaning device 10 and may also be used to store pictures taken by the camera 107.
The power module 104 may include a power supply, power management components, and the like. The power source may be a battery. The power management component is used for managing the charging of the power supply and the power supply of the power supply to other modules.
The interface module 105 includes an external memory interface, a Universal Serial Bus (USB) interface, and the like. Wherein the external memory interface can be used to connect an external memory card, such as a Micro SD card, to extend the memory capability of the cleaning device 10. The external memory card communicates with the processor 1001 through an external memory interface, implementing a data storage function. The universal serial bus interface is used for communication between the cleaning device 10 and other electronic devices.
The sensing module 106 includes a running direction sensing device 1061, a steering sensing device 1062, and a speed-adjusting sensing device 1062. Wherein:
the movement direction sensing means 1061 may be a physical switch such as a button, a switch, a push button, etc. for detecting the movement direction of the cleaning device 10 set by the user.
The steering sensing device 1062 may be a single-shaft rocker potentiometer for detecting the left-right displacement amplitude applied to the rocker by the user, or may be a sensor such as an absolute value encoder capable of detecting the left-right steering amplitude or angle.
The speed-adjusting sensing device 1063 may be an unlimited rotary encoder for detecting the acceleration and distance of the user rotary encoder, or a sensor such as a potentiometer capable of detecting the rotation amplitude.
In some embodiments, sensing module 106 further includes an emergency stop device, which may be a physical switch such as a button, switch, button, etc. for controlling cleaning apparatus 10 to stop operation in case of emergency. For example, when the cleaning apparatus 10 encounters an obstacle, the user stops the operation of the cleaning apparatus 10 by acting on the scram device in order to avoid collision of the cleaning apparatus 10 with the obstacle. Speed sensors and rotational angle sensors are used to detect the current operating conditions of cleaner 10, including but not limited to speed of movement, acceleration of movement, steering angle, etc. In other embodiments, the sensing module 106 may also include other sensors, such as speed sensors, rotation angle sensors, touch sensors, etc.
Further, in some embodiments, cleaning apparatus 10 includes a thrust structure 11, and the travel direction sensing device 1061, the steering sensing device 1062, the speed regulation sensing device 1063, and the sudden stop device may be disposed on the thrust structure 11 of cleaning apparatus 10. FIG. 3 shows a schematic view of a thrust structure 11 of a cleaning apparatus 10, according to some embodiments of the present invention. As shown in fig. 3, the thrust structure 11 is provided with a movement direction sensing device 1061, a steering sensing device 1062, a speed regulation sensing device 1063, a safety handle 1064 and an emergency stop device 1065. The steering sensing device 1062 is disposed in a left-hand area of the thrust structure 11 (an area on the thrust structure 11 where the left hand of the user moves), and the speed-adjusting sensing device 1063 is disposed in a right-hand area (an area on the thrust structure 11 where the right hand of the user moves), so that when the user pushes the cleaning device 10 to operate, the steering sensing device 1062 is adjusted by the left hand to steer the cleaning device 10; the adjustment of the movement speed of the cleaning device 10 can be achieved by adjusting the speed regulation sensing device 1063 with the right hand. Safety handle 1064 is used to ensure safety in using cleaning apparatus 10, e.g., in some embodiments, safety handle 1064 is kept closed to allow cleaning apparatus 10 to function properly. The scram device 1065 is used to stop the operation of the cleaning apparatus 10 in an emergency, that is, when the scram device 1065 is activated, the operation of the cleaning apparatus 10 is stopped.
It should be noted that the left-hand area and the right-hand area shown in fig. 3 are only an example, and the usage habits of different users are different, and the left-hand area and the right-hand area are also different.
Furthermore, it should be noted that the thrust structure 11 shown in fig. 3 is only an exemplary structure, and in other embodiments, the thrust structure 11 provided by the present invention may also be another type of thrust structure, for example, an annular thrust structure in the form of a steering wheel, and the embodiments of the present invention are not limited. It should be understood by those skilled in the art that the positions of the movement direction sensing device 1061, the steering sensing device 1062, the speed regulation sensing device 1063, the safety handle 1064 and the emergency stop device 1065 can also be adjusted according to the actual characteristics of the cleaning equipment, and the embodiment of the present invention is not limited thereto.
In other embodiments, the motion direction sensing device 1061, the steering sensing device 1062, and the speed regulating sensing device 1063 may also be disposed in the display 102, and the user may interact with the cleaning device 10 through the display 102 and the touch screen. For example, FIG. 4 shows a schematic view of a display interface of cleaning device 10, according to an embodiment of the present invention. As shown in fig. 4, the movement direction sensing device 1061, the steering sensing device 1062, and the speed regulation sensing device 1063 are displayed on the display 102, and a user interacts with the cleaning device 10 through the display 102 and the touch screen to complete setting of the movement direction, the steering parameter, and the speed parameter of the cleaning device 10. Like this, to the cleaning device 10 who possesses the touch-sensitive screen, need not increase extra hardware module and can realize controlling cleaning device 10, reduced manufacturing cost when promoting user experience.
The camera 107 is used to capture still images or video. The object scene is projected onto a photosensitive element through an optical image generated by the lens 101, the photosensitive element converts an optical signal into an electrical signal, and then the electrical signal is transferred to an image signal processor to be converted into a digital image signal. In some embodiments, the camera 107 may be used to capture images of the floor, and the processor 1001 identifies the tidiness of the floor according to the images captured by the camera 107 and controls the cleaning device 10 to perform the cleaning operation according to the tidiness of the floor.
The motor driver 108 is used for driving the working motor 109 and the moving motor 111 according to instructions from the controller 100, and controlling the cleaning operation and the movement of the cleaning apparatus 10.
The work motor 109 is used to drive the work execution device 110 to perform work.
The task performing unit 110 is used to perform a cleaning task of the cleaning device 10, including but not limited to a dust suction device, a water suction device, and a brush tray.
The motion motor 111 is used to drive the motion actuator to move the cleaning device 10, and the cleaning device 10 may include one or more motion motors, and in some embodiments, the motion motor 111 further includes a steering engine.
The movement executing means 112 is used to execute the movement of the cleaning device 10. In some embodiments, motion actuator 112 may be a two-wheel differential type motion actuator that includes two drive wheels and effects steering of cleaner 10 through a speed differential between the two drive wheels. In other embodiments, motion actuator 112 may also be a single steering wheel type motion actuator, including a driving wheel and a steering engine, where the driving wheel drives cleaning device 10 to move such that two following wheels move at the same speed as the driving wheel, and the steering engine may change the direction of the driving wheel relative to cleaning device 10, thereby achieving steering of cleaning device 10.
It is understood that the structure of the cleaning device 10 shown in fig. 2 is only an exemplary structure, in other embodiments, the cleaning device 10 may include more or less modules, and some modules may be separated or combined, and the embodiment of the present invention is not limited thereto.
Further, fig. 5 is a schematic structural diagram illustrating a motion control device of the cleaning apparatus 10, according to an embodiment of the present invention, including a motion direction sensing device 1061, a steering sensing device 1062, a speed regulation sensing device 1063, and the controller 100. Wherein, the controller 100 specifically includes:
a motion direction obtaining module 1002, configured to obtain a motion direction of the cleaning apparatus 10 from the motion direction sensing device 1061, that is, convert a feedback signal of the motion direction sensing device 1061 into information that can be used for motion parameter calculation. For example, when the movement direction acquiring means 1061 includes two keys of "forward" and "backward", if the "forward" key is pressed, the movement direction is forward; when the 'back' is pressed by the key, the moving direction is back.
A steering information obtaining module 1003, configured to obtain steering information of the cleaning apparatus 10 from the steering sensing device 1062, that is, convert a feedback signal of the steering sensing device 1062 into information that can be used for calculating a motion parameter. For example, fig. 6 shows a schematic view of a steering sensing device 1062. As shown in fig. 6, when the steering sensing device 1062 is a single-axis rocker potentiometer 1062, the output voltage value is assumed to be V when the rocker of the single-axis rocker potentiometer 1062 is located at the leftmost side of the single-axis rocker potentiometer 1062lAt the rightmost side, the output voltage value is VrThe value of the output voltage at the intermediate position is VmThe potentiometer output voltage value is V. When V isl<V<VmTime, steering information Sw＝(V-Vm)÷(Vm-Vl) (ii) a When V ism<V<VrWhen S is presentw＝(V-Vm)÷(Vr-Vm)。
A speed-adjusting information obtaining module 1004, configured to obtain the speed parameter of the cleaning apparatus 10 from the speed-adjusting sensing device 1063, that is, convert the feedback signal of the speed-adjusting sensing device 1063 into information that can be used for calculating a motion parameter. For example, when the speed-regulating sensing device 1063 is the unlimited rotary encoder 1063, if the unlimited rotary encoder 1063 rotates clockwise, the speed-regulating information S of the cleaning device 10 is obtainedvK is; if the limit rotary encoder 1063 rotates counterclockwise, the speed-adjusting information S of the cleaning device 10v-k. Where k is the number of pulses or the voltage change value of the unlimited rotary encoder 1063 within a certain time.
Motion parameter calculation module 1005 is used to calculate the motion parameters of cleaning device 10, including but not limited to, motion direction, motion speed, steering direction, and steering angle, based on the motion direction, steering information, and throttle information of cleaning device 10.
And a control parameter calculation module 1006 for calculating a control parameter for use by the motor driver 108 based on the calculated motion parameter of the cleaning device 10. For example, when the cleaning apparatus 10 is a two-wheel differential type apparatus, the motion speed parameter is converted into the rotational speed of the motor. For another example, when the cleaning device 10 is a single steering wheel type device, the steering angle is converted to the angle of motion of the steering engine.
It is understood that in some embodiments, different motor drivers 108 may require different parameters for driving the movement of the cleaning device 10, and the movement parameter calculation module 1005 may employ different calculation methods based on the different parameters of the motor drivers 108, and embodiments of the present invention are not limited thereto.
It is understood that the structure of the motion control device of the cleaning apparatus 10 shown in fig. 5 is only an example, and those skilled in the art will understand that in other embodiments, more or fewer modules may be included, and some modules may be separated or combined, and the embodiments of the present invention are not limited thereto.
The motion control method according to the present invention for providing the motion control apparatus will be described in detail with reference to fig. 1 to 6. FIG. 7 shows a flow diagram of a method for motion control of cleaning apparatus 10, according to some embodiments of the present invention, including the steps of:
step 701: and acquiring the movement direction set by the user.
The cleaning device 10 acquires a moving direction set by a user, the moving direction including forward and backward. For example, in the motion control apparatus shown in fig. 5, the cleaning device 10 acquires the moving direction of the cleaning device 10 from the moving direction sensing apparatus 1061 through the moving direction acquiring module 1002 of the controller 100. It is to be understood that the direction of movement does not refer to the particular operational orientation of the cleaning apparatus 10, but rather to the forward and/or rearward movement of the cleaning apparatus 10.
Step 702: acquiring steering information S set by userwAnd speed regulation information Sv。
It can be understood that the steering information SwAnd speed regulation information SvMay be signed values, e.g. when steering information SwA positive number indicating that the cleaning apparatus 10 is turned to the right, and a turn information SwA negative number indicates that the cleaning device 10 is turning to the left; when the speed regulation information SvA positive number indicating an acceleration of the cleaning device 10, when the speed information SvA negative number indicates that the cleaning device 10 is decelerating. In other embodiments the steering information SwAnd speed regulation information SvOr unsigned values, in which caseThe parameters characterizing the steering direction and the acceleration direction are added to facilitate the calculation of the motion parameters.
It can be understood that the feedback signals of the steering sensing device 1062 and the speed regulation sensing device 1063 are different, so that the calculation manner of converting the feedback signals into the steering information and the speed regulation information that can be used for calculating the motion parameters is also different, and a person skilled in the art can select a corresponding calculation manner to calculate according to the actually adopted steering sensing device and speed regulation sensing device, and the embodiment of the present invention is not limited.
Step 703: and calculating motion parameters according to the motion direction, the steering information and the speed regulation information set by the user. The motion parameters include, but are not limited to, steering parameters, speed parameters, such as the speed of motion, direction of motion, and steering angle of the steering engine of the drive wheel of the cleaning device 10.
For example, when the cleaning apparatus 10 is a two-wheel differential type apparatus, if the cleaning apparatus 10 keeps the current moving direction unchanged, the moving speed v of the two driving wheels is v ═ v0+a×Sv. Wherein v is0The current movement speed of the cleaning device 10 can be obtained from a speed sensor in the cleaning device 10, or can be obtained from an operating parameter (e.g., a rotational speed) of a motor in the cleaning device 10. a is a predetermined scaling factor, which is usually a positive real number. SvIs the signed speed adjustment information obtained in step 702. When S isvAt positive values, the speed v increases, whereas it decreases, if SvAt 0, the speed of the cleaning device 10 remains unchanged.
It can be understood that when S isvWhen the motion speed is an unsigned value, the motion speed needs to be calculated according to a parameter representing the acceleration direction. For example, increase the parameter a1Characterizing the direction of acceleration when a1An acceleration motion is indicated when 1; when a is1When the value is-1, the deceleration movement is expressed, and the movement speed calculation formula is that v ═ v0+a1×a×Sv。
If the cleaning device 10 is to be steered, assuming that the distance between two driving wheels of the cleaning device 10 is L, the steering angle w can be obtained as b × S based on the steering informationw+ c. Wherein b isIs a predetermined scaling factor, usually a positive real number, c is a predetermined offset value, SwThe steering information obtained in step 702. When S iswIf the positive value is positive, the cleaning device 10 is turned to the right, otherwise, to the left, and if S is negativewAt 0, the cleaning apparatus 10 maintains the steering angle unchanged. At this time, the speed v of the left wheel of the cleaning device 10leftV + wxl/2, speed v of the right wheelright＝v-w×L/2。
For another example, when the cleaning apparatus 10 is a single steering wheel type apparatus, the moving speed v ═ v of the driving wheels of the cleaning apparatus 100+a×SvSteering angle w of steering engine is b × Sw+c。
In other embodiments, the motion parameter may further include a motion direction parameter, for example, when the user sets the motion direction to be forward, the motion direction parameter a is 1, and when the user sets the motion direction to be backward, the motion direction parameter a is-1.
In some embodiments, a threshold value may be set for the movement speed v according to the operation state of the cleaning device 10, so as to limit the maximum movement speed of the cleaning device 10 and improve the safety of the user using the cleaning device 10. For example, when the moving direction of the cleaning device 10 is backward, the speed threshold is set to 1 m/s, ensuring safety during use by the user.
It should be understood that the motion parameter calculation method mentioned in the embodiment of the present invention is only an exemplary illustration, and in other embodiments, other calculation methods may also be adopted, and the embodiment of the present invention is not limited.
Step 704: and controlling the cleaning equipment to move according to the motion parameters.
The cleaning device 10 converts motion parameters, such as a motion direction, a motion speed of driving wheels (two-wheel differential type device), a motion speed of steering wheels, and a steering angle (single steering wheel type device), into control parameters corresponding to the motor driver 108 and the motion actuator 112 of the cleaning device 10, and transmits the control parameters to the motor driver 108, and the motor driver 108 drives the motion actuator 112 to move the cleaning device 10 according to the motion parameters.
For example, when cleaning the facilityWhen the apparatus 10 is a two-wheel differential apparatus, the motion parameter calculated in step 703 is calculated as the speed V of the left wheelleftRight wheel speed VrightThe diameter of the driving wheel is d, the reduction ratio of the motor and the driving wheel is m, the direction parameter A is 1, and the rotating speed of the left wheel driving motor is nl＝m×VleftAnd/(# d), the rotating speed of the right wheel driving motor is as follows: n isr＝m×Vright/(π d). Then n is putlAnd nrThe control signal is converted into a control signal matched with the motor driver 108, and the motor is enabled to move in the forward direction according to the direction parameter A being 1, so that the movement control of the cleaning device 10 can be realized.
It is understood that the calculation and control method of the motion control device for controlling the motion of the cleaning device 10 according to the motion parameters provided by the embodiment of the present invention is only an example, and those skilled in the art will understand that for different cleaning device structures, motor drivers and motion executing devices, other calculation and control methods may be adopted according to the actual hardware form and parameters, and the embodiment of the present invention is not limited.
It should be noted that the various embodiments of the disclosed mechanism may be implemented in hardware, software, firmware, or a combination of these implementations.
In the drawings, some features of the structures or methods may be shown in a particular arrangement and/or order. However, it is to be understood that such specific arrangement and/or ordering may not be required. Rather, in some embodiments, the features may be arranged in a manner and/or order different from that shown in the illustrative figures. In addition, the inclusion of a structural or methodical feature in a particular figure is not meant to imply that such feature is required in all embodiments, and in some embodiments, may not be included or may be combined with other features.
It should be noted that, in each device embodiment of the present invention, each unit/module is a logical unit/module, and physically, one logical unit/module may be one physical unit/module, or may be a part of one physical unit/module, and may also be implemented by a combination of multiple physical units/modules, where the physical implementation manner of the logical unit/module itself is not the most important, and the combination of the functions implemented by the logical unit/module is the key to solve the technical problem provided by the present invention. Furthermore, in order to highlight the innovative part of the present invention, the above-mentioned device embodiments of the present invention do not introduce units/modules which are not so closely related to solve the technical problems proposed by the present invention, which does not indicate that there are no other units/modules in the above-mentioned device embodiments.
It is noted that, in the examples and descriptions of the present invention, 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. Also, 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, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.
While the utility model has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the utility model.
Claims (15)
1. A motion control device of a cleaning device is characterized by comprising a steering sensing device, a speed regulation sensing device, a motion direction sensing device and a controller;
the steering sensing device, the speed regulation sensing device and the motion direction sensing device are all coupled with the controller;
the steering sensing device is used for generating steering information of the cleaning equipment according to the operation of a user;
the speed regulation sensing device is used for generating speed regulation information of the cleaning equipment according to the operation of a user;
the movement direction sensing device is used for generating the movement direction of the cleaning equipment according to the operation of a user;
the controller is used for obtaining the movement direction, the steering information and the speed regulation information, determining a steering parameter of the cleaning equipment according to the steering information, determining a speed parameter of the cleaning equipment according to at least one of the steering parameter and the speed regulation information, and controlling the movement of the cleaning equipment according to the movement direction, the steering parameter and the speed parameter.
2. The motion control apparatus of claim 1, wherein the cleaning device further comprises a thrust structure, and wherein
The steering sensing device and the speed regulation sensing device are arranged on the thrust structure.
3. The motion control apparatus of claim 2, wherein the steering sensing device is disposed in a first region of the thrust structure;
wherein the first region is an active region of a user's left hand on the thrust structure.
4. The motion control apparatus of claim 2, wherein the speed inducing means is disposed in a second region of the thrust structure;
wherein the second region is an active region of a right hand of a user on the thrust structure.
5. The motion control apparatus according to any one of claims 1 to 4,
the steering sensing device is a single-shaft rocker potentiometer or an absolute value encoder.
6. Motion control apparatus according to any of claims 1 to 5,
the speed regulation sensing device is a non-limit rotary encoder or a potentiometer.
7. The motion control apparatus of any of claims 2-6, wherein the cleaning device further comprises a hard stop device disposed on the thrust structure.
8. The motion control apparatus of any of claims 2-7, wherein the cleaning device further comprises a safety handle disposed on the push structure.
9. The motion control apparatus of claim 1, wherein the cleaning device further comprises a display device; and is
The steering sensing device and the speed regulation sensing device are arranged in the display device.
10. A cleaning device, characterized in that it comprises a motion control device according to any of claims 1 to 9.
11. The cleaning apparatus of claim 10, wherein the cleaning apparatus is a single steering wheel type cleaning apparatus comprising a drive wheel and a steering engine; and is
The steering engine is used for controlling the steering of the cleaning equipment by adjusting the direction of the driving wheel relative to the cleaning equipment.
12. The cleaning apparatus as recited in claim 11, wherein said determining a steering parameter of said cleaning apparatus based on said steering information comprises:
and determining the rotation angle and direction of the steering engine according to the steering information.
13. The cleaning apparatus as recited in claim 11, wherein determining a speed parameter of the cleaning apparatus as a function of at least one of the steering parameter and the throttle information comprises:
and determining the speed and the direction of the driving wheel according to the speed regulating information.
14. The cleaning apparatus of claim 10, wherein the cleaning apparatus is a two-wheel differential type cleaning apparatus comprising a first drive wheel and a second drive wheel; and is
The first and second drive wheels are used to control the cleaning apparatus to steer by adjusting a speed differential of the first and second drive wheels.
15. The cleaning apparatus defined in claim 14, wherein determining a speed parameter of the cleaning apparatus as a function of at least one of the steering parameter and the throttle information comprises:
determining the speed and the direction of the first driving wheel according to the steering parameter and the speed regulation information;
and determining the speed and the direction of the second driving wheel according to the steering parameter and the speed regulation information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120952597.5U CN215424434U (en) | 2021-05-06 | 2021-05-06 | Cleaning equipment and motion control device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120952597.5U CN215424434U (en) | 2021-05-06 | 2021-05-06 | Cleaning equipment and motion control device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215424434U true CN215424434U (en) | 2022-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120952597.5U Active CN215424434U (en) | 2021-05-06 | 2021-05-06 | Cleaning equipment and motion control device thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215424434U (en) |
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2021
- 2021-05-06 CN CN202120952597.5U patent/CN215424434U/en active Active
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