WO2022141492A1 - 转动清理结构、圆形玻璃雨污清理结构及自动驾驶装置 - Google Patents
转动清理结构、圆形玻璃雨污清理结构及自动驾驶装置 Download PDFInfo
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- WO2022141492A1 WO2022141492A1 PCT/CN2020/142359 CN2020142359W WO2022141492A1 WO 2022141492 A1 WO2022141492 A1 WO 2022141492A1 CN 2020142359 W CN2020142359 W CN 2020142359W WO 2022141492 A1 WO2022141492 A1 WO 2022141492A1
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- steering gear
- hinge
- cleaning
- control circuit
- circuit board
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- 238000004140 cleaning Methods 0.000 title claims abstract description 285
- 239000011521 glass Substances 0.000 title claims abstract description 55
- 239000010865 sewage Substances 0.000 title abstract 2
- 230000005540 biological transmission Effects 0.000 claims abstract description 59
- 238000000034 method Methods 0.000 claims abstract description 28
- 230000008569 process Effects 0.000 claims abstract description 22
- 238000003079 width control Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 16
- 238000013461 design Methods 0.000 description 10
- 230000009286 beneficial effect Effects 0.000 description 7
- 230000000903 blocking effect Effects 0.000 description 7
- 238000007789 sealing Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005669 field effect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- ORQBXQOJMQIAOY-UHFFFAOYSA-N nobelium Chemical compound [No] ORQBXQOJMQIAOY-UHFFFAOYSA-N 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/04—Wipers or the like, e.g. scrapers
- B60S1/44—Wipers or the like, e.g. scrapers the wiper blades having other than swinging movement, e.g. rotary
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S1/00—Cleaning of vehicles
- B60S1/02—Cleaning windscreens, windows or optical devices
- B60S1/56—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens
- B60S1/60—Cleaning windscreens, windows or optical devices specially adapted for cleaning other parts or devices than front windows or windscreens for signalling devices, e.g. reflectors
Definitions
- the present application relates to the technical field of cleaning, and in particular, to a rotating cleaning structure, a circular glass rain and dirt cleaning structure, and an automatic driving device.
- the steering gear is a kind of servo motor, which refers to an executive component that controls the rotation of the aircraft rudder surface in the autopilot.
- the rudder surface is also called the control surface.
- the steering gear is an angular position servo driver.
- An automatic control system composed of gear sets, sensors and control circuits. When a control signal is sent to the control circuit, the output shaft of the DC motor can be turned to a specific position. As long as the control signal remains unchanged, the servo will keep the angular position of the output shaft unchanged. If the control signal changes, the position of the output shaft changes accordingly.
- Pulse Width Modulation is an analog control method that modulates transistor bases or metal-oxide-semiconductor field-effect transistors (Metal-Oxide-Semiconductor Field-Effect Transistor, MOSFET, MOSFET for short) according to the change of the corresponding load.
- MOS tube Metal-Oxide-Semiconductor Field-Effect Transistor
- MOSFET Metal-Oxide-Semiconductor Field-Effect Transistor
- the high level range of the control servo is 0.5ms to 2.5ms; among them, 0.5ms is the minimum angle and 2.5ms is the maximum angle.
- 0.5ms corresponds to 0 degree rotation
- 1ms corresponds to 45 degree rotation
- 1.5ms corresponds to 90 degree rotation
- 2ms corresponds to 135 degree rotation
- 2.5ms corresponds to 180 degree rotation.
- the 360-degree steering gear given its PWM signal, the 360-degree steering gear will rotate at a specific speed, similar to a motor, but different from the motor, the 360-degree steering gear is closed-loop control, and the speed control is stable.
- 0.5ms corresponds to rotating at the maximum forward speed
- 1.5ms corresponds to the speed of 0 and stops rotating
- 2.5ms corresponds to rotating at the reverse maximum speed.
- the wiper type In the field of automatic driving, whether it is a car running on the ground or a drone flying in the sky, the wiper type is mostly used for the micro rain and dirt cleaning structure.
- the machine cooperates with the design of the control circuit.
- This type of technology requires a certain compromise in shape and area of the element to be cleaned, such as glass, usually an arch-like design.
- the maximum cleaning area can only be about 60%, and it is difficult to achieve a larger cleaning area; and the above-mentioned traditional technology needs to build a motor and other structures, and needs to slot or pass through the shaft hole in the glass. In order to ensure the normal swing of the wiper rod, it will increase the difficulty of subsequent sealing and assembly, and will increase the rotational friction of the motor output shaft and reduce the mechanical efficiency.
- a rotating cleaning structure a circular glass rain and dirt cleaning structure, and an automatic driving device are provided, which can clean the circular cleaned components without making slots or holes for the cleaned components. Realize a larger cleaning area and solve the problem of poor sealing caused by traditional slotting or hole methods.
- a rotating cleaning structure comprising: a control circuit board, a first steering gear, a transmission rod, a first hinge, a connecting rod, a second hinge, a second steering gear and a cleaning piece;
- the first steering gear is sequentially connected to the second steering gear through the transmission rod, the first hinge, the connecting rod and the second hinge, and the first steering gear is set to be powered on , rotate the transmission rod to a preset angle position, so that the second steering gear is located at the preset cleaning position;
- the cleaning piece is detachably mounted on the second steering gear, and the first hinge and the second hinge are configured to adjust the inclination and distance between the cleaning piece and the target to be cleaned;
- the control circuit board is connected to the second steering gear, and the control circuit board is configured to process the pulse width regulation signal to make the second steering gear rotate cyclically and drive the cleaning member to rotate cyclically.
- the control circuit board is also connected to the first steering gear, and the control circuit board is configured to define the preset angular position.
- the preset angular position is the position reached after the first steering gear is rotated by 60°.
- the rotation angle of the first steering gear is set according to the pulse width control signal.
- the control circuit board is configured to process the pulse width regulation signal to make the second steering gear rotate cyclically in a preset direction.
- the preset directions include the same direction and two opposite directions.
- the cleaning member includes a wiper head.
- the cleaning member also includes a rubber strip.
- the rotating cleaning structure further includes a casing, the first steering gear and the control circuit board are fixed inside the casing, the transmission rod is arranged to pass through the casing, and the first hinge is located in the casing. outside of the enclosure.
- the bottom of the casing is provided with a fixing position
- the rotating cleaning structure further includes a fixing piece, and the fixing piece cooperates with the fixing position and is jointly arranged to fix the casing to the outside.
- the fixing member is arranged to fix the housing to the outside of the object to be cleaned.
- the length of the cleaning piece is set to match the radius of the circular target to be cleaned
- the first steering gear is a 180-degree steering gear
- the second steering gear is a 360-degree steering gear.
- a circular glass rain and dirt cleaning structure includes at least one rotating cleaning structure, the rotating cleaning structure includes: a control circuit board, a first steering gear, a transmission rod, a first hinge, a connecting rod, a second hinge, and a second rudder machine and cleaning parts;
- the first steering gear is sequentially connected to the second steering gear through the transmission rod, the first hinge, the connecting rod and the second hinge, and the first steering gear is set to be powered on , rotate the transmission rod to a preset angle position, so that the second steering gear is located at the preset cleaning position;
- the cleaning piece is detachably mounted on the second steering gear, and the first hinge and the second hinge are arranged to adjust the inclination and distance between the cleaning piece and the circular target to be cleaned;
- the control circuit board is connected to the second steering gear, and the control circuit board is configured to process the pulse width regulation signal to make the second steering gear rotate cyclically and drive the cleaning member to rotate cyclically.
- the control circuit board is also connected to the first steering gear, and the control circuit board is configured to define the preset angular position.
- the control circuit board is configured to process the pulse width regulation signal to make the second steering gear cyclically rotate in a preset direction, and the preset direction includes the same direction and two opposite directions.
- the cleaning part includes a wiper head and a rubber strip.
- the rotating cleaning structure further includes a casing, the first steering gear and the control circuit board are fixed inside the casing, the transmission rod is arranged to pass through the casing, and the first hinge is located in the casing. outside of the enclosure.
- the length of the cleaning piece is set to match the radius of the circular target to be cleaned
- the preset angular position is the position reached after the first steering gear is rotated by 60°;
- the rotation angle of the first steering gear is set according to the pulse width control signal
- the bottom of the casing is provided with a fixing position
- the rotating cleaning structure further includes a fixing piece, and the fixing piece cooperates with the fixing position and is jointly arranged to fix the casing on the outside of the target to be cleaned;
- the first steering gear is a 180-degree steering gear
- the second steering gear is a 360-degree steering gear.
- An automatic driving device includes a circular glass rain and dirt cleaning structure, the circular glass rain and dirt cleaning structure includes at least one rotating cleaning structure, and the rotating cleaning structure includes: a control circuit board, a first steering gear, a transmission rod, The first hinge, the connecting rod, the second hinge, the second steering gear and the cleaning part;
- the first steering gear is sequentially connected to the second steering gear through the transmission rod, the first hinge, the connecting rod and the second hinge, and the first steering gear is set to be powered on , rotate the transmission rod to a preset angle position, so that the second steering gear is located at the preset cleaning position;
- the cleaning piece is detachably mounted on the second steering gear, and the first hinge and the second hinge are arranged to adjust the inclination and distance between the cleaning piece and the circular target to be cleaned;
- the control circuit board is connected to the second steering gear, and the control circuit board is configured to process the pulse width regulation signal to make the second steering gear cyclically rotate and drive the cleaning member to cyclically rotate;
- the first steering gear is a 180-degree steering gear
- the second steering gear is a 360-degree steering gear.
- the above-mentioned rotating cleaning structure, circular glass rain and dirt cleaning structure and automatic driving device do not need to slot or hole the cleaned element in structure, and the overall structure has the advantages of ensuring miniaturization, low cost and high-precision control; On the one hand, it can complete the rain and dirt cleaning of the circular cleaned element, or complete the rain and dirt cleaning of the cleaned element with a circular cleaning area, and the theoretical cleaning area can reach 100%; on the other hand, it can also be assembled. Adjusting the distance and angle with the glass through the second hinge structure improves the applicability of the product.
- FIG. 1 is a schematic structural diagram of an embodiment of a rotating cleaning structure of the application
- Fig. 2 is another direction schematic diagram of the rotating cleaning structure shown in Fig. 1;
- FIG. 3 is a schematic structural diagram of another embodiment of the rotating cleaning structure of the application.
- Fig. 4 is another direction schematic diagram of the rotating cleaning structure shown in Fig. 3;
- Fig. 5 is another direction schematic diagram of the rotating cleaning structure shown in Fig. 3;
- Fig. 6 is another direction schematic diagram of the rotating cleaning structure shown in Fig. 3;
- Fig. 7 is another direction schematic diagram of the rotating cleaning structure shown in Fig. 3;
- Fig. 8 is another direction schematic diagram of the rotating cleaning structure shown in Fig. 3;
- FIG. 9 is a partial structural schematic diagram of an embodiment of the automatic driving device of the present application using the rotating cleaning structure shown in FIG. 3 .
- FIG. 10 is a schematic diagram of another direction of the automatic driving device shown in FIG. 9;
- FIG. 11 is a partial structural schematic diagram of another embodiment of the automatic driving device of the present application using the rotating cleaning structure shown in FIG. 3;
- Fig. 12 is a schematic diagram of another direction of the automatic driving device shown in Fig. 11;
- Fig. 13 is a schematic diagram of another direction of the automatic driving device shown in Fig. 11;
- FIG. 14 is a schematic diagram of another direction of the automatic driving device shown in FIG. 11;
- Fig. 15 is a schematic diagram of another direction of the automatic driving device shown in Fig. 11;
- FIG. 16 is a schematic diagram of another direction of the automatic driving device shown in FIG. 11 .
- Reference numerals glass 101, cleaning piece 102, first hinge 103, transmission rod 104, first steering gear 105, casing 106, control circuit board 107, connecting rod 108, second hinge 109, connecting piece 110, second rudder
- the machine 111 the mounting seat 201 , the mounting piece 202 , and the mounting groove 203 .
- An embodiment of the present application is a rotating cleaning structure, comprising: a control circuit board, a first steering gear, a transmission rod, a first hinge, a connecting rod, a second hinge, a second steering gear and a cleaning member; A steering gear is sequentially connected to the second steering gear through the transmission rod, the first hinge, the connecting rod and the second hinge.
- the transmission rod is moved to a preset angle position, so that the second steering gear is located at a preset cleaning position; the cleaning piece is detachably mounted on the second steering gear, the first hinge and the second hinge It is set to adjust the inclination and distance between the cleaning piece and the target to be cleaned; the control circuit board is connected to the second steering gear, and the control circuit board is set to process the pulse width regulation signal to make the second steering gear It rotates cyclically and drives the cleaning member to rotate cyclically.
- Such a design does not need to make slots or holes for the cleaned element in structure, and the overall structure has the advantages of ensuring miniaturization, low cost and high-precision control; on the other hand, it can complete the cleaning of the circular cleaned element.
- the distance and angle from the glass can be adjusted through the second hinge structure during assembly, Improve the applicability of the product.
- a rotating cleaning structure includes part or all of the structures of the following embodiments; that is, the rotating cleaning structure includes some or all of the following technical features.
- a rotating cleaning structure is shown in FIG. 1, which includes: a cleaning member 102, a second steering gear 111, a second hinge 109, a connecting rod 108, a first hinge 103, a transmission rod 104, a second hinge 109, a a steering gear 105 and a control circuit board 107; the control circuit board 107 is respectively connected to the first steering gear 105 and the second steering gear 111, and the first steering gear 105 sequentially passes through the transmission rod 104, the The first hinge 103 , the connecting rod 108 and the second hinge 109 are connected to the second steering gear 111 , that is, the first steering gear 105 is connected to the transmission rod 104 , and the transmission rod 104 passes through the The first hinge 103 is connected to the connecting rod 108 , and the connecting rod 108 is connected to the second steering gear 111 through the second hinge 109 ; the first hinge 103 and the second hinge 109 are configured to realize rotational connection That is, the transmission rod 104 and the connecting rod
- the first steering gear 105 is configured to drive the transmission rod 104 to rotate
- the second steering gear 111 is configured to drive the cleaning member 102 to rotate; such a design is beneficial to Through the cooperation of the first steering gear 105 and the second steering gear 111, the position of the cleaning member 102 is adjusted, that is, the position of the rotating cleaning structure is determined by adjusting the position of the output shaft of the second steering gear 111.
- the rotation center of the cleaning member 102 that is, the center of rotation, can effectively clean the circular glass or the circular cleaned element. It can be seen from the above description that for the cleaned element, when the cleaning area is a circular When the theoretical cleaning area can reach 100%.
- the first steering gear 105 is set to rotate the transmission rod 104 to a preset angle position in the power-on state, so that the second steering gear 111 is located at a preset cleaning position;
- the cleaning The cleaning element 102 is detachably mounted on the second steering gear 111, and the first hinge 103 and the second hinge 109 are arranged to adjust the inclination and distance between the cleaning element 102 and the target to be cleaned;
- the control circuit The board 107 is connected to the second steering gear 111 , and the control circuit board 107 is configured to process the pulse width regulation signal to make the second steering gear 111 rotate cyclically and drive the cleaning member 102 to rotate cyclically.
- control circuit board 107 is further connected to the first steering gear 105, and the control circuit board 107 is configured to define the preset angular position.
- the preset angular position is a position reached after the first steering gear 105 is rotated by 60°.
- the rotation angle of the first steering gear 105 is set according to the pulse width control signal.
- the first steering gear is further configured to rotate the transmission rod to reset in a power-off state or under the control of the control circuit board 107 , that is, to rotate the transmission rod to a predetermined level. position so that the rotating cleaning structure does not block the cleaned element.
- the rotating cleaning structure further includes a pulse width regulation signal controller connected to the control circuit board 107 , and the pulse width regulation signal controller is configured to output pulses to the control circuit board 107 .
- the wide control signal is used to control the rotation of the first steering gear 105 and/or the second steering gear 111 .
- the first steering gear is a 180-degree steering gear
- the second steering gear is a 360-degree steering gear
- a pulse width control signal is used to control the rotation angle of the first steering gear 105
- a pulse width control signal is used to control the rotation angle of the first steering gear 105
- Signal controlling the cyclic rotation of the second steering gear 111 is one of the important inventions of the embodiments of the present application.
- the high level range of the steering gear is controlled to be 0.5ms to 2.5ms; Control it to rotate clockwise or counterclockwise at a predetermined speed, wherein the predetermined speed is set during production; and because it is a closed-loop control, it has the advantage of stable speed control; by giving the first servo a PWM signal, it can be controlled. Rotate to the working position, even if the output shaft of the second steering gear is aligned with the center of the circular cleaned element, or it is controlled to reset and rotate to a predetermined position, even if the rotating cleaning structure does not block the cleaned element.
- the service life is about 5 million times in the ambient temperature range of -30 °C to 60 °C. If it is used continuously for two hours a day, and it rotates every two seconds, it can be used continuously for 1389 days, or about 3.8 years. Therefore, it is theoretically sufficient to meet the operation and maintenance requirements of automatic driving devices.
- the connecting rod 108 is a retractable structure, which is configured to be retractable within a predetermined length range; in one of the embodiments Among them, the predetermined length ranges from 3 cm to 5 cm, that is, the connecting rod 108 can be extended by 3 cm to 5 cm in the shortest state, or can be shortened by 3 cm to 5 cm in the longest state.
- the telescopic structure is a sliding telescopic structure or a helical telescopic structure. Such a design is conducive to improving the versatility of the same rotating cleaning structure.
- a rotating cleaning structure can be produced with multiple connecting rods of different lengths, or a rotating cleaning structure can be produced with a retractable connecting rod. , so that the rotating cleaning structure of the same specification is suitable for different installation positions, or the cleaned components with different distances from the installation position, and when in use, the position of the output shaft of the second steering gear 111 can be aligned with the center of the circular cleaning area, to ensure coverage of the cleanup range.
- the rotating cleaning structure further includes a casing 106 , and the first steering gear 105 and the control circuit board 107 are both fixed to the outer casing 106 .
- the interior of the housing 106 In one of the embodiments, the bottom of the casing 106 is provided with a fixing position, and the rotating cleaning structure further includes a fixing member 202, and the fixing member 202 cooperates with the fixing position and is configured to fix the casing 106 together. on the outside.
- the fastener 202 is configured to secure the housing 106 to the exterior of the object to be cleaned.
- the transmission rod 104 is disposed to pass through the casing 106 , and the first hinge 103 is located outside the casing 106 .
- the fixing member 202 is a screwing member, and the bottom of the housing 106 is correspondingly provided with a screwing position.
- FIG. 7 and FIG. 8 together it can be understood that the connection lines of the control circuit board 107 pass through the casing 106 to be exposed outside the casing 106 ; or the control circuit board 107 is provided with a Connection terminals; connection lines or connection terminals are set to access external lines or signals, etc.
- control circuit board 107 is configured to process the pulse width control signal to make the second steering gear 111 rotate cyclically in a preset direction.
- the predetermined direction includes the same direction and two opposite directions.
- the preset direction is clockwise; or the preset direction is counterclockwise; or the preset direction includes clockwise and counterclockwise.
- the output shaft of the second steering gear 111 or the cleaning member 102 is also connected to the control circuit board 107 through a blocking feedback structure, and the blocking feedback structure is arranged to When the rotation of the output shaft of the two steering gears 111 or the cleaning member 102 is blocked, a feedback signal is generated and transmitted to the control circuit board 107, and the control circuit board 107 is configured to receive the feedback from the blocking feedback structure When the signal is received, adjust the preset direction to make the second steering gear 111 rotate in the opposite direction relative to the previous preset direction; and/or send an emergency when the feedback signal of the blocking feedback structure is received again status signal.
- the blocking feedback structure includes an elastic member, an inductor, and the like.
- the automatic driving device is configured to perform an emergency operation when receiving the emergency state signal, and the emergency operation includes but is not limited to safety stop, emergency stop, deceleration operation, and emergency evacuation. It can be understood that, for different automatic driving devices, the above-mentioned emergency operation may be different, and it is usually set according to the premise of safety.
- the cleaning member 102 includes a wiper head. In one embodiment, the cleaning member 102 further includes a rubber strip. In one embodiment, the rubber strip is arranged at a position where the wiper head is close to or contacts the element to be cleaned. Further, in one of the embodiments, the cleaning member 102 includes a flexible deformation structure, and the flexible deformation structure is configured to deform when the rotation of the cleaning member 102 is hindered, so as to maintain the normal rotation of the cleaning member 102 , to avoid damage to the second steering gear 111 . In one embodiment, the flexible deformation structure and the blocking feedback structure are arranged in linkage, and the blocking feedback structure is set to generate when the output shaft of the second steering gear 111 or the cleaning member 102 is blocked from rotating. The feedback signal is transmitted to the control circuit board 107 .
- the length of the cleaning member 102 is set to match the radius of the circular target to be cleaned. In one embodiment, the length of the cleaning member 102 is equal to the radius of the circular target to be cleaned, so as to achieve the rain and dirt cleaning effect of 100% of the circular cleaning area under the premise of precise positioning; or, the The length of the cleaning piece 102 is 95% to 98% of the radius of the circular target to be cleaned, so as to avoid the edge of the cleaning piece protruding due to technological reasons or long-term use due to the premise of sacrificing a small amount of cleaning area beyond the target to be cleaned, causing the rotation to be blocked.
- control circuit board 107 is further connected to the first steering gear 105, and the control circuit board 107 is configured to define the preset angular position; the preset angular position is the first steering gear The position reached after the steering gear 105 is rotated by 60°; the rotation angle of the first steering gear 105 is set according to the pulse width regulation signal; the control circuit board 107 is set to process the pulse width regulation signal to make the second steering gear 111 rotates cyclically in a preset direction; the preset direction includes the same direction and opposite directions; the cleaning member 102 includes a wiper head and a rubber strip; the rotating cleaning structure also includes a casing 106, the first The steering gear 105 and the control circuit board 107 are both fixed inside the casing 106, the transmission rod 104 is arranged to pass through the casing 106, and the first hinge 103 is located outside the casing 106; the The bottom of the casing 106 is provided with a fixing position, and the rotating cleaning structure further includes a fixing piece, and the fixing piece cooperate
- the rotating cleaning structure is a rotating cleaning structure for circular glass.
- a circular glass rain and dirt cleaning structure includes the rotating cleaning structure described in any one of the embodiments. According to requirements, the number of rotating cleaning structures in the circular glass rain and dirt cleaning structure is one, two or more.
- a circular glass rain and dirt cleaning structure includes at least one rotating cleaning structure
- the rotating cleaning structure includes: a control circuit board, a first steering gear, a transmission rod, a first hinge, a connecting rod, The second hinge, the second steering gear and the cleaning part; the first steering gear is connected to the second steering gear through the transmission rod, the first hinge, the connecting rod and the second hinge in sequence, so The first steering gear is set to rotate the transmission rod to a preset angle position under the power-on state, so that the second steering gear is located at a preset cleaning position; the cleaning member is detachably installed on the first steering gear.
- Two steering gears, the first hinge and the second hinge are arranged to adjust the inclination and distance between the cleaning element and the circular target to be cleaned;
- the control circuit board is connected to the second steering gear, the The control circuit board is configured to process the pulse width regulation signal to make the second steering gear rotate cyclically and drive the cleaning member to rotate cyclically.
- the control circuit board is also connected to the first steering gear, and the control circuit board is configured to define the preset angular position.
- the circular glass rain and dirt cleaning structure includes a rotating cleaning structure as shown in FIG. 1 to FIG. 8 to clean the rain and dirt on the circular glass; that is, the circular glass rain and dirt cleaning structure includes : the control circuit board 107, the first steering gear 105, the transmission rod 104, the first hinge 103, the connecting rod 108, the second hinge 109, the second steering gear 111 and the cleaning member 102; the first steering gear 105 passes through all the The transmission rod 104 , the first hinge 103 , the connecting rod 108 and the second hinge 109 are connected to the second steering gear 111 , and the first steering gear 105 is set to rotate in the power-on state.
- the transmission rod 104 is moved to a preset angle position, so that the second steering gear 111 is located at a preset cleaning position; the cleaning member 102 is detachably mounted on the second steering gear 111, the first hinge 103 and the The second hinge 109 is set to adjust the inclination and distance between the cleaning member 102 and the circular target to be cleaned; the control circuit board 107 is connected to the second steering gear 111, and the control circuit board 107 is set to The pulse width control signal is processed to make the second steering gear 111 rotate cyclically and drive the cleaning member 102 to rotate cyclically.
- the control circuit board 107 is further connected to the first steering gear 105, and the control circuit board 107 is configured to define the preset angular position.
- the control circuit board 107 is configured to process the pulse width control signal to make the second steering gear 111 rotate in a predetermined direction, and the predetermined direction includes the same direction and two opposite directions .
- the cleaning member 102 includes a wiper head and a rubber strip.
- the circular glass rain and dirt cleaning structure further includes a casing 106 , the first steering gear 105 and the control circuit board 107 are fixed inside the casing 106 , and the transmission rod 104 Provided to pass through the housing 106 , the first hinge 103 is located outside the housing 106 .
- the length of the cleaning member 102 is set to match the radius of the circular target to be cleaned; the preset angular position is the position reached after the first steering gear 105 is rotated by 60°; the The rotation angle of the first steering gear 105 is set according to the pulse width regulation signal; the control circuit board 107 is configured to process the pulse width regulation signal to make the second steering gear 111 rotate cyclically in a preset direction; the preset direction Including the same direction and two opposite directions; the cleaning member 102 includes a wiper head and a rubber strip; the rotating cleaning structure also includes a casing 106, the first steering gear 105 and the control circuit board 107 are fixed on Inside the casing 106, the transmission rod 104 is arranged to pass through the casing 106, and the first hinge 103 is located outside the casing 106; the bottom of the casing 106 is provided with a fixed position, the rotating cleaning
- the structure further includes a fixing piece, the fixing piece cooperates with the fixing position and is jointly arranged to fix the housing 106 to the
- the rest of the embodiments are deduced by analogy, and will not be repeated.
- the length of the cleaning piece matches the radius of the circular target to be cleaned
- the second steering gear is a 360-degree steering gear, which is conducive to 360-degree rotation of the cleaning piece and precisely achieves rain and dirt cleaning in the circular cleaning area.
- the first steering gear is a 180-degree steering gear
- the first steering gear is a 180-degree steering gear and the second steering gear is a 360-degree steering gear.
- it is beneficial to accurately set the position of the cleaning piece and on the other hand, it is beneficial to accurately realize the rain and dirt in the circular cleaning area. clean up.
- an automatic driving device includes the circular glass rain and dirt cleaning structure described in any embodiment or the rotating cleaning structure described in any embodiment.
- an automatic driving device includes a circular glass rain and dirt cleaning structure, the circular glass rain and dirt cleaning structure includes at least one rotating cleaning structure, and the rotating cleaning structure includes: a control circuit board, a first a steering gear, a transmission rod, a first hinge, a connecting rod, a second hinge, a second steering gear and a cleaning member; the first steering gear passes through the transmission rod, the first hinge, the connecting rod and the The second hinge is connected to the second steering gear, and the first steering gear is set to rotate the transmission rod to a preset angle position in the power-on state, so that the second steering gear is in a preset clearing position.
- the cleaning piece is detachably mounted on the second steering gear, and the first hinge and the second hinge are arranged to adjust the inclination and distance between the cleaning piece and the circular target to be cleaned;
- the control circuit board is connected to the second steering gear, and the control circuit board is configured to process the pulse width regulation signal to make the second steering gear cyclically rotate and drive the cleaning piece to cyclically rotate;
- the first steering gear is 180-degree steering gear, the second steering gear is a 360-degree steering gear.
- the automatic driving device further includes a circular cleaned element; in one of the embodiments, the cleaned element is glass, that is, the automatic driving device further includes a circular cleaned element. Glass.
- the autopilot has cleaned elements with a circular cleaning area.
- the automatic driving device further includes a mounting seat, and the mounting seat is located next to the cleaned element and does not obstruct the observation field of the cleaned element, that is, does not block the cleaned element.
- the rotating cleaning structure is fixed on the mounting seat, and the output shaft of the second steering gear of the rotating cleaning structure, that is, the rotation center of the cleaning element is aligned with the center of the circle of the element to be cleaned,
- the cleaning piece is rotatably in contact with the element to be cleaned; in one embodiment, the distance between the cleaning piece and the element to be cleaned is 0.01 mm to 0.5 mm, so as to realize the cleaning on a macro level
- the cleaning piece is in contact with the cleaned element, and there is a fine distance between the cleaning piece and the cleaned element on the microscopic level, so that the cleaning piece can rotatably contact the cleaned element.
- the number of the cleaned element is at least one, correspondingly, the number of the mounting seat and the rotating cleaning structure is at least one, the cleaned element, the mounting seat
- the mounting seat is located on the side of the element to be cleaned that is closer to the external environment, so that when the element to be cleaned is subjected to wind and rain and/or after, or when cleaning is required, the rotating cleaning structure can be used for rain and dirt on the outside. clean up.
- the motor structure does not need to be built in as in the traditional technology, so there is no need to make a slot in the glass or pass the shaft hole, which can ensure the normal cleaning of rain and dirt by the rotating cleaning structure, improve the sealing performance, and simplify the
- the assembly method is beneficial to relatively reduce the rotational friction force of the motor output shaft and improve the mechanical efficiency.
- an automatic driving device the partial structure of the circular glass rain and dirt cleaning is shown in FIGS. 9 and 10
- the automatic driving device includes a circular glass rain and dirt cleaning structure, a cleaned element, namely A circular glass 101 and a connecting piece 110, the element to be cleaned is fixed or connected to the connecting piece 110, for example, the glass 101 is fixed to the connecting piece 110
- the circular glass rain and dirt cleaning structure includes a housing 106, a control circuit plate, first steering gear, transmission rod 104, first hinge 103, connecting rod 108, second hinge 109, second steering gear 111 and cleaning piece 102; wherein the first steering gear and the control circuit board are fixed inside the housing 106 . That is, the circular glass rain and dirt cleaning structure includes a rotating cleaning structure.
- the circular glass rain and dirt cleaning structure may further include two rotating cleaning structures or more rotating cleaning structures.
- the position of the output shaft of the second steering gear 111 that is, the rotation center of the cleaning member 102 is located at the center of the circular glass 101, and the first steering gear 105 sequentially passes through the transmission rod 104, the A hinge 103 , the connecting rod 108 and the second hinge 109 are connected to the second steering gear 111 , and the first steering gear 105 is configured to rotate the transmission rod 104 to a preset angle in a power-on state position, so that the second steering gear 111 is located at a preset cleaning position; the cleaning member 102 is detachably mounted on the second steering gear 111, and the first hinge 103 and the second hinge 109 are set to Adjust the inclination and distance between the cleaning member 102 and the circular target to be cleaned; the control circuit board 107 is connected to the second steering gear 111, and the control circuit board 107 is configured to process the pulse width regulation signal so that all The second steering gear 111 rotate
- the automatic driving device further includes a mounting seat 201 .
- the mounting seat 201 is located beside the glass 101 and does not block the glass 101 to prevent other structures from penetrating through. The image of the external environment is obstructed by the glass. Please refer to FIG. 13 together.
- the bottom of the casing 106 is provided with a fixing position.
- the rotating cleaning structure further includes a fixing member 202. It is configured to fix the housing 106 on the mounting seat 201 .
- the cleaning member 102 may be or include a wiper head, and the second steering gear 111 Driven to achieve rotation and cleaning, the first steering gear 105 located inside the casing 106 adjusts the position of the second steering gear 111 and its output shaft through the transmission rod 104, the first hinge 103, the connecting rod 108 and the second hinge 109;
- the internal control circuit board 107 outputs PWM signals respectively to the first steering gear 105 to adjust the angle of the transmission rod 104 , and to the second steering gear 111 to control the rotation of the cleaning member 102 .
- the double steering gear is used with the control circuit, and the double hinge structure with the first hinge 103 and the second hinge 109 is structurally designed, so as to adjust the cleaning member 102 such as the wiper head and the circular cleaned element
- the cleaning member 102 such as the wiper head and the circular cleaned element
- the inclination and distance of the glass 101, in this embodiment, the back of the wiper head is embedded with a rubber strip
- the rotation angle of the first steering gear 105 is 60°
- the rotation angle of the second steering gear 111 is 360°.
- the first steering gear 105 drives the transmission rod 104 and the connecting rod 108 to swing to a specified angular position and remains stationary
- the second steering gear 111 starts to start, and drives the cleaning member 102 to perform a circular motion, such as the circumference of the wiper head.
- the overall structure of this embodiment adopts a modular design, the assembly method is external placement, and the bottom of the casing 107 is fixed on the glass connector 110, which not only avoids internal placement
- the effect of opening and grooving on the sealing performance in this way reduces the difficulty of maintenance and assembly.
- the rotating cleaning structures described in the various embodiments of the present application can not only complete the rain and dirt cleaning of the cleaned elements in the circular cleaning area, and the theoretical cleaning area can reach 100% in this state; Rain and dirt cleaning of the cleaned element in the regular polygonal cleaning area. In this state, the usual theoretical cleaning area can exceed 50% to 90%; it is especially suitable for the round glass rain and dirt cleaning structure where the cleaned element is a round glass.
- a circular glass rain and dirt cleaning structure using two or more rotating cleaning structures can be applied to a cleaning area formed by a combination of circles, such as a figure-eight shape. did it.
- the use of circular glass has the advantages of small size and large experimental area.
Abstract
一种转动清理结构、圆形玻璃雨污清理结构及自动驾驶装置，该转动清理结构包括：控制电路板（107）、第一舵机（105）、传动杆（104）、第一铰链（103）、连接杆（108）、第二铰链（109）、第二舵机（111）及清理件（102）；第一舵机（105）顺序通过传动杆（104）、第一铰链（103）、连接杆（108）及第二铰链（109）连接第二舵机（111），第一舵机（105）设置为在上电状态下，转动传动杆（104）到预设角度位置，以使第二舵机位（111）于预设清理位置；清理件（102）可拆卸地安装于第二舵机（111），第一铰链（103）及第二铰链（109）设置为调整清理件（102）与待清理目标的倾斜度及距离；控制电路板（107）连接第二舵机（111），控制电路板（107）设置为处理脉宽调控信号以使第二舵机（111）循环转动且带动清理件（102）循环转动。
Description
本申请涉及清污技术领域，特别是涉及一种转动清理结构、圆形玻璃雨污清理结构及自动驾驶装置。
舵机是一种伺服电机，是指在自动驾驶仪中操纵飞机舵面转动的一种执行部件，舵面亦称操纵面，舵机是一种角度位置伺服的驱动器，是由直流电机、减速齿轮组、传感器和控制电路组成的一套自动控制系统。当向控制电路发送一个控制信号时，直流电机的输出轴就可以转到特定的位置。只要控制信号持续不变，舵机就会保持输出轴的角度位置不改变。如果控制信号发生变化，输出轴的位置也会相应发生变化。
脉冲宽度调制(Pulse Width Modulation，PWM)是一种模拟控制方式，根据相应载荷的变化来调制晶体管基极或金属-氧化物半导体场效应晶体管(Metal-Oxide-Semiconductor Field-Effect Transistor，MOSFET，简称MOS管)栅极的偏置，来实现晶体管或MOS管导通时间的改变，从而实现开关稳压电源输出的改变。一般舵机的原理是，舵机内部有一个基准电路，产生周期为20ms，高电平宽度为1.5ms的基准信号，通过比较信号线的PWM信号与基准信号，内部的电机控制板得出一个电压差值，将这个差值加到电机上控制舵机转动。控制舵机的高电平范围为0.5ms到2.5ms；其中，0.5ms为最小角度，2.5ms为最大角度。以一般180°舵机为例：0.5ms对应转动0度、1ms对应转动45度、1.5ms对应转动90度、2ms对应转动135度、2.5ms对应转动180度。而对于360度舵机，给予其PWM信号，则360度舵机会以一个特定的速度转动，类似于电机，但与电机不同的是，360舵机是闭环控制，速度控制稳定。例如，0.5ms对应以正向最大转速进行转动；1.5ms速度为0，停止转动；2.5ms对应以反向最大转速进行转动。
自动驾驶领域，无论是地上跑的小车还是天上飞的无人机，对于微型雨污清理结构多采用雨刮式，具体技术为雨刮电机配合四连杆及复位结构的组合方式，或单舵机配合控制电路的设计。这类技术需要被清理元件例如玻璃，在形状和面积上作出一定妥协，通常为类似拱形的设计。
但是对于圆形玻璃，采用上述传统技术，最大清理面积只能在60％左右，难以实现更大的清理面积；而且上述传统技术需要将电机等结构内置，需要在玻璃开槽或过轴孔，以保证雨刮杆的正常摆动，增加了后续的密封难度和装配难度，并且会增大电机输出轴的转动摩擦力，降低机械效率。
发明内容
根据本申请的各种实施例，提供一种转动清理结构、圆形玻璃雨污清理结构及自动驾驶装置，能够在不对被清理元件进行开槽或孔的前提下，对圆形的被清理元件实现更大的清理面积，解决传统开槽或孔的方式造成密封性不良的问题。
一种转动清理结构，包括：控制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；
所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；
所述清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与待清理目标的倾斜度及距离；
所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动。
所述控制电路板还连接所述第一舵机，所述控制电路板设置为限定所述预设角度位置。
所述预设角度位置为所述第一舵机转动60°后到达的位置。
所述第一舵机的转动角度根据脉宽调控信号而设置。
所述控制电路板设置为处理脉宽调控信号以使所述第二舵机按预设方向循环转动。
所述预设方向包括同一方向及相反的两个方向。
所述清理件包括雨刮头。
所述清理件还包括橡胶条。
所述转动清理结构还包括外壳，所述第一舵机及所述控制电路板均固定于所述外壳的内部，所述传动杆设置为穿过所述外壳，所述第一铰链位于所述外壳的外部。
所述外壳的底部设有固定位，所述转动清理结构还包括固定件，所述固定件与所述固 定位相配合，共同设置为将所述外壳固定于外部。
所述固定件设置为将所述外壳固定于待清理目标的外部。
所述清理件的长度设置为匹配圆形的待清理目标的半径；
所述第一舵机为180度舵机，所述第二舵机为360度舵机。
一种圆形玻璃雨污清理结构，包括至少一转动清理结构，所述转动清理结构包括：控制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；
所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；
所述清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与圆形的待清理目标的倾斜度及距离；
所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动。
所述控制电路板还连接所述第一舵机，所述控制电路板设置为限定所述预设角度位置。
所述控制电路板设置为处理脉宽调控信号以使所述第二舵机按预设方向循环转动，所述预设方向包括同一方向及相反的两个方向。
所述清理件包括雨刮头及橡胶条。
所述转动清理结构还包括外壳，所述第一舵机及所述控制电路板均固定于所述外壳的内部，所述传动杆设置为穿过所述外壳，所述第一铰链位于所述外壳的外部。
所述清理件的长度设置为匹配圆形的待清理目标的半径；
所述预设角度位置为所述第一舵机转动60°后到达的位置；
所述第一舵机的转动角度根据脉宽调控信号而设置；
所述外壳的底部设有固定位，所述转动清理结构还包括固定件，所述固定件与所述固定位相配合，共同设置为将所述外壳固定于待清理目标的外部；
所述第一舵机为180度舵机，所述第二舵机为360度舵机。
一种自动驾驶装置，包括圆形玻璃雨污清理结构，所述圆形玻璃雨污清理结构包括至少一转动清理结构，所述转动清理结构包括：控制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；
所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；
所述清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与圆形的待清理目标的倾斜度及距离；
所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动；
所述第一舵机为180度舵机，所述第二舵机为360度舵机。
上述转动清理结构、圆形玻璃雨污清理结构及自动驾驶装置，一方面在结构上无需对被清理元件进行开槽或孔，且整体结构具有保证微型化、低成本和高精度控制优点；另一方面能完成对圆形的被清理元件的雨污清理，或者完成对具有圆形清理区域的被清理元件的雨污清理，并且理论清理面积可达100％；再一方面在装配上还能通过第二铰链结构调整与玻璃的距离和角度，提升了产品的适用性。
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本申请转动清理结构一实施例的结构示意图；
图2为图1所示转动清理结构的另一方向示意图；
图3为本申请转动清理结构另一实施例的结构示意图；
图4为图3所示转动清理结构的另一方向示意图；
图5为图3所示转动清理结构的另一方向示意图；
图6为图3所示转动清理结构的另一方向示意图；
图7为图3所示转动清理结构的另一方向示意图；
图8为图3所示转动清理结构的另一方向示意图；
图9为采用图3所示转动清理结构的本申请自动驾驶装置一实施例的部分结构示意图。
图10为图9所示自动驾驶装置的另一方向示意图；
图11为采用图3所示转动清理结构的本申请自动驾驶装置另一实施例的部分结构示意图；
图12为图11所示自动驾驶装置的另一方向示意图；
图13为图11所示自动驾驶装置的另一方向示意图；
图14为图11所示自动驾驶装置的另一方向示意图；
图15为图11所示自动驾驶装置的另一方向示意图；
图16为图11所示自动驾驶装置的另一方向示意图。
附图标记：玻璃101、清理件102、第一铰链103、传动杆104、第一舵机105、外壳106、控制电路板107、连接杆108、第二铰链109、连接件110、第二舵机111、安装座201、安装件202、安装槽203。
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施例。但是，本申请可以采用许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本申请的说明书所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯5一的实施方式。除非另有定义，本文所使用的所有的技术和科学术语与属于发明的技术领域的技术人员通常理解的含义相同。本文中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请的一个实施例是，一种转动清理结构，包括：控制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；所述 清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与待清理目标的倾斜度及距离；所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动。这样的设计，一方面在结构上无需对被清理元件进行开槽或孔，且整体结构具有保证微型化、低成本和高精度控制优点；另一方面能完成对圆形的被清理元件的雨污清理，或者完成对具有圆形清理区域的被清理元件的雨污清理，并且理论清理面积可达100％；再一方面在装配上还能通过第二铰链结构调整与玻璃的距离和角度，提升了产品的适用性。
在其中一个实施例中，一种转动清理结构，其包括以下实施例的部分结构或全部结构；即，所述转动清理结构包括以下的部分技术特征或全部技术特征。
在其中一个实施例中，一种转动清理结构如图1所示，其包括：清理件102、第二舵机111、第二铰链109、连接杆108、第一铰链103、传动杆104、第一舵机105及控制电路板107；所述控制电路板107分别连接所述第一舵机105及所述第二舵机111，所述第一舵机105顺序通过所述传动杆104、所述第一铰链103、所述连接杆108及所述第二铰链109连接所述第二舵机111，即所述第一舵机105连接所述传动杆104，所述传动杆104通过所述第一铰链103连接所述连接杆108，所述连接杆108通过所述第二铰链109连接所述第二舵机111；所述第一铰链103及所述第二铰链109设置为实现转动连接，即所述传动杆104与所述连接杆108通过所述第一铰链103转动连接，所述连接杆108与所述第二舵机111通过所述第二铰链109转动连接。
进一步地，请一并参阅图2，所述第一舵机105设置为带动所述传动杆104转动，所述第二舵机111设置为带动所述清理件102转动；这样的设计，有利于通过所述第一舵机105与所述第二舵机111相配合，调整所述清理件102的位置，即通过调整所述第二舵机111的输出轴的位置，确定转动清理结构的所述清理件102的转动中心，亦即转动的圆心，从而实现对于圆形玻璃或者圆形的被清理元件的有效清理，通过上述说明可知，对于被清理元件而言，当其清理区域为圆形时，理论清理面积可达100％。
本实施例中，所述第一舵机105设置为在上电状态下，转动所述传动杆104到预设角度位置，以使所述第二舵机111位于预设清理位置；所述清理件102可拆卸地安装于所述第二舵机111，所述第一铰链103及所述第二铰链109设置为调整所述清理件102与待清理目标的倾斜度及距离；所述控制电路板107连接所述第二舵机111，所述控制电路板107设置为处理脉宽调控信号以使所述第二舵机111循环转动且带动所述清理件102循环转 动。在其中一个实施例中，所述控制电路板107还连接所述第一舵机105，所述控制电路板107设置为限定所述预设角度位置。在其中一个实施例中，所述预设角度位置为所述第一舵机105转动60°后到达的位置。在其中一个实施例中，所述第一舵机105的转动角度根据脉宽调控信号而设置。进一步地，在其中一个实施例中，所述第一舵机还设置为在断电状态下或在所述控制电路板107控制下，转动所述传动杆复位，即转动所述传动杆到预定位置，以使转动清理结构不遮挡被清理元件。进一步地，在其中一个实施例中，所述转动清理结构还包括与所述控制电路板107连接的脉宽调控信号控制器，脉宽调控信号控制器设置为向所述控制电路板107输出脉宽调控信号以控制所述第一舵机105和/或所述第二舵机111的转动。在其中一个实施例中，所述第一舵机为180度舵机，所述第二舵机为360度舵机；采用脉宽调控信号控制第一舵机105的转动角度及采用脉宽调控信号控制第二舵机111循环转动是本申请各实施例的重要发明点之一，通过给第二舵机一个PWM信号，例如控制舵机的高电平范围为0.5ms到2.5ms；即可控制其顺时针或逆时针按预定转速转动，其中所述预定转速在生产时设置；且由于是闭环控制，因而具有速度控制稳定的优点；通过给第一舵机一个PWM信号，则可控制其转动到工作位置即使第二舵机的输出轴对准圆形的被清理元件的圆心，或者控制其复位即转动到预定位置，亦即使转动清理结构不遮挡被清理元件。在试制测试时，在环境温度-30℃至60℃范围内，使用寿命约为500万次，以每天不间断使用两小时，每两秒转动一次计算，可连续使用1389天，约为3.8年；因此理论上足以满足自动驾驶装置的运维需求。
为了便于适配各种不同距离的被清理元件使用，进一步地，在其中一个实施例中，所述连接杆108为可伸缩结构，其设置为在预定长度范围内可伸缩；在其中一个实施例中，预定长度范围为3厘米至5厘米，即所述连接杆108在最短状态下可伸长3厘米至5厘米，或者在最长状态下可缩短3厘米至5厘米。在其中一个实施例中，所述可伸缩结构为滑动式伸缩结构或者螺旋式伸缩结构。这样的设计，有利于提升同一转动清理结构的通用性，在实际生产时，可以生产一个转动清理结构配多个长度相异的连接杆，亦可生产一个转动清理结构配一个可伸缩的连接杆，使得同一规格的转动清理结构适用于不同安装位置，或者与安装位置具有不同距离的被清理元件，在使用时能够让第二舵机111的输出轴的位置对准圆形清理区域的圆心，以确保清理范围的覆盖性。
为了便于安装固定转动清理结构，在其中一个实施例中，如图3所示，所述转动清理结构还包括外壳106，所述第一舵机105及所述控制电路板107均固定于所述外壳106的 内部。在其中一个实施例中，所述外壳106的底部设有固定位，所述转动清理结构还包括固定件202，所述固定件202与所述固定位相配合，共同设置为将所述外壳106固定于外部。在其中一个实施例中，所述固定件202设置为将所述外壳106固定于待清理目标的外部。
请一并参阅图4、图5及图6，所述传动杆104设置为穿过所述外壳106，所述第一铰链103位于所述外壳106的外部。本实施例中，所述固定件202为螺接件，所述外壳106的底部对应设有螺接位。请一并参阅图7及图8，可以理解的是，控制电路板107的连接线路穿过所述外壳106以露出于所述外壳106外；或者控制电路板107于所述外壳106外设有连接端子；连接线路或连接端子设置为接入外部的线路或者信号等。
在其中一个实施例中，所述控制电路板107设置为处理脉宽调控信号以使所述第二舵机111按预设方向循环转动。在其中一个实施例中，所述预设方向包括同一方向及相反的两个方向。在其中一个实施例中，所述预设方向为顺时针；或者所述预设方向为逆时针；或者所述预设方向包括顺时针及逆时针。进一步地，在其中一个实施例中，所述第二舵机111的输出轴或所述清理件102还通过阻挡反馈结构连接所述控制电路板107，所述阻挡反馈结构设置为在所述第二舵机111的输出轴或所述清理件102转动受到阻碍时生成反馈信号且传输到所述控制电路板107，所述控制电路板107设置为在收到所述阻挡反馈结构的所述反馈信号时，调整所述预设方向以使所述第二舵机111相对于之前的预设方向反向循环转动；和/或在再次收到所述阻挡反馈结构的所述反馈信号时发送紧急状态信号。在其中一个实施例中，所述阻挡反馈结构包括弹性件及感应器等。在其中一个实施例中，所述自动驾驶装置设置为在收到所述紧急状态信号时，执行紧急操作，所述紧急操作包括但不限于安全停止、紧急停止、降速运行及紧急撤离等。可以理解的是，对于不同的自动驾驶装置，上述紧急操作可以是不同的，通常根据安全的前提进行设置即可。
在其中一个实施例中，所述清理件102包括雨刮头。在其中一个实施例中，所述清理件102还包括橡胶条。在其中一个实施例中，所述橡胶条设置于所述雨刮头靠近或者接触被清理元件的位置。进一步地，在其中一个实施例中，所述清理件102包括柔性形变结构，所述柔性形变结构设置为在所述清理件102转动受到阻碍时发生形变，以维持所述清理件102的正常转动，避免所述第二舵机111受损。在其中一个实施例中，所述柔性形变结构与所述阻挡反馈结构联动设置，所述阻挡反馈结构设置为在所述第二舵机111的输出轴或所述清理件102转动受到阻碍时生成反馈信号且传输到所述控制电路板107。
在其中一个实施例中，所述清理件102的长度设置为匹配圆形的待清理目标的半径。在其中一个实施例中，所述清理件102的长度等于圆形的待清理目标的半径，以在精准定位的前提下实现圆形清理区域的100％面积的雨污清理效果；或者，所述清理件102的长度为圆形的待清理目标的半径的95％至98％，以在牺牲少量清理面积的前提下避免由于工艺原因或者长期使用原因导致清理件过长使得清理件的边缘伸出到待清理目标之外，致使转动受阻。
在其中一个实施例中，所述控制电路板107还连接所述第一舵机105，所述控制电路板107设置为限定所述预设角度位置；所述预设角度位置为所述第一舵机105转动60°后到达的位置；所述第一舵机105的转动角度根据脉宽调控信号而设置；所述控制电路板107设置为处理脉宽调控信号以使所述第二舵机111按预设方向循环转动；所述预设方向包括同一方向及相反的两个方向；所述清理件102包括雨刮头及橡胶条；所述转动清理结构还包括外壳106，所述第一舵机105及所述控制电路板107均固定于所述外壳106的内部，所述传动杆104设置为穿过所述外壳106，所述第一铰链103位于所述外壳106的外部；所述外壳106的底部设有固定位，所述转动清理结构还包括固定件，所述固定件与所述固定位相配合，共同设置为将所述外壳106固定于待清理目标的外部。其余实施例以此类推，不做赘述。这样的设计，一方面克服了针对圆形玻璃清理面积受限的问题，另一方面固定的方式使其不影响密封性，从而降低了维修和装配难度，再一方面整体结构采用外置模块化设计，在安装上更加简单高效。
在其中一个实施例中，所述转动清理结构为圆形玻璃的转动清理结构。在其中一个实施例中，一种圆形玻璃雨污清理结构，包括任一实施例所述转动清理结构。根据需求，圆形玻璃雨污清理结构中的转动清理结构的数量为一个、两个或多个。在其中一个实施例中，一种圆形玻璃雨污清理结构，包括至少一转动清理结构，所述转动清理结构包括：控制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；所述清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与圆形的待清理目标的倾斜度及距离；所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动。所述控制电路板还连接所述第一舵机，所述控制电路板设置为限定 所述预设角度位置。其余实施例以此类推，不做赘述。这样的设计，有利于实现对于圆形清理区域的雨污清理，理论清理面积可达100％；还可以实现对多个圆形清理区域或者由圆形组成的清理区域的雨污清理。
在其中一个实施例中，所述圆形玻璃雨污清理结构包括一个如图1至图8所述转动清理结构，以清理圆形玻璃的雨污；即所述圆形玻璃雨污清理结构包括：控制电路板107、第一舵机105、传动杆104、第一铰链103、连接杆108、第二铰链109、第二舵机111及清理件102；所述第一舵机105顺序通过所述传动杆104、所述第一铰链103、所述连接杆108及所述第二铰链109连接所述第二舵机111，所述第一舵机105设置为在上电状态下，转动所述传动杆104到预设角度位置，以使所述第二舵机111位于预设清理位置；所述清理件102可拆卸地安装于所述第二舵机111，所述第一铰链103及所述第二铰链109设置为调整所述清理件102与圆形的待清理目标的倾斜度及距离；所述控制电路板107连接所述第二舵机111，所述控制电路板107设置为处理脉宽调控信号以使所述第二舵机111循环转动且带动所述清理件102循环转动。在其中一个实施例中，所述控制电路板107还连接所述第一舵机105，所述控制电路板107设置为限定所述预设角度位置。在其中一个实施例中，所述控制电路板107设置为处理脉宽调控信号以使所述第二舵机111按预设方向循环转动，所述预设方向包括同一方向及相反的两个方向。在其中一个实施例中，所述清理件102包括雨刮头及橡胶条。在其中一个实施例中，所述圆形玻璃雨污清理结构还包括外壳106，所述第一舵机105及所述控制电路板107均固定于所述外壳106的内部，所述传动杆104设置为穿过所述外壳106，所述第一铰链103位于所述外壳106的外部。在其中一个实施例中，所述清理件102的长度设置为匹配圆形的待清理目标的半径；所述预设角度位置为所述第一舵机105转动60°后到达的位置；所述第一舵机105的转动角度根据脉宽调控信号而设置；所述控制电路板107设置为处理脉宽调控信号以使所述第二舵机111按预设方向循环转动；所述预设方向包括同一方向及相反的两个方向；所述清理件102包括雨刮头及橡胶条；所述转动清理结构还包括外壳106，所述第一舵机105及所述控制电路板107均固定于所述外壳106的内部，所述传动杆104设置为穿过所述外壳106，所述第一铰链103位于所述外壳106的外部；所述外壳106的底部设有固定位，所述转动清理结构还包括固定件，所述固定件与所述固定位相配合，共同设置为将所述外壳106固定于待清理目标的外部。其余实施例以此类推，不做赘述。清理件的长度匹配圆形的待清理目标的半径，配合第二舵机为360度舵机，有利于360度转动清理件且正好精准地实现 圆形清理区域的雨污清理。进一步地，配合第一舵机为180度舵机，则有利于准确定位清理件的转动圆心位置，使得清理件对准圆形清理区域。本实施例中，第一舵机为180度舵机配合第二舵机为360度舵机，一方面有利于准确设置清理件的位置，另一方面有利于精准实现圆形清理区域的雨污清理。
在其中一个实施例中，一种自动驾驶装置，包括任一实施例所述圆形玻璃雨污清理结构或者任一实施例所述转动清理结构。在其中一个实施例中，一种自动驾驶装置，包括圆形玻璃雨污清理结构，所述圆形玻璃雨污清理结构包括至少一转动清理结构，所述转动清理结构包括：控制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；所述清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与圆形的待清理目标的倾斜度及距离；所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动；所述第一舵机为180度舵机，所述第二舵机为360度舵机。其余实施例以此类推，不做赘述。
进一步地，在其中一个实施例中，所述自动驾驶装置还包括圆形的被清理元件；在其中一个实施例中，所述被清理元件为玻璃，即所述自动驾驶装置还包括圆形的玻璃。或者，所述自动驾驶装置具有圆形清理区域的被清理元件。进一步地，在其中一个实施例中，所述自动驾驶装置还包括安装座，所述安装座位于所述被清理元件旁且不阻碍所述被清理元件的观察视野即不遮挡所述被清理元件，所述转动清理结构固定于所述安装座上，且所述转动清理结构的第二舵机的输出轴即所述清理件的转动圆心位置对准所述被清理元件的圆形的圆心，所述清理件可转动地与所述被清理元件相接触；在其中一个实施例中，所述清理件与所述被清理元件的间距为0.01毫米至0.5毫米，以实现在宏观上所述清理件与所述被清理元件相接触且在微观上所述清理件与所述被清理元件存在细小间距，以使所述清理件可转动地与所述被清理元件相接触。进一步地，在其中一个实施例中，所述被清理元件的数量为至少一个，对应地，所述安装座及所述转动清理结构的数量为至少一个，所述被清理元件、所述安装座及所述转动清理结构一一对应设置，每一被清理元件配一个转动清理结构，且该转动清理结构固定于一个安装座上，以实现多个位置多个角度获取外界环境图像，从而提升产品的整体安全性能。可以理解的是，安装座位于被清理元件更靠近外 界环境的一侧，以在被清理元件经受风吹雨打时及/或之后，或在需要清理时，由转动清理结构在外面进行雨污清理。通过上述说明可见，各实施例中无需如传统技术一般将电机结构内置，因而无需在玻璃开槽或过轴孔，均可保证转动清理结构的正常清理雨污，提升了密封性，且简化了装配方式，从而有利于相对减小电机输出轴的转动摩擦力，提升了机械效率。
在其中一个实施例中，一种自动驾驶装置，其圆形玻璃雨污清理的部分结构如图9及图10所示，所述自动驾驶装置包括圆形玻璃雨污清理结构、被清理元件即圆形的玻璃101及连接件110，所述被清理元件固定于或者连接于所述连接件110，例如玻璃101固定于连接件110，所述圆形玻璃雨污清理结构包括外壳106、控制电路板、第一舵机、传动杆104、第一铰链103、连接杆108、第二铰链109、第二舵机111及清理件102；其中所述第一舵机及所述控制电路板均固定于所述外壳106的内部。亦即所述圆形玻璃雨污清理结构包括一转动清理结构，其他实施例中，所述圆形玻璃雨污清理结构还可以包括二转动清理结构或更多的转动清理结构。所述第二舵机111的输出轴的位置，即所述清理件102的转动中心位于圆形的玻璃101的圆心处，所述第一舵机105顺序通过所述传动杆104、所述第一铰链103、所述连接杆108及所述第二铰链109连接所述第二舵机111，所述第一舵机105设置为在上电状态下，转动所述传动杆104到预设角度位置，以使所述第二舵机111位于预设清理位置；所述清理件102可拆卸地安装于所述第二舵机111，所述第一铰链103及所述第二铰链109设置为调整所述清理件102与圆形的待清理目标的倾斜度及距离；所述控制电路板107连接所述第二舵机111，所述控制电路板107设置为处理脉宽调控信号以使所述第二舵机111循环转动且带动所述清理件102循环转动。所述外壳106的底部设有固定位，所述转动清理结构还包括固定件202，所述固定件202与所述固定位相配合，共同设置为固定所述外壳106。
在其中一个实施例中，如图11及图12所示，所述自动驾驶装置还包括安装座201，所述安装座201位于所述玻璃101旁，且不遮挡所述玻璃101以免其他结构透过玻璃阻碍获取外界环境图像，请一并参阅图13，所述外壳106的底部设有固定位，所述转动清理结构还包括固定件202，所述固定件202与所述固定位相配合，共同设置为将所述外壳106固定于所述安装座201上。
请一并参阅图14、图15及图16，在其中一个实施例中，对于自动驾驶装置例如自动驾驶汽车或者无人机，清理件102可以为或包括雨刮头，在第二舵机111带动下实现转动 清理，位于外壳106内部的第一舵机105通过传动杆104、第一铰链103、连接杆108及第二铰链109调整第二舵机111及其输出轴的位置；位于外壳106内部的控制电路板107分别输出PWM信号给第一舵机105以调整传动杆104的角度，给第二舵机111以控制清理件102的转动。
这样的设计，采用了双舵机配合控制电路的方式，结构上设计了具有第一铰链103及第二铰链109的双铰链结构，以便调整清理件102例如雨刮头与圆形的被清理元件例如玻璃101的倾斜度和距离，本实施例中，雨刮头背部嵌有橡胶条，第一舵机105的转动角度为60°，第二舵机111的转动角度为360°，当上电后，第一舵机105带动传动杆104和连接杆108摆动到指定角度位置，保持不动，第二舵机111开始启动，带动清理件102进行圆周运动，清理件102例如雨刮头的圆周运动使得雨污清理面积接近100％，极大提高了清理效率；本实施例整体结构采用模块化设计，装配方式为外部放置，外壳107底部固定在玻璃的连接件110上，既避免了内部放置方式下开孔开槽对密封性的影响，又降低了维修装配难度。
本申请各实施例所述转动清理结构，不仅可以完成圆形清理区域的被清理元件的雨污清理，该状态下理论清理面积可达100％；还可以完成具有圆形清理区域例如椭圆形或正多边形清理区域的被清理元件的雨污清理，该状态下，通常的理论清理面积可超过50％至90％；尤其适用于被清理元件为圆形玻璃的圆形玻璃雨污清理结构，而采用两个或多个转动清理结构相配合的圆形玻璃雨污清理结构，更可应用于类似于8字形等由圆形组合而成的清理区域，这是申请人所知的传统技术均无法做到的。对于自动驾驶装置而言，采用圆形玻璃则具有体积小及实验面积大的优点，配合体积小而结构紧凑的转动清理结构，一方面有利于提升圆形清理区域的雨污清理效果，另一方面有利于实现多个位置多个角度获取外界环境图像，避免雨雾或其他污物干扰，从而提升自动驾驶装置的安全性能。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的专利保护范围应以所附权利要求为准。
Claims (20)
- 一种转动清理结构，包括：控制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；所述清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与待清理目标的倾斜度及距离；所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动。
- 根据权利要求1所述转动清理结构，所述控制电路板还连接所述第一舵机，所述控制电路板设置为限定所述预设角度位置。
- 根据权利要求2所述转动清理结构，所述预设角度位置为所述第一舵机转动60°后到达的位置。
- 根据权利要求3所述转动清理结构，所述第一舵机的转动角度根据脉宽调控信号而设置。
- 根据权利要求1所述转动清理结构，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机按预设方向循环转动。
- 根据权利要求5所述转动清理结构，所述预设方向包括同一方向及相反的两个方向。
- 根据权利要求1所述转动清理结构，所述清理件包括雨刮头。
- 根据权利要求7所述转动清理结构，所述清理件还包括橡胶条。
- 根据权利要求1所述转动清理结构，还包括外壳，所述第一舵机及所述控制电路板均固定于所述外壳的内部，所述传动杆设置为穿过所述外壳，所述第一铰链位于所述外壳的外部。
- 根据权利要求9所述转动清理结构，所述外壳的底部设有固定位，所述转动清理结构还包括固定件，所述固定件与所述固定位相配合，共同设置为将所述外壳固定于外部。
- 根据权利要求10所述转动清理结构，所述固定件设置为将所述外壳固定于待清理目标的外部。
- 根据权利要求1所述转动清理结构，所述清理件的长度设置为匹配圆形的待清理目标的半径。
- 根据权利要求12所述转动清理结构，所述控制电路板还连接所述第一舵机，所述控制电路板设置为限定所述预设角度位置；所述预设角度位置为所述第一舵机转动60°后到达的位置；所述第一舵机的转动角度根据脉宽调控信号而设置；所述控制电路板设置为处理脉宽调控信号以使所述第二舵机按预设方向循环转动；所述预设方向包括同一方向及相反的两个方向；所述清理件包括雨刮头及橡胶条；所述转动清理结构还包括外壳，所述第一舵机及所述控制电路板均固定于所述外壳的内部，所述传动杆设置为穿过所述外壳，所述第一铰链位于所述外壳的外部；所述外壳的底部设有固定位，所述转动清理结构还包括固定件，所述固定件与所述固定位相配合，共同设置为将所述外壳固定于待清理目标的外部；所述第一舵机为180度舵机，所述第二舵机为360度舵机。
- 一种圆形玻璃雨污清理结构，包括至少一转动清理结构，所述转动清理结构包括：控 制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；所述清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与圆形的待清理目标的倾斜度及距离；所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动。
- 根据权利要求14所述圆形玻璃雨污清理结构，所述控制电路板还连接所述第一舵机，所述控制电路板设置为限定所述预设角度位置。
- 根据权利要求14所述圆形玻璃雨污清理结构，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机按预设方向循环转动，所述预设方向包括同一方向及相反的两个方向。
- 根据权利要求14所述圆形玻璃雨污清理结构，所述清理件包括雨刮头及橡胶条。
- 根据权利要求14所述圆形玻璃雨污清理结构，所述转动清理结构还包括外壳，所述第一舵机及所述控制电路板均固定于所述外壳的内部，所述传动杆设置为穿过所述外壳，所述第一铰链位于所述外壳的外部。
- 根据权利要求14所述圆形玻璃雨污清理结构，所述清理件的长度设置为匹配圆形的待清理目标的半径；所述预设角度位置为所述第一舵机转动60°后到达的位置；所述第一舵机的转动角度根据脉宽调控信号而设置；所述控制电路板设置为处理脉宽调控信号以使所述第二舵机按预设方向循环转动；所述预设方向包括同一方向及相反的两个方向；所述清理件包括雨刮头及橡胶条；所述转动清理结构还包括外壳，所述第一舵机及所述控制电路板均固定于所述外壳的内部，所述传动杆设置为穿过所述外壳，所述第一铰链位于所述外壳的外部；所述外壳的底部设有固定位，所述转动清理结构还包括固定件，所述固定件与所述固定位相配合，共同设置为将所述外壳固定于待清理目标的外部；所述第一舵机为180度舵机，所述第二舵机为360度舵机。
- 一种自动驾驶装置，包括圆形玻璃雨污清理结构，所述圆形玻璃雨污清理结构包括至少一转动清理结构，所述转动清理结构包括：控制电路板、第一舵机、传动杆、第一铰链、连接杆、第二铰链、第二舵机及清理件；所述第一舵机顺序通过所述传动杆、所述第一铰链、所述连接杆及所述第二铰链连接所述第二舵机，所述第一舵机设置为在上电状态下，转动所述传动杆到预设角度位置，以使所述第二舵机位于预设清理位置；所述清理件可拆卸地安装于所述第二舵机，所述第一铰链及所述第二铰链设置为调整所述清理件与圆形的待清理目标的倾斜度及距离；所述控制电路板连接所述第二舵机，所述控制电路板设置为处理脉宽调控信号以使所述第二舵机循环转动且带动所述清理件循环转动；所述第一舵机为180度舵机，所述第二舵机为360度舵机。
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3893203A (en) * | 1971-12-22 | 1975-07-08 | Hans Berkelius | Drive motor for cleaning glass surfaces |
| WO2006038365A1 (ja) * | 2004-10-04 | 2006-04-13 | Saito, Mituyo | ロータリーワイパー |
| CN103359069A (zh) * | 2013-07-24 | 2013-10-23 | 苏州市润凯汽车配件制造有限公司 | 一种雨刮器 |
| CN206734252U (zh) * | 2017-05-10 | 2017-12-12 | 渭南师范学院 | 一种夹持式汽车侧窗雨刮器 |
| WO2020003875A1 (ja) * | 2018-06-26 | 2020-01-02 | 株式会社デンソー | 車両用清掃装置、車両用清掃システム及び車両用清掃システムの制御方法 |
| CN211663210U (zh) * | 2020-01-11 | 2020-10-13 | 浙江胜华波电器股份有限公司 | 快拆式雨刷刮臂组件 |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3893203A (en) * | 1971-12-22 | 1975-07-08 | Hans Berkelius | Drive motor for cleaning glass surfaces |
| WO2006038365A1 (ja) * | 2004-10-04 | 2006-04-13 | Saito, Mituyo | ロータリーワイパー |
| CN103359069A (zh) * | 2013-07-24 | 2013-10-23 | 苏州市润凯汽车配件制造有限公司 | 一种雨刮器 |
| CN206734252U (zh) * | 2017-05-10 | 2017-12-12 | 渭南师范学院 | 一种夹持式汽车侧窗雨刮器 |
| WO2020003875A1 (ja) * | 2018-06-26 | 2020-01-02 | 株式会社デンソー | 車両用清掃装置、車両用清掃システム及び車両用清掃システムの制御方法 |
| CN211663210U (zh) * | 2020-01-11 | 2020-10-13 | 浙江胜华波电器股份有限公司 | 快拆式雨刷刮臂组件 |
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