WO2023087603A1 - 一种滚刷的控制方法 - Google Patents

一种滚刷的控制方法 Download PDF

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Publication number
WO2023087603A1
WO2023087603A1 PCT/CN2022/085288 CN2022085288W WO2023087603A1 WO 2023087603 A1 WO2023087603 A1 WO 2023087603A1 CN 2022085288 W CN2022085288 W CN 2022085288W WO 2023087603 A1 WO2023087603 A1 WO 2023087603A1
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Prior art keywords
rolling brush
current
motor
brush motor
output power
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PCT/CN2022/085288
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English (en)
French (fr)
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龚筱芳
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苏州威摩尔智能科技有限公司
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Publication of WO2023087603A1 publication Critical patent/WO2023087603A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to the technical field of cleaning device control, in particular to a method for controlling a rolling brush.
  • the existing floor scrubber roller brushes are generally provided with a stall protection function during use. Its working principle is mainly to detect the current of the roller brush motor through the control board. When the current value exceeds the protection value and maintains for a certain period of time, the motor output is turned off to protect the roller brush mechanism. Although this method can play a very good protective role, it also brings about a problem, that is, in the actual use process, the user will inevitably encounter various complicated situations that will cause the current of the roller brush motor to rise. Some can only be released after stopping the machine, such as the real roller brush stalling such as hair entanglement.
  • the general stall protection program because the protection delay is relatively short, it is easy to trigger an alarm and stop. If the user wants to continue using it, he has to wait for the alarm to be released and turn it on again, which makes the user experience poor.
  • the invention provides:
  • the floor washing machine includes a liquid storage tank to store cleaning liquid; the liquid spraying part can spray the cleaning liquid to the roller brush or the surface to be cleaned; the liquid flow channel Connected between the liquid storage tank and the liquid spraying part; the rolling brush rolls continuously to clean the surface to be cleaned; and the suction channel, through a certain suction, the sewage generated by the rolling brush is recycled to the sewage tank through the suction channel, and the flow of the rolling brush is controlled.
  • the method comprises the steps of:
  • the motor drives the roller brush to rotate to clean the surface of the object to be cleaned
  • step S3 after the control reduces the output power of the motor of the roller brush, the motor still keeps the motor to drive the roller brush to rotate.
  • the first-stage detection in step S2 and/or the second-stage detection in step S4 is real-time continuous detection.
  • the beneficial effect is that the detection process can be performed at intervals according to a predetermined time interval, or in a real-time detection manner, and the real-time detection can ensure the real-time accuracy of the detection.
  • control in step S41 reduces the output power of the rolling brush motor, in order to directly reduce the output power of the rolling brush motor to 0, turn off the rolling brush motor, and give an alarm.
  • control in step S41 reduces the output power of the roller brush motor, and still keeps the motor to drive the roller brush to rotate.
  • control reduction here can be to reduce a certain amount of output power and keep the rolling brush motor to continue to work, or directly reduce the output power of the rolling brush motor to 0, turn off the rolling brush motor and give an alarm.
  • control in step S3 reduces the output power of the rolling brush motor by reducing the output power of the rolling brush motor to 50% of the current real-time power
  • control in step S41 reduces the output power of the rolling brush motor
  • the reduction method is to reduce the output power of the brush motor to 50% of the current real-time power.
  • step S5 is also included: continue to perform the third stage detection, if it is detected that the current of the rolling brush motor reaches the preset stall protection current again , then control again to reduce the output power of the brush motor. Its beneficial effect is to carry out the third or Nth stage detection again, as long as it is detected that the current of the rolling brush motor reaches the preset stall protection current again, it is controlled to reduce the output power of the rolling brush motor again, and then the Continuous detection current.
  • step S3 if it is detected in step S3 that the current of the rolling brush motor reaches the preset locked-rotor protection current, the fault time is calculated,
  • step S41 if it is detected that the current of the rolling brush motor reaches the preset stall protection current again, it is judged whether the fault time is greater than the preset judgment time, and if the fault time is greater than the preset judgment time, then the rolling brush motor is controlled to stop, If the fault time is less than the preset judgment time, the roller brush motor continues to work.
  • the core of the solution of the present invention is that when the current reaches the preset locked-rotor protection current, it does not stop directly, but reduces the output power of the brush motor to continue to work and continuously detects the corresponding current, but this reduction
  • the continuous detection after the output function cannot be unlimited. It needs a certain time limit, such as 20 seconds. If the current of the roller brush motor reaches the preset locked rotor protection current for more than 20 seconds, it is obviously not Ordinary obstacles can be solved by simple movement. There is a high probability that you will encounter problems such as hairline entanglement. You need to stop and clean up to remove obstacles. At this time, a certain time should be limited to reach the judgment time After that, shut down directly, and 20 seconds is basically enough for the user to judge and deal with the corresponding exception.
  • control in S3 to reduce the output power of the rolling brush motor and the control in step S41 to reduce the output power of the rolling brush motor are all reduced in equal proportions or in equal magnitudes or divided into gears according to preset values reduce.
  • proportional reduction means that the output power is changed to N% of the current real-time power each time, for example, N% is fixed at 50%, so that the power is halved each time.
  • Equal amplitude reduction means that the output power is changed to the current real-time power minus the fixed data each time, for example, 3W is subtracted each time.
  • a 10W motor as an example, it is reduced in the manner of 10W—>7W—>4W.
  • the four gears of 10W, 6W, 3W, and 0W can be set. When it is lowered, it can be lowered according to these four gears.
  • Fig. 1 is the structural representation of a kind of washing machine of the present invention
  • Fig. 2 is a schematic diagram of a control method of a rolling brush of the present invention
  • Fig. 3 is a schematic diagram of yet another control method of a rolling brush according to the present invention.
  • the floor washing machine includes a liquid storage bin 1 to store cleaning liquid; a liquid spraying part 2 can spray the cleaning liquid to the roller brush or the surface to be cleaned;
  • the flow channel is connected between the liquid storage bin 1 and the liquid spraying part 2; the rolling brush 3 rolls continuously to clean the surface to be cleaned; and the suction channel 4, the sewage generated by the rolling brush 3 is recycled to the sewage through the suction channel by a certain suction force In warehouse 5.
  • Its method for controlling rolling brush of the present invention comprises the steps:
  • the motor drives the roller brush to rotate to clean the surface of the object to be cleaned
  • the locked-rotor protection current here is relative to the current when the motor is working normally. For example, when the motor is working normally, the current is 1.5A, and the maximum current is 3A. Usually, the locked rotor protection current can be set to 2.5A.
  • the first stage of detection if it is detected that the current of the roller brush motor reaches the preset stall protection current, it does not stop directly, but only controls to reduce the output power of the roller brush motor, and still keeps the motor to drive the roller brush to rotate. Then carry out the second-stage detection, and then carry out decision-making control according to the results of the second-stage detection. It can effectively solve the problem of transient current rise. For example, when the roller brush touches the corner of the table, shoes and other obstacles during use, the problem of current rise can be eliminated immediately by moving the machine without directly Downtime, so as to ensure the continuous inertia of the user's use and improve the user experience.
  • step S3 after the control reduces the output power of the rolling brush motor, the motor still keeps driving the rolling brush to rotate.
  • the first-stage detection in the step S2 and/or the second-stage detection in the step S4 is real-time continuous detection.
  • the detection process may be performed at predetermined time intervals, or in a real-time detection manner. Real-time detection can ensure the real-time accuracy of the detection.
  • the control in step S41 to reduce the output power of the rolling brush motor may directly reduce the output power of the rolling brush motor to 0, turn off the rolling brush motor, and issue an alarm.
  • step S41 reduces the output power of the motor of the roller brush, or only reduces the power, but still keeps the motor to drive the roller brush to rotate. And perform another monitoring to monitor whether the current of the roller brush motor reaches the preset locked-rotor protection current again.
  • control reduction here can be to reduce a certain amount of output power and keep the rolling brush motor to continue to work, or directly reduce the output power of the rolling brush motor to 0, turn off the rolling brush motor and give an alarm.
  • control in step S3 reduces the output power of the rolling brush motor by reducing the output power of the rolling brush motor to 50% of the current real-time power
  • control in step S41 reduces the output power of the rolling brush motor.
  • the reduction method is to reduce the output power of the brush motor to 50% of the current real-time power.
  • step S5 is also included: continue to perform the third stage detection, if it is detected that the current of the roller brush motor reaches the preset blockage again If the rotation protection current is turned off, the output power of the roller brush motor is controlled again to be reduced. Its beneficial effect is to carry out the third or Nth stage detection again, as long as it is detected that the current of the rolling brush motor reaches the preset stall protection current again, it is controlled to reduce the output power of the rolling brush motor again, and then the Continuous detection current. This way its control precision is higher.
  • step S3 if it is detected in step S3 that the current of the rolling brush motor reaches the preset locked-rotor protection current, the fault time can be calculated,
  • step S41 if it is detected that the current of the rolling brush motor reaches the preset stall protection current again, it is judged whether the fault time is greater than the preset judgment time, and if the fault time is greater than the preset judgment time, then the rolling brush motor is controlled to stop, If the fault time is less than the preset judgment time, the roller brush motor continues to work.
  • the core of the solution of the present invention is that when the current reaches the preset locked-rotor protection current, it does not stop directly, but reduces the output power of the brush motor to continue to work and continuously detects the corresponding current, but the inventor creatively found that this
  • the continuous detection after reducing the output function cannot be unlimited, it needs a certain time limit, for example, limited to 20 seconds, if the current of the roller brush motor reaches the preset stall protection current for more than 20 seconds, then It is obviously not an ordinary obstacle that can be solved by simple movement. There is a high probability that you will encounter problems such as hairline entanglement, and you need to stop and clean up to remove the obstacle. At this time, you should limit it to a certain amount of time. After judging the time, stop directly, and 20 seconds is basically enough for the user to judge and deal with the corresponding abnormality.
  • Equal proportion reduction means that the output power is changed to N% of the current real-time power each time, for example, N% is fixed at 50%, so that the power is halved each time.
  • N% is fixed at 50%, so that the power is halved each time.
  • Equal amplitude reduction means that the output power is changed to the current real-time power minus the fixed data each time, for example, 3W is subtracted each time.
  • a 10W motor as an example, it is reduced in the manner of 10W—>7W—>4W.
  • the four gears of 10W, 6W, 3W, and 0W can be set. When it is lowered, it can be lowered according to these four gears.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

一种滚刷（3）的控制方法，在进行第一阶段检测时，如果检测到滚刷电机的电流达到预设的堵转保护电流，并不直接停机，而是只控制降低滚刷电机的输出功率，仍然保持电机驱动滚刷（3）旋转。并再进行第二阶段检测，再依据第二阶段检测的结果来进行决策控制。可以有效的解决一过性的电流升高问题，比如使用过程中滚刷（3）碰到了桌角，鞋子等障碍物等的情况，可以通过机器移动位置立即消除电流升高的问题，而不需要直接进行停机，从而保证用户使用的连惯性，提高用户体验。

Description

一种滚刷的控制方法 技术领域
本发明涉及清洗装置控制技术领域，特别涉及一种滚刷的控制方法。
背景技术
随着客户市场的不断变化，清洁设备行业也在不断发展出新的应用以满足不同场景的需求，其中就包括洗地机类型的清洁设备产品。
现有的洗地机滚刷在使用过程中，一般都设有堵转保护功能。其工作原理主要是通过控制板检测滚刷电机的电流，当电流值超过保护值且维持一定时间，就关闭电机输出以保护滚刷机构。该方法虽然能起到很好的保护作用，但也带来一个问题，就是用户在实际使用过程中，难免会遇到各种复杂状况导致滚刷电机的电流上升。有些是必须停机后才能解除的，比如头发缠绕等真正意义上的滚刷堵转。而有些只是一过性的升高，或者可以通过机器移动位置立即解除的，比如使用过程中滚刷碰到了桌角，鞋子等障碍物等。此时一般的堵转保护程序，由于保护延时相对较短，很容易触发报警停机。用户想要继续使用，只能等报警解除后再次开机，用户的体验感较差。
发明内容
为了解决上述问题，本发明提供了：
一种滚刷的控制方法,主要应用于洗地机等产品，洗地机包括储液仓以储存清洁用液体；喷液部能够将清洁用液体喷向滚刷或待清洁面；液流通道连接于储液仓与喷液部之间；滚刷连续滚动以清洁待清洁面；以及抽吸通道，通过一定吸力将滚刷产生的污水通过抽吸通道回收到污水仓当中，控制滚刷的方法其包括如下步骤：
S1：电机驱动滚刷旋转，以供清洁待清洁物表面；
S2：进行第一阶段检测，检测驱动滚刷的电机的电流大小；
S3：若检测到滚刷电机的电流达到预设的堵转保护电流，则控制降低滚刷电机的输出功率；
S4：进行第二阶段检测，继续检测驱动滚刷的电机的电流大小；
S41：若检测到滚刷电机的电流再次达到预设的堵转保护电流，则控制降低滚刷电机的输出功率；
S42：若检测到滚刷电机的电流恢复到预设的标准电流，则控制滚刷电机恢复到正常的输出功率。
其有益效果是，在进行第一阶段检测时，如果检测到滚刷电机的电流达到预设的堵转保护电流，并不直接停机，而是只控制降低滚刷电机的输出功率，仍然保持电机驱动滚刷旋转。并再进行第二阶段检测，再依据第二阶段检测的结果来进行决策控制。可以有效的解决一过性的电流升高问题，比如使用过程中滚刷碰到了桌角，鞋子等障碍物等的情况，可以通过机器移动位置立即消除电流升高的问题，而不需要直接进行停机，从而保证用户使用的连惯性，提高用户体验。
在一些实施方式中，在步骤S3当中，控制降低滚刷电机的输出功率后，仍然保持电机驱动滚刷旋转。
在一些实施方式中，所述步骤S2当中的第一阶段检测和/或所述步骤S4当中的第二阶段检测为实时的持续检测。其有益效果是，检测的过程可以是按预定的时间间隔进行间隔检测的，也可以采用实时检测的方式，实时检测，可以保证检测的实时准确性。
在一些实施方式中，在步骤S41当中的控制降低滚刷电机的输出功率，为直接将滚刷电机的输出功率降低为0，关闭滚刷的电机，进行报警。
在一些实施方式中，在步骤S41当中的控制降低滚刷电机的输出功率，并仍然保持电机驱动滚刷旋转。
其有益效果是，这里的控制降低可以是再降低一定量的输出功率并保持滚刷电机继续工作，也可以是直接将滚刷电机的输出功率降低为0，关闭滚刷的电机并进行报警。
在一些实施方式中，步骤S3当中的控制降低滚刷电机的输出功率，降低方式为将滚刷电机的输出功率降低为当前实时功率的50％，步骤S41当中的控制降低滚刷电机的输出功率，降低方式为将滚刷电机的输出功率再降低为当前实时功率50％。
其有益效果是，每次检测时，若测到滚刷电机的电流再次达到预设的堵转保护电流，都不是直接进行关机处理，而是每次都是降低为当前实时功率的50％，即一种阶梯式的降低功率方式。既可以有效的保护电机不烧机，又可以保证电机仍然是处于一个启动状态，减少电机的重复启动，提升用户的使用体验。
在一些实施方式中，在步骤S41当中的控制降低滚刷电机的输出功率后，还包括步骤S5：继续进行第三阶段检测，若检测到滚刷电 机的电流再次达到预设的堵转保护电流，则再次控制降低滚刷电机的输出功率。其有益效果是，再进行第三次或者第N次的阶段检测，只要检测到滚刷电机的电流再次达到预设的堵转保护电流，就再次控制降低滚刷电机的输出功率，然后再进行持续性的检测电流。
在一些实施方式中，在步骤S3的若检测到滚刷电机的电流达到预设的堵转保护电流时起，开始计算故障时间，
在步骤S41的若检测到滚刷电机的电流再次达到预设的堵转保护电流时，判断故障时间是否大于预设的判断时间，若故障时间大于预设的判断时间则控制滚刷电机停机，若故障时间小于预设的判断时间，则滚刷电机继续工作。
其有益效果是，本发明的方案核心是在遇到电流达到预设的堵转保护电流时，不直接停机，而是降低滚刷电机的输出功率继续工作并持续检测相应电流，但是这种降低输出功能后的持续检测不能是没有限制的，其需要有一定的时间限制，例如以20秒为限，若滚刷电机的电流达到预设的堵转保护电流时间持续20秒以上，则明显不是普通的遇到障碍物可以通过简单移动解决的，大概率是遇到发丝线条缠绕等问题，需要通过停机清理的方式才可以解除障碍，则此时应以一定的时间为限，达到判断时间后，则直接进行停机，20秒的时间基本足够用户去判断和处理相应的异常。
在一些实施方式中，在S3当中的控制降低滚刷电机的输出功率和在步骤S41当中的控制降低滚刷电机的输出功率的方式均为等比例降低或等幅度降低或按预值分档位降低。其有益效果是，等比例降低即每次都将输出功率变更为当前实时功率的N％，例如N％固定为50％，从而每次都实现功率减半，以10W电机为例，即按10W—>5W—>2.5W的方式进行降低。等幅度降低即每次都将输出功率变更为当前实时功率减去固定数据，例如每次减去3W，以10W电机为例，即按10W—>7W—>4W的方式进行降低。按预值分档位降低即可以设置好10W、6W、3W、0W四个档位，在降低的时候，可以按这四个档位依次进行降低。
附图说明
图1为本发明的一种洗地机的结构示意图；
图2为本发明的一种滚刷的控制方法示意图；
图3为本发明的又一种滚刷的控制方法示意图。
具体实施方式
下面结合附图对本发明作进一步详细的说明。
一种滚刷的控制方法,主要应用于洗地机等产品，洗地机包括储液仓1以储存清洁用液体；喷液部2能够将清洁用液体喷向滚刷或待清洁面；液流通道连接于储液仓1与喷液部2之间；滚刷3连续滚动以清洁待清洁面；以及抽吸通道4，通过一定吸力将滚刷3产生的污水通过抽吸通道回收到污水仓5当中。
本发明的控制滚刷的方法其包括如下步骤：
S1：电机驱动滚刷旋转，以供清洁待清洁物表面；
S2：进行第一阶段检测，检测驱动滚刷的电机的电流大小；
S3：若检测到滚刷电机的电流达到预设的堵转保护电流，则控制降低滚刷电机的输出功率；
S4：进行第二阶段检测，继续检测驱动滚刷的电机的电流大小；
S41：若检测到滚刷电机的电流再次达到预设的堵转保护电流，则控制降低滚刷电机的输出功率；
S42：若检测到滚刷电机的电流恢复到预设的标准电流，则控制滚刷电机恢复到正常的输出功率。
这里的堵转保护电流即相对于电机正常工作时的电流而言。例如电机正常工作时的的电流为1.5A，最大电流为3A，通常可以将堵转保护电流设置为2.5A。
在进行第一阶段检测时，如果检测到滚刷电机的电流达到预设的堵转保护电流，并不直接停机，而是只控制降低滚刷电机的输出功率，仍然保持电机驱动滚刷旋转。并再进行第二阶段检测，再依据第二阶段检测的结果来进行决策控制。可以有效的解决一过性的电流升高问题，比如使用过程中滚刷碰到了桌角，鞋子等障碍物等的情况，可以通过机器移动位置立即消除电流升高的问题，而不需要直接进行停机，从而保证用户使用的连惯性，提高用户体验。
在步骤S3当中，控制降低滚刷电机的输出功率后，仍然保持电机驱动滚刷旋转。
所述步骤S2当中的第一阶段检测和/或所述步骤S4当中的第二阶段检测为实时的持续检测。其中，检测的过程可以是按预定的时间间隔进行间隔检测的，也可以采用实时检测的方式，实时检测，可以保证检测的实时准确性。
在步骤S41当中的控制降低滚刷电机的输出功率，可以为直接将滚刷电机的输出功率降低为0，关闭滚刷的电机，进行报警。
或者在步骤S41当中的控制降低滚刷电机的输出功率，也可以为只降低功率，但仍然保持电机驱动滚刷旋转。并进行再次的监测，监测滚刷电机的电流是否再次达到预设的堵转保护电流。
其有益效果是，这里的控制降低可以是再降低一定量的输出功率并保持滚刷电机继续工作，也可以是直接将滚刷电机的输出功率降低为0，关闭滚刷的电机并进行报警。
本实施例当中，步骤S3当中的控制降低滚刷电机的输出功率，降低方式为将滚刷电机的输出功率降低为当前实时功率的50％，步骤S41当中的控制降低滚刷电机的输出功率，降低方式为将滚刷电机的输出功率再降低为当前实时功率50％。
其有益效果是，每次检测时，若测到滚刷电机的电流再次达到预设的堵转保护电流，都不是直接进行关机处理，而是每次都是降低为当前实时功率的50％，即一种阶梯式的降低功率方式。既可以有效的保护电机不烧机，又可以保证电机仍然是处于一个启动状态，减少电机的重复启动，提升用户的使用体验。
为了实现更精细的控制，也可以在步骤S41当中的控制降低滚刷电机的输出功率后，还包括步骤S5：继续进行第三阶段检测，若检测到滚刷电机的电流再次达到预设的堵转保护电流，则再次控制降低滚刷电机的输出功率。其有益效果是，再进行第三次或者第N次的阶段检测，只要检测到滚刷电机的电流再次达到预设的堵转保护电流，就再次控制降低滚刷电机的输出功率，然后再进行持续性的检测电流。这种方式其控制精度就更高。
本发明当中，还可以在步骤S3的若检测到滚刷电机的电流达到预设的堵转保护电流时起，开始计算故障时间，
在步骤S41的若检测到滚刷电机的电流再次达到预设的堵转保护电流时，判断故障时间是否大于预设的判断时间，若故障时间大于预设的判断时间则控制滚刷电机停机，若故障时间小于预设的判断时间，则滚刷电机继续工作。
因为本发明的方案核心是在遇到电流达到预设的堵转保护电流时，不直接停机，而是降低滚刷电机的输出功率继续工作并持续检测相应电流，但是发明人创造性的发现，这种降低输出功能后的持续检测不能是没有限制的，其需要有一定的时间限制，例如以20秒为限， 若滚刷电机的电流达到预设的堵转保护电流时间持续20秒以上，则明显不是普通的遇到障碍物可以通过简单移动解决的，大概率是遇到发丝线条缠绕等问题，需要通过停机清理的方式才可以解除障碍，则此时应以一定的时间为限，达到判断时间后，则直接进行停机，20秒的时间基本足够用户去判断和处理相应的异常。
在步骤S3当中的控制降低滚刷电机的输出功率和在步骤S41当中的控制降低滚刷电机的输出功率的方式均有多种选择，例如可以是等比例降低或等幅度降低。等比例降低即每次都将输出功率变更为当前实时功率的N％，例如N％固定为50％，从而每次都实现功率减半，以10W电机为例，即按10W—>5W—>2.5W的方式进行降低。等幅度降低即每次都将输出功率变更为当前实时功率减去固定数据，例如每次减去3W，以10W电机为例，即按10W—>7W—>4W的方式进行降低。按预值分档位降低即可以设置好10W、6W、3W、0W四个档位，在降低的时候，可以按这四个档位依次进行降低。
以上公开的仅是本发明的一些实施方式。对于本领域的普通技术人员来说，在不脱离本发明创造构思的前提下，还可以做出若干变形和改进，这些都属于发明的保护范围。

Claims (9)

  1. 一种滚刷的控制方法，其特征在于，包括如下步骤：
    S1：电机驱动滚刷旋转，以供清洁待清洁物表面；
    S2：进行第一阶段检测，检测驱动滚刷的电机的电流大小；
    S3：若检测到滚刷电机的电流达到预设的堵转保护电流，则控制降低滚刷电机的输出功率；
    S4：进行第二阶段检测，继续检测驱动滚刷的电机的电流大小；
    S41：若检测到滚刷电机的电流再次达到预设的堵转保护电流，则控制降低滚刷电机的输出功率；
    S42：若检测到滚刷电机的电流恢复到预设的标准电流，则控制滚刷电机恢复到正常的输出功率。
  2. 根据权利要求1所述的一种滚刷的控制方法，其特征在于，在步骤S3当中，控制降低滚刷电机的输出功率后，仍然保持电机驱动滚刷旋转。
  3. 根据权利要求1所述的一种滚刷的控制方法，其特征在于，所述步骤S2当中的第一阶段检测和/或所述步骤S4当中的第二阶段检测为实时的持续检测。
  4. 根据权利要求1所述的一种滚刷的控制方法，其特征在于，在步骤S41当中的控制降低滚刷电机的输出功率，为直接将滚刷电机的输出功率降低为0，关闭滚刷的电机，进行报警。
  5. 根据权利要求1所述的一种滚刷的控制方法，其特征在于，在步骤S41当中的控制降低滚刷电机的输出功率，并仍然保持电机驱动滚刷旋转。
  6. 根据权利要求1所述的一种滚刷的控制方法，其特征在于，步骤S3当中的控制降低滚刷电机的输出功率，降低方式为将滚刷电 机的输出功率降低为当前实时功率的50％，步骤S41当中的控制降低滚刷电机的输出功率，降低方式为将滚刷电机的输出功率再降低为当前实时功率50％。
  7. 根据权利要求1所述的一种滚刷的控制方法，其特征在于，在步骤S41当中的控制降低滚刷电机的输出功率后，还包括步骤S5：继续进行第三阶段检测，若检测到滚刷电机的电流再次达到预设的堵转保护电流，则再次控制降低滚刷电机的输出功率。
  8. 根据权利要求1所述的一种滚刷的控制方法，其特征在于，
    在步骤S3的若检测到滚刷电机的电流达到预设的堵转保护电流时起，开始计算故障时间，
    在步骤S41的若检测到滚刷电机的电流再次达到预设的堵转保护电流时，判断故障时间是否大于预设的判断时间，若故障时间大于预设的判断时间则控制滚刷电机停机，若故障时间小于预设的判断时间，则滚刷电机继续工作。
  9. 根据权利要求1所述的一种滚刷的控制方法，其特征在于，在S3当中的控制降低滚刷电机的输出功率和在步骤S41当中的控制降低滚刷电机的输出功率的方式均为等比例降低或等幅度降低或按预值分档位降低。
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