Method and device for controlling sweeping equipment to sweep along wall and sweeping equipment
An equipment, along the wall technology, applied in the field of sweeping equipment, can solve the problems of the sweeping equipment deviating from the foot of the wall, affecting the cleaning efficiency, difficult to fit, etc., to ensure the cleaning along the wall and improve the cleaning efficiency.
Active Publication Date: 2020-04-24
PUPPY ELECTRONICS APPLIANCES INTERNET TECH (BEIJING) CO LTD
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Problems solved by technology
In this case, the cleaning direction of the sweeping equipment is prone to frequent switching
This makes the cleaning route of the sweeping equipment not smooth, and it is difficult to maintain a good fit with the wall when it is required to clean along the wall, that is, the sweeping equipment often deviates from the foot of the wall
In this way, it not only affects the cleaning efficiency, but also reduces the user experience
Method used
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[0075] As described above, when the existing sweeping equipment (such as sweeping robots) perform the task of cleaning along the wall, because of the hysteresis response of the wheels, it is easy to cause the problem of frequent switching of the cleaning direction with the general positional PID control, making the cleaning route It is not smooth enough, and the vibration effect of the cleaning direction can be seen visually. Moreover, the sensor along the wall of the sweeping equipment is also prone to loss of signal due to the influence of strong light or wall material. Therefore, the problem of the sweeping equipment deviating from the foot of the wall during the cleaning process also occurs from time to time.
[0076] In view of the above problems, the inventor provides a method, device and sweeping equipment for controlling sweeping equipment along the wall after research. The problem of frequent switching of cleaning directions is improved by segmented PID control, makin...
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The invention discloses a method and device for controlling sweeping equipment to sweep along a wall and the sweeping equipment. The method includes: setting a wall-following sweeping distance reference value and acquiring a distance value of the sweeping equipment and the wall; conducting position type PID adjustment according to the distance value to obtain a speed adjustment amount of driving wheels on two sides of the sweeping equipment; judging whether an absolute value of the difference between the distance value and the wall-following sweeping distance reference value exceeds a preset tolerance value or not, and if so, indicating that the distance between the sweeping equipment and the wall is too long or too short, and then adjusting the speed of the driving wheels on the two sides: adjusting the speed of the driving wheels on the two sides through the position type PID according to the speed adjustment amount, thus controlling that the distance between the sweeping equipment and the wall is kept at a proper wall-following sweeping distance. According to the method, PID adjustment is carried out in a segmented mode, whether adjustment needs to be carried out or not is determined according to the preset tolerance value, the problem of frequent switching of the sweeping direction caused by general position type PID control under the condition that the response of the driving wheels lags behind is solved, the sweeping equipment is guaranteed to sweep along the wall, and the sweeping efficiency and the use experience of a user are improved.
Description
technical field [0001] The present application relates to the technical field of sweeping equipment cleaning methods, in particular to a method, device and sweeping equipment for controlling sweeping equipment along a wall. Background technique [0002] When the sweeping equipment sweeps along the wall, the response of the wheels has a certain lag. In this case, the cleaning direction of the sweeping equipment is prone to frequent switching. As a result, the cleaning route of the sweeping equipment is not smooth, and it is also difficult to maintain a good fit with the wall when it is required to clean along the wall, that is, the sweeping equipment often deviates from the foot of the wall. In this way, it not only affects the cleaning efficiency, but also reduces the user experience. Contents of the invention [0003] Based on the above problems, the present application provides a method and device for controlling the sweeping of the sweeping equipment along the wall, a...
Claims
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IPC IPC(8): A47L11/24A47L11/40
CPCA47L11/24A47L11/40A47L11/4011
Inventor 檀冲霍章义
Owner PUPPY ELECTRONICS APPLIANCES INTERNET TECH (BEIJING) CO LTD