Rotary cleaning structure, circular glass rain and sewage cleaning structure and automatic driving device

Abstract

A rotating cleaning structure, a circular glass rain and dirt cleaning structure and an automatic driving device, the rotating cleaning structure comprising: a control circuit board (107), a first steering engine (105), a transmission rod (104), a first hinge (103), a connecting rod (108), a second hinge (109), a second steering engine (111) and a cleaning piece (102); the first steering engine (105) is sequentially connected with the second steering engine (111) through the transmission rod (104), the first hinge (103), the connecting rod (108) and the second hinge (109), and the first steering engine (105) is arranged to rotate the transmission rod (104) to a preset angle position in a powered state, so that the second steering engine (111) is at a preset cleaning position; the cleaning piece (102) is detachably installed on the second steering engine (111), and the first hinge (103) and the second hinge (109) are arranged to adjust the inclination and distance between the cleaning piece (102) and the target to be cleaned; the control circuit board (107) is connected with the second steering engine (111), and the control circuit board (107) is arranged to process a pulse width modulation signal to make the second steering engine (111) rotate cyclically and drive the cleaning piece (102) to rotate cyclically.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pollution cleaning, in particular to a rotating cleaning structure, a circular glass rain and sewage cleaning structure and an automatic driving device. BACKGROUND

[0002] A rudder is a kind of servo motor, which is an execution component for controlling the rotation of an aircraft rudder surface in an autopilot. The rudder surface is also called a control surface. The rudder is an angular position servo driver, which is an automatic control system composed of a DC motor, a reduction gear set, a sensor and a control circuit. 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 rudder will keep the angular position of the output shaft unchanged. If the control signal changes, the position of the output shaft will also change accordingly.

[0003] Pulse width modulation (PWM) is an analog control method that modulates the bias of the transistor base or metal-oxide semiconductor field effect transistor (MOSFET, MOS for short) gate according to the change of the corresponding load to change the conduction time of the transistor or MOS, thereby realizing the change of the output of the switching power supply. The principle of a general rudder is that there is a reference circuit inside the rudder, which generates a reference signal with a period of 20ms and a high level width of 1.5ms. By comparing the PWM signal of the signal line with the reference signal, the internal motor control board obtains a voltage difference, which is added to the motor to control the rotation of the rudder. The high level range of the control rudder is 0.5ms to 2.5ms; among them, 0.5ms is the minimum angle, and 2.5ms is the maximum angle. For example, a general 180° rudder: 0.5ms corresponds to 0 degrees of rotation, 1ms corresponds to 45 degrees of rotation, 1.5ms corresponds to 90 degrees of rotation, 2ms corresponds to 135 degrees of rotation, and 2.5ms corresponds to 180 degrees of rotation. For a 360-degree rudder, the PWM signal is given, and the 360-degree rudder will rotate at a certain speed, similar to a motor, but unlike a motor, the 360-degree rudder is a closed-loop control with stable speed control. For example, 0.5ms corresponds to rotation at the maximum forward speed; 1.5ms is 0 speed and stops rotating; 2.5ms corresponds to rotation at the maximum reverse speed.

[0004] In the field of automatic driving, whether it is a small car running on the ground or a drone flying in the sky, a wiper type is usually adopted for the micro rain and dirt cleaning structure, and the specific technology is a combination of a wiper motor, a four-bar linkage and a reset structure, or a single rudder motor and a control circuit. This kind of technology needs to make certain compromises in shape and area for the cleaned element, such as glass, which is usually designed like an arch.

[0005] However, for circular glass, the maximum cleaning area can only be about 60% using the above traditional technology, and it is difficult to achieve a larger cleaning area. Moreover, the above traditional technology needs to embed the motor and other structures, which requires grooving or passing through the shaft hole of the glass to ensure the normal swing of the wiper rod, increasing the difficulty of subsequent sealing and assembly, and increasing the rotational friction of the motor output shaft, reducing the mechanical efficiency. SUMMARY

[0006] According to various embodiments of the present application, a rotating cleaning structure, a circular glass rain and dirt cleaning structure and an automatic driving device are provided, which can achieve a larger cleaning area for a circular cleaned element without grooving or hole in the cleaned element, solving the problem of poor sealing caused by the traditional grooving or hole method.

[0007] A rotating cleaning structure, comprising: a control circuit board, a first rudder motor, a transmission rod, a first hinge, a connecting rod, a second hinge, a second rudder motor and a cleaning element;

[0008] The first rudder motor is connected to the second rudder motor in sequence through the transmission rod, the first hinge, the connecting rod and the second hinge, and the first rudder motor is arranged to rotate the transmission rod to a preset angle position in a powered state, so that the second rudder motor is located at a preset cleaning position;

[0009] The cleaning element is detachably mounted on the second rudder motor, and the first hinge and the second hinge are arranged to adjust the inclination and distance of the cleaning element and the target to be cleaned.

[0010] The control circuit board is connected to the second rudder motor, and the control circuit board is arranged to process a pulse width control signal to make the second rudder motor rotate cyclically and drive the cleaning element to rotate cyclically.

[0011] The control circuit board is also connected to the first rudder motor, and the control circuit board is arranged to limit the preset angle position.

[0012] The preset angle position is a position reached after the first rudder motor rotates 60°.

[0013] The rotation angle of the first rudder motor is set according to the pulse width control signal.

[0014] The control circuit board is arranged to process a pulse width control signal to make the second steering engine rotate in a preset direction.

[0015] The preset direction includes the same direction and two opposite directions.

[0016] The cleaning member includes a wiper head.

[0017] The cleaning member further includes a rubber strip.

[0018] The rotating cleaning structure further includes a housing, the first steering engine and the control circuit board are fixed inside the housing, the transmission rod is arranged to pass through the housing, and the first hinge is located outside the housing.

[0019] The bottom of the housing is provided with a fixing position, and the rotating cleaning structure further includes a fixing member, which cooperates with the fixing position to jointly fix the housing outside.

[0020] The fixing member is arranged to fix the housing outside the target to be cleaned.

[0021] The length of the cleaning member is arranged to match the radius of the circular target to be cleaned.

[0022] The first steering engine is a 180-degree steering engine, and the second steering engine is a 360-degree steering engine.

[0023] A circular glass rain and pollution cleaning structure includes at least one rotating cleaning structure, which includes a control circuit board, a first steering engine, a transmission rod, a first hinge, a connecting rod, a second hinge, a second steering engine, and a cleaning member.

[0024] The first steering engine is sequentially connected to the second steering engine through the transmission rod, the first hinge, the connecting rod, and the second hinge, and the first steering engine is arranged to rotate the transmission rod to a preset angle position in a powered state to make the second steering engine located at a preset cleaning position.

[0025] The cleaning member is detachably installed on the second steering engine, and the first hinge and the second hinge are arranged to adjust the inclination and distance of the cleaning member and the circular target to be cleaned.

[0026] The control circuit board is connected to the second steering engine, and the control circuit board is arranged to process a pulse width control signal to make the second steering engine rotate and drive the cleaning member to rotate.

[0027] The control circuit board is further connected to the first steering engine, and the control circuit board is arranged to define the preset angle position.

[0028] The control circuit board is arranged to process a pulse width control signal to make the second steering engine rotate in a preset direction, which includes the same direction and two opposite directions.

[0029] The cleaning member includes a wiper head and a rubber strip.

[0030] The rotating cleaning structure further includes a housing, the first steering engine and the control circuit board are fixed inside the housing, the transmission rod is arranged to pass through the housing, and the first hinge is located outside the housing.

[0031] The length of the cleaning member is arranged to match the radius of the circular target to be cleaned;

[0032] The preset angle position is a position reached after the first steering engine rotates 60°;

[0033] The rotation angle of the first steering engine is arranged according to a pulse width control signal;

[0034] The bottom of the housing is provided with a fixing position, and the rotating cleaning structure further includes a fixing member, which cooperates with the fixing position to fix the housing outside the target to be cleaned.

[0035] The first steering engine is a 180-degree steering engine, and the second steering engine is a 360-degree steering engine.

[0036] An automatic driving device includes a circular glass rain and sewage cleaning structure, which includes at least one rotating cleaning structure, and the rotating cleaning structure includes a control circuit board, a first steering engine, a transmission rod, a first hinge, a connecting rod, a second hinge, a second steering engine, and a cleaning member.

[0037] The first steering engine is connected to the second steering engine through the transmission rod, the first hinge, the connecting rod, and the second hinge in sequence, and the first steering engine is arranged to rotate the transmission rod to a preset angle position in a powered state to make the second steering engine located at a preset cleaning position.

[0038] The cleaning member is detachably mounted on the second steering engine, and the first hinge and the second hinge are arranged to adjust the inclination and distance of the cleaning member and the circular target to be cleaned.

[0039] The control circuit board is connected to the second steering engine, and the control circuit board is arranged to process a pulse width control signal to make the second steering engine rotate and drive the cleaning member to rotate.

[0040] The first steering engine is a 180-degree steering engine, and the second steering engine is a 360-degree steering engine.

[0041] The aforementioned rotating cleaning structure, circular glass rain and dirt cleaning structure, and automatic driving device, on the one hand, do not require slotting or drilling on the components to be cleaned, and the overall structure has the advantages of miniaturization, low cost, and high-precision control; on the other hand, they can complete the rain and dirt cleaning of circular components, or components with circular cleaning areas, and the theoretical cleaning area can reach 100%; furthermore, in terms of assembly, the distance and angle with the glass can be adjusted through the second hinge structure, which improves the applicability of the product. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of one embodiment of the rotating cleaning structure of this application;

[0044] Figure 2 for Figure 1 A schematic diagram of the rotating cleaning structure from another direction;

[0045] Figure 3 This is a schematic diagram of another embodiment of the rotating cleaning structure of this application;

[0046] Figure 4 for Figure 3 A schematic diagram of the rotating cleaning structure from another direction;

[0047] Figure 5 for Figure 3 A schematic diagram of the rotating cleaning structure from another direction;

[0048] Figure 6 for Figure 3 A schematic diagram of the rotating cleaning structure from another direction;

[0049] Figure 7 for Figure 3 A schematic diagram of the rotating cleaning structure from another direction;

[0050] Figure 8 for Figure 3 A schematic diagram of the rotating cleaning structure from another direction;

[0051] Figure 9 To adopt Figure 3 The diagram shows a partial structural schematic of an embodiment of the automatic driving device of this application with a rotating cleaning structure.

[0052] Figure 10 FIG. 4 is another direction view of the automatic driving device shown in FIG. 1; Figure 9 FIG. 5 is another direction view of the automatic driving device shown in FIG. 1;

[0053] Figure 11 FIG. 6 is a partial structure view of another embodiment of the automatic driving device of the present application employing a rotating cleaning structure shown in FIG. 1; Figure 3 FIG. 7 is another direction view of the automatic driving device shown in FIG. 6;

[0054] Figure 12 FIG. 8 is another direction view of the automatic driving device shown in FIG. 6; Figure 11

[0055] FIG. 9 is another direction view of the automatic driving device shown in FIG. 6; Figure 13 Figure 11 FIG. 10 is another direction view of the automatic driving device shown in FIG. 6;

[0056] Figure 14 FIG. 11 is another direction view of the automatic driving device shown in FIG. 6; Figure 11 FIG. 12 is another direction view of the automatic driving device shown in FIG. 6;

[0057] Figure 15 FIG. 13 is another direction view of the automatic driving device shown in FIG. 6; Figure 11 FIG. 14 is another direction view of the automatic driving device shown in FIG. 6;

[0058] Figure 16 FIG. 15 is another direction view of the automatic driving device shown in FIG. 6. Figure 11 FIG. 16 is a partial structure view of another embodiment of the automatic driving device of the present application employing a rotating cleaning structure shown in FIG. 1;

[0059] DETAILED DESCRIPTION

[0060] In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the relevant drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0061] ​​It is to be noted that when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can also be present. In addition, it is to be noted that the term "comprising" is used herein to mean that some embodiments "comprise", "include", "have" or "contain" the recited elements, but not excluding others. The term "comprising" is used herein to mean that some embodiments "comprise", "include", "have" or "contain" the recited elements, but not excluding others. The term "comprising" is used herein to mean that some embodiments "comprise", "include", "have" or "contain" the recited elements, but not excluding others. The term "and / or" includes any and all combinations of one or more of the associated listed items.

[0062] One embodiment of the present application is a rotating cleaning structure, comprising a control circuit board, a first steering engine, a transmission rod, a first hinge, a connecting rod, a second hinge, a second steering engine and a cleaning piece; the first steering engine is connected to the second steering engine in sequence through the transmission rod, the first hinge, the connecting rod and the second hinge, and the first steering engine is arranged to rotate the transmission rod to a preset angle position in a power-on state, so that the second steering engine is located at a preset cleaning position; the cleaning piece is detachably mounted on the second steering engine, and the first hinge and the second hinge are arranged to adjust the inclination and distance of the cleaning piece and the target to be cleaned; the control circuit board is connected to the second steering engine, and the control circuit board is arranged to process a pulse width modulation signal to make the second steering engine rotate cyclically and drive the cleaning piece to rotate cyclically. Such design, on the one hand, does not need to groove 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 other 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, the distance and angle with the glass can also be adjusted through the second hinge structure in assembly, which improves the applicability of the product.

[0063] In one embodiment, a rotating cleaning structure comprises part or all of the following structures: the rotating cleaning structure comprises part or all of the following technical features.

[0064] In one embodiment, a rotating cleaning structure as Figure 1As shown, it comprises: a cleaning piece 102, a second steering engine 111, a second hinge 109, a connecting rod 108, a first hinge 103, a transmission rod 104, a first steering engine 105 and a control circuit board 107; the control circuit board 107 is connected with the first steering engine 105 and the second steering engine 111 respectively, the first steering engine 105 is sequentially connected with the second steering engine 111 through the transmission rod 104, the first hinge 103, the connecting rod 108 and the second hinge 109, that is, the first steering engine 105 is connected with the transmission rod 104, the transmission rod 104 is connected with the connecting rod 108 through the first hinge 103, and the connecting rod 108 is connected with the second steering engine 111 through the second hinge 109; the first hinge 103 and the second hinge 109 are arranged to realize rotary connection, that is, the transmission rod 104 is rotatably connected with the connecting rod 108 through the first hinge 103, and the connecting rod 108 is rotatably connected with the second steering engine 111 through the second hinge 109.

[0065] Further, please refer to Figure 2 , the first steering engine 105 is arranged to drive the transmission rod 104 to rotate, and the second steering engine 111 is arranged to drive the cleaning piece 102 to rotate; such design is favorable for adjusting the position of the cleaning piece 102 through cooperation of the first steering engine 105 and the second steering engine 111, that is, the rotation center of the cleaning piece 102 of the rotating cleaning structure is determined by adjusting the position of the output shaft of the second steering engine 111, that is, the center of rotation, so as to realize effective cleaning of the circular glass or the circular cleaned element. As known from the above description, for the cleaned element, when the cleaning area thereof is circular, the theoretical cleaning area can reach 100%.

[0066] In the embodiment, the first steering engine 105 is arranged to rotate the transmission rod 104 to a preset angle position in a power-on state, so that the second steering engine 111 is located at a preset cleaning position; the cleaning piece 102 is detachably mounted on the second steering engine 111, and the first hinge 103 and the second hinge 109 are arranged to adjust the inclination and distance between the cleaning piece 102 and the target to be cleaned; the control circuit board 107 is connected to the second steering engine 111, and the control circuit board 107 is arranged to process a pulse width control signal to make the second steering engine 111 rotate cyclically and drive the cleaning piece 102 to rotate cyclically. In one of the embodiments, the control circuit board 107 is also connected to the first steering engine 105, and the control circuit board 107 is arranged to define the preset angle position. In one of the embodiments, the preset angle position is the position reached after the first steering engine 105 rotates 60°. In one of the embodiments, the rotation angle of the first steering engine 105 is arranged according to the pulse width control signal. Further, in one of the embodiments, the first steering engine is also arranged to rotate the transmission rod to a reset position, i.e., to rotate the transmission rod to a predetermined position, in a power-off state or under the control of the control circuit board 107, so that the rotating cleaning structure does not block the cleaned element. Further, in one of the embodiments, the rotating cleaning structure further comprises a pulse width control signal controller connected to the control circuit board 107, and the pulse width control signal controller is arranged to output a pulse width control signal to the control circuit board 107 to control the rotation of the first steering engine 105 and / or the second steering engine 111. In one of the embodiments, the first steering engine is a 180-degree steering engine, and the second steering engine is a 360-degree steering engine; using the pulse width control signal to control the rotation angle of the first steering engine 105 and using the pulse width control signal to control the cyclic rotation of the second steering engine 111 is one of the important points of the application. By giving a PWM signal to the second steering engine, for example, the high level range of the steering engine is controlled to be 0.5ms to 2.5ms; the clockwise or counterclockwise rotation at a predetermined speed can be controlled, wherein the predetermined speed is set during production; and since it is a closed-loop control, it has the advantage of stable speed control; by giving a PWM signal to the first steering engine, the output shaft of the second steering engine can be controlled to align with the center of the circular cleaned element in the working position, or the reset position, i.e., the predetermined position, so that the rotating cleaning structure does not block the cleaned element. In the trial test, the service life is about 5 million times in the range of-30℃ to 60℃ of the ambient temperature, which can be used continuously for 1389 days, about 3.8 years, calculated by using it for two hours a day without interruption and rotating every two seconds.

[0067] In order to adapt to the cleaning elements with different distances, the connecting rod 108 is designed to be telescopic in one embodiment, which is designed to be telescopic within a predetermined length range. In one embodiment, the predetermined length range is 3-5 cm, i.e. the connecting rod 108 can be extended by 3-5 cm in the shortest state or can be shortened by 3-5 cm in the longest state. In one embodiment, the telescopic structure is a sliding telescopic structure or a screw telescopic structure. Such design is beneficial to improve the versatility of the same rotating cleaning structure. In actual production, one rotating cleaning structure can be produced with multiple connecting rods with different lengths, or one rotating cleaning structure can be produced with a telescopic connecting rod, so that the same rotating cleaning structure can be applied to cleaning elements with different installation positions or different distances from the installation position. In use, the position of the output shaft of the second steering engine 111 can be aligned with the center of the circular cleaning area to ensure the coverage of the cleaning range.

[0068] In order to facilitate the installation and fixation of the rotating cleaning structure, in one embodiment, as shown in Figure 3 , the rotating cleaning structure further comprises a housing 106, and the first steering engine 105 and the control circuit board 107 are fixed inside the housing 106. In one embodiment, the bottom of the housing 106 is provided with a fixing position, and the rotating cleaning structure further comprises a fixing member 202 which cooperates with the fixing position to fix the housing 106 outside. In one embodiment, the fixing member 202 is designed to fix the housing 106 outside the target to be cleaned.

[0069] Please refer to Figure 4 , Figure 5 and Figure 6 , the transmission rod 104 is designed to pass through the housing 106, and the first hinge 103 is located outside the housing 106. In this embodiment, the fixing member 202 is a screw member, and the bottom of the housing 106 is provided with a screw position. Please refer to Figure 7 and Figure 8 , it can be understood that the connecting lines of the control circuit board 107 pass through the housing 106 to be exposed outside the housing 106; or the control circuit board 107 is provided with a connecting terminal outside the housing 106; the connecting lines or the connecting terminal are designed to be connected to the external lines or signals.

[0070] In one of the embodiments, the control circuit board 107 is configured to process the pulse width modulation signal to make the second steering engine 111 rotate in a preset direction. In one of the embodiments, the preset direction includes the same direction and two opposite directions. In one of the embodiments, the preset direction is clockwise; or the preset direction is counterclockwise; or the preset direction includes clockwise and counterclockwise. Further, in one of the embodiments, the output shaft of the second steering engine 111 or the cleaning member 102 is further connected to the control circuit board 107 through a blocking feedback structure, which is configured to generate a feedback signal when the rotation of the output shaft of the second steering engine 111 or the cleaning member 102 is blocked and transmit the feedback signal to the control circuit board 107, and the control circuit board 107 is configured to adjust the preset direction to make the second steering engine 111 rotate reversely relative to the previous preset direction when the feedback signal of the blocking feedback structure is received; and / or send an emergency state signal when the feedback signal of the blocking feedback structure is received again. In one of the embodiments, the blocking feedback structure includes elastic members, inductors, and the like. In one of the embodiments, the automatic driving device is configured to perform an emergency operation when the emergency state signal is received, and the emergency operation includes, but is not limited to, safe stop, emergency stop, speed reduction operation, and emergency evacuation, and the like. It can be understood that the above-mentioned emergency operation can be different for different automatic driving devices, and is generally set according to the premise of safety.

[0071] In one of the embodiments, the cleaning member 102 includes a wiper head. In one of the embodiments, the cleaning member 102 further includes a rubber strip. In one of the embodiments, the rubber strip is arranged at the position of the wiper head close to or in contact with the cleaned element. Further, in one of the embodiments, the cleaning member 102 includes a flexible deformation structure, which is configured to deform when the rotation of the cleaning member 102 is blocked to maintain the normal rotation of the cleaning member 102 and avoid damage to the second steering engine 111. In one of the embodiments, the flexible deformation structure is arranged in linkage with the blocking feedback structure, and the blocking feedback structure is configured to generate a feedback signal when the rotation of the output shaft of the second steering engine 111 or the cleaning member 102 is blocked and transmit the feedback signal to the control circuit board 107.

[0072] In one of the embodiments, the length of the cleaning piece 102 is set to match the radius of the circular target to be cleaned. In one of the embodiments, the length of the cleaning piece 102 is equal to the radius of the circular target to be cleaned, so as to achieve 100% area of the circular cleaning area under the premise of accurate positioning; or 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 that the cleaning piece is too long due to process reasons or long-term use reasons, so that the edge of the cleaning piece extends out of the target to be cleaned, resulting in rotation being blocked, under the premise of sacrificing a small amount of cleaning area.

[0073] In one of the embodiments, the control circuit board 107 is also connected to the first steering engine 105, and the control circuit board 107 is set to define the preset angle position; the preset angle position is the position reached after the first steering engine 105 rotates 60°; the rotation angle of the first steering engine 105 is set according to the pulse width control signal; the control circuit board 107 is set to process the pulse width control signal to make the second steering engine 111 rotate in a preset direction; the preset direction includes the same direction and two opposite directions; the cleaning piece 102 includes a wiper head and a rubber strip; the rotating cleaning structure further includes a housing 106, the first steering engine 105 and the control circuit board 107 are fixed inside the housing 106, the transmission rod 104 is set to pass through the housing 106, and the first hinge 103 is located outside the housing 106; the bottom of the housing 106 is provided with a fixing position, and the rotating cleaning structure further includes a fixing piece which cooperates with the fixing position to set the housing 106 to be fixed outside the target to be cleaned. The rest of the embodiments are similar, and will not be repeated. Such design, on the one hand, overcomes the problem of limited cleaning area for circular glass, on the other hand, the fixed way does not affect the sealing, thereby reducing the difficulty of maintenance and assembly, and on the other hand, the overall structure adopts external modular design, which is more simple and efficient in installation.

[0074] In one of the embodiments, the rotating cleaning structure is a rotating cleaning structure for circular glass. In one of the embodiments, a circular glass rain and sewage cleaning structure comprises the rotating cleaning structure of any of the embodiments. According to the requirement, the number of the rotating cleaning structures in the circular glass rain and sewage cleaning structure is one, two or more. In one of the embodiments, a circular glass rain and sewage cleaning structure comprises at least one rotating cleaning structure, the rotating cleaning structure comprising: a control circuit board, a first steering engine, a transmission rod, a first hinge, a connecting rod, a second hinge, a second steering engine and a cleaning piece; the first steering engine is connected to the second steering engine in sequence through the transmission rod, the first hinge, the connecting rod and the second hinge, and the first steering engine is arranged to rotate the transmission rod to a preset angle position in the power-on state, so that the second steering engine is located at a preset cleaning position; the cleaning piece is detachably mounted on the second steering engine, and the first hinge and the second hinge are arranged to adjust the inclination and distance of the cleaning piece and the circular target to be cleaned; the control circuit board is connected to the second steering engine, and the control circuit board is arranged to process a pulse width modulation signal to make the second steering engine rotate cyclically and drive the cleaning piece to rotate cyclically. The control circuit board is also connected to the first steering engine, and the control circuit board is arranged to define the preset angle position. The remaining embodiments are similar, and are not described herein. Such design is conducive to realizing rain and sewage cleaning for a circular cleaning area, and the theoretical cleaning area can reach 100%; and rain and sewage cleaning for multiple circular cleaning areas or cleaning areas composed of circles can also be realized.

[0075] In one of the embodiments, the circular glass rain and sewage cleaning structure comprises one rotating cleaning structure as Figures 1 to 8The rotating cleaning structure is used to clean rain and dirt on a circular glass; the circular glass rain and dirt cleaning structure comprises a control circuit board 107, a first steering engine 105, a transmission rod 104, a first hinge 103, a connecting rod 108, a second hinge 109, a second steering engine 111 and a cleaning piece 102; the first steering engine 105 is connected with the second steering engine 111 through the transmission rod 104, the first hinge 103, the connecting rod 108 and the second hinge 109 in sequence; the first steering engine 105 is arranged to rotate the transmission rod 104 to a preset angle position in a powered state, so that the second steering engine 111 is located at a preset cleaning position; the cleaning piece 102 is detachably installed on the second steering engine 111; the first hinge 103 and the second hinge 109 are arranged to adjust the inclination and distance between the cleaning piece 102 and a circular target to be cleaned; the control circuit board 107 is connected with the second steering engine 111; the control circuit board 107 is arranged to process a pulse width control signal to make the second steering engine 111 rotate cyclically and drive the cleaning piece 102 to rotate cyclically. In one embodiment, the control circuit board 107 is also connected with the first steering engine 105; the control circuit board 107 is arranged to define the preset angle position. In one embodiment, the control circuit board 107 is arranged to process a pulse width control signal to make the second steering engine 111 rotate cyclically in a preset direction; the preset direction comprises the same direction and two opposite directions. In one embodiment, the cleaning piece 102 comprises a wiper head and a rubber strip. In one embodiment, the circular glass rain and dirt cleaning structure further comprises a housing 106; the first steering engine 105 and the control circuit board 107 are both fixed inside the housing 106; the transmission rod 104 is arranged to pass through the housing 106; and the first hinge 103 is located outside the housing 106. In one embodiment, the length of the cleaning piece 102 is arranged to match the radius of a circular target to be cleaned; the preset angle position is a position reached after the first steering engine 105 rotates 60°; the rotation angle of the first steering engine 105 is arranged according to a pulse width control signal; the control circuit board 107 is arranged to process a pulse width control signal to make the second steering engine 111 rotate cyclically in a preset direction; the preset direction comprises the same direction and two opposite directions; the cleaning piece 102 comprises a wiper head and a rubber strip; the rotating cleaning structure further comprises a housing 106; the first steering engine 105 and the control circuit board 107 are both fixed inside the housing 106; the transmission rod 104 is arranged to pass through the housing 106; and the first hinge 103 is located outside the housing 106; the bottom of the housing 106 is provided with a fixing position; the rotating cleaning structure further comprises a fixing piece matched with the fixing position to jointly fix the housing 106 outside a target to be cleaned. The remaining embodiments are similar to the above and will not be described here.The length of the cleaning member matches the radius of the circular target to be cleaned, and the second steering engine is a 360-degree steering engine, which is beneficial to the 360-degree rotation of the cleaning member and the accurate realization of the rain and sewage cleaning of the circular cleaning area. Further, the first steering engine is a 180-degree steering engine, which is beneficial to the accurate positioning of the rotation center position of the cleaning member, so that the cleaning member is aligned with the circular cleaning area. In this embodiment, the first steering engine is a 180-degree steering engine and the second steering engine is a 360-degree steering engine, which is beneficial to the accurate positioning of the cleaning member and the accurate realization of the rain and sewage cleaning of the circular cleaning area.

[0076] In one embodiment, an automatic driving device includes the circular glass rain and sewage cleaning structure of any embodiment or the rotating cleaning structure of any embodiment. In one embodiment, an automatic driving device includes a circular glass rain and sewage cleaning structure, which includes at least one rotating cleaning structure, the rotating cleaning structure including a control circuit board, a first steering engine, a transmission rod, a first hinge, a connecting rod, a second hinge, a second steering engine, and a cleaning member. The first steering engine is connected to the second steering engine through the transmission rod, the first hinge, the connecting rod, and the second hinge in sequence. The first steering engine is configured to rotate the transmission rod to a preset angle position in a powered state, so that the second steering engine is located at a preset cleaning position. The cleaning member is detachably mounted to the second steering engine. The first hinge and the second hinge are configured to adjust the inclination and distance of the cleaning member from the circular target to be cleaned. The control circuit board is connected to the second steering engine and is configured to process a pulse width modulation signal to make the second steering engine rotate cyclically and drive the cleaning member to rotate cyclically. The first steering engine is a 180-degree steering engine, and the second steering engine is a 360-degree steering engine. The remaining embodiments are similar and will not be repeated.

[0077] Further, in one of the embodiments, the automatic driving device further comprises a circular cleaned element; in one of the embodiments, the cleaned element is glass, i.e., the automatic driving device further comprises a circular glass. Alternatively, the automatic driving device has a circular cleaned element with a circular cleaning area. Further, in one of the embodiments, the automatic driving device further comprises a mounting base, which is located beside the cleaned element and does not obstruct the observation field of view of the cleaned element, i.e., does not block the cleaned element. The rotating cleaning structure is fixed to the mounting base, and the output shaft of the second steering engine of the rotating cleaning structure, i.e., the rotating center position of the cleaning piece, is aligned with the center of the circle of the circular cleaned element. The cleaning piece is rotatably in contact with the cleaned element. In one of the embodiments, the distance between the cleaning piece and the cleaned element is 0.01 mm to 0.5 mm, so as to achieve the macroscopic contact between the cleaning piece and the cleaned element and the microscopic small distance between the cleaning piece and the cleaned element, so that the cleaning piece is rotatably in contact with the cleaned element. Further, in one of the embodiments, the number of the cleaned elements is at least one, and correspondingly, the number of the mounting bases and the rotating cleaning structures is at least one. The cleaned elements, the mounting bases and the rotating cleaning structures are one-to-one correspondingly arranged. Each cleaned element is provided with a rotating cleaning structure, and the rotating cleaning structure is fixed to a mounting base, so as to obtain the images of the external environment from multiple positions and multiple angles, thereby improving the overall safety performance of the product. It can be understood that the mounting base is located on the side of the cleaned element closer to the external environment, so as to perform rain and dirt cleaning outside by the rotating cleaning structure when and / or after the cleaned element is subjected to wind and rain, or when cleaning is needed. As can be seen from the above description, in each embodiment, the motor structure does not need to be built-in as in the conventional technology, so that the glass does not need to be slotted or passed through the shaft hole. The normal cleaning of rain and dirt by the rotating cleaning structure is ensured, the sealing performance is improved, and the assembly method is simplified, thereby being conducive to relatively reducing the rotating friction of the motor output shaft, and improving the mechanical efficiency.

[0078] In one of the embodiments, an automatic driving device for circular glass rain and dirt cleaning has a structure as shown in Figure 9 and Figure 10As shown, the automatic driving device comprises a circular glass rain and dirt cleaning structure, a cleaned element, i.e. a circular glass 101, and a connecting piece 110, the cleaned element is fixed to 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 comprises a shell 106, a control circuit board, a first steering engine, a transmission rod 104, a first hinge 103, a connecting rod 108, a second hinge 109, a second steering engine 111 and a cleaning piece 102; wherein the first steering engine and the control circuit board are both fixed inside the shell 106. That is, the circular glass rain and dirt cleaning structure comprises a rotating cleaning structure, in other embodiments, the circular glass rain and dirt cleaning structure can also comprise two rotating cleaning structures or more rotating cleaning structures. The position of the output shaft of the second steering engine 111, i.e. the rotating center of the cleaning piece 102, is located at the center of the circular glass 101, the first steering engine 105 sequentially connects the second steering engine 111 through the transmission rod 104, the first hinge 103, the connecting rod 108 and the second hinge 109, the first steering engine 105 is arranged to rotate the transmission rod 104 to a preset angular position in a powered state, so that the second steering engine 111 is located at a preset cleaning position; the cleaning piece 102 is detachably mounted on the second steering engine 111, the first hinge 103 and the second hinge 109 are arranged to adjust the inclination and distance of the cleaning piece 102 and the circular target to be cleaned; the control circuit board 107 is connected to the second steering engine 111, and the control circuit board 107 is arranged to process a pulse width modulation signal to make the second steering engine 111 rotate cyclically and drive the cleaning piece 102 to rotate cyclically. The bottom of the shell 106 is provided with a fixing position, and the rotating cleaning structure further comprises a fixing piece 202, which cooperates with the fixing position to fix the shell 106.

[0079] In one embodiment, as shown in Figure 11 and Figure 12 , the automatic driving device further comprises a mounting seat 201, which is located beside the glass 101 and does not block the glass 101 so that other structures cannot block the acquisition of external environment images through the glass, please refer to Figure 13 , the bottom of the shell 106 is provided with a fixing position, and the rotating cleaning structure further comprises a fixing piece 202, which cooperates with the fixing position to fix the shell 106 on the mounting seat 201.

[0080] Please refer to Figure 14 , Figure 15 and Figure 16In one of the embodiments, for the automatic driving device such as an automatic driving car or a drone, the cleaning member 102 can be or include a wiper head, and the rotation cleaning is realized under the driving of the second steering engine 111, the first steering engine 105 inside the shell 106 adjusts the position of the second steering engine 111 and the output shaft thereof through the transmission rod 104, the first hinge 103, the connecting rod 108 and the second hinge 109; the control circuit board 107 inside the shell 106 outputs PWM signals to the first steering engine 105 to adjust the angle of the transmission rod 104 and to the second steering engine 111 to control the rotation of the cleaning member 102.

[0081] Such design adopts the double steering engine cooperation control circuit mode, and the double hinge structure with the first hinge 103 and the second hinge 109 is designed in the structure to adjust the inclination and distance between the cleaning member 102 such as the wiper head and the circular cleaned element such as the glass 101. In the embodiment, the back of the wiper head is embedded with a rubber strip, the rotation angle of the first steering engine 105 is 60°, and the rotation angle of the second steering engine 111 is 360°. After power-on, the first steering engine 105 drives the transmission rod 104 and the connecting rod 108 to swing to the specified angle position and remains stationary, and the second steering engine 111 starts to drive the cleaning member 102 to perform the circular motion. The circular motion of the cleaning member 102 such as the wiper head makes the rain and dirt cleaning area close to 100%, greatly improving the cleaning efficiency. The overall structure of the embodiment adopts the modular design, and the assembly mode is external placement. The shell 106 is fixed on the connecting member 110 of the glass at the bottom, which not only avoids the influence of the opening and slotting on the sealing performance in the internal placement mode, but also reduces the maintenance and assembly difficulty.

[0082] The rotation cleaning structure described in the embodiments of the present application can not only complete the rain and dirt cleaning of the cleaned element in the circular cleaning area, and the theoretical cleaning area in this state can reach 100%; but also can complete the rain and dirt cleaning of the cleaned element with a cleaning area such as an elliptical or regular polygon cleaning area, and the theoretical cleaning area in this state can be more than 50% to 90%; and is especially suitable for the circular glass rain and dirt cleaning structure of the cleaned element as the circular glass. The circular glass rain and dirt cleaning structure with two or more rotation cleaning structures cooperating can be applied to the cleaning area composed of circles such as the 8-shaped cleaning area, which is not achieved by the traditional technologies known to the applicant. For the automatic driving device, the circular glass has the advantages of small volume and large experimental area, and the rotation cleaning structure with small volume and compact structure is beneficial to improving the rain and dirt cleaning effect of the circular cleaning area, and is beneficial to obtaining the external environment image at multiple positions and angles, avoiding the interference of rain, fog or other dirt, and thus improving the safety performance of the automatic driving device.

[0083] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, as long as there is no conflict, any combination of the technical features should be considered within the scope of the present disclosure.

[0084] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A rotary cleaning structure comprising: The control circuit board, the first steering engine, the transmission rod, the first hinge, the connecting rod, the second hinge, the second steering engine and the cleaning member; The first steering engine is connected with the second steering engine through the transmission rod, the first hinge, the connecting rod and the second hinge, and is arranged to rotate the transmission rod to a preset angle position in a power-on state, so that the second steering engine is located at a preset cleaning position; the cleaning member is detachably mounted on the second steering engine, and the first hinge and the second hinge are arranged to adjust the inclination and distance between the cleaning member and a target to be cleaned; the control circuit board is connected with the second steering engine, and is arranged to process a pulse width control signal to make the second steering engine rotate cyclically and drive the cleaning member to rotate cyclically; The first steering engine is arranged to drive the transmission rod to rotate, and the second steering engine is arranged to drive the cleaning member to rotate, so as to adjust the position of the output shaft of the second steering engine through cooperation of the first steering engine and the second steering engine, so as to determine the rotation center of the cleaning member of the rotating cleaning structure; The rotating cleaning structure further comprises a pulse width control signal controller connected with the control circuit board, and the pulse width control signal controller is arranged to output a pulse width control signal to the control circuit board to control the rotation of the first steering engine and / or the second steering engine; The output shaft of the second steering engine or the cleaning member is further connected with the control circuit board through a blocking feedback structure, and the blocking feedback structure is arranged to generate a feedback signal when the rotation of the output shaft of the second steering engine or the cleaning member is blocked and transmit the feedback signal to the control circuit board; the control circuit board is arranged to adjust the second steering engine to rotate reversely relative to a previous preset direction when the feedback signal of the blocking feedback structure is received, and send an emergency state signal when the feedback signal of the blocking feedback structure is received again; The cleaning member comprises a flexible deformation structure arranged to deform when the rotation of the cleaning member is blocked, so as to maintain the normal rotation of the cleaning member and avoid damage to the second steering engine; And the flexible deformation structure is arranged in linkage with the blocking feedback structure, and the blocking feedback structure is arranged to generate a feedback signal when the rotation of the output shaft of the second steering engine or the cleaning member is blocked and transmit the feedback signal to the control circuit board.

2. The rotating cleaning structure according to claim 1, wherein the control circuit board is further connected with the first steering engine, and is arranged to define the preset angle position.

3. The rotating cleaning structure according to claim 2, wherein the preset angle position is a position reached after the first steering engine rotates by 60°.

4. The rotating cleaning structure according to claim 3, wherein the rotation angle of the first steering engine is arranged according to a pulse width control signal.

5. The rotating cleaning structure according to claim 1, wherein the control circuit board is arranged to process a pulse width control signal to make the second steering engine rotate cyclically in a preset direction.

6. The rotating cleaning structure according to claim 5, wherein the preset direction includes the same direction and two opposite directions.

7. The rotating cleaning structure of claim 1, wherein the cleaning member comprises a wiper head.

8. The rotating cleaning structure of claim 7, wherein the cleaning member further comprises a rubber strip.

9. The rotating cleaning structure of claim 1, further comprising a housing, wherein the first steering engine and the control circuit board are fixed inside the housing, the transmission rod is arranged to pass through the housing, and the first hinge is located outside the housing.

10. The rotating cleaning structure of claim 9, wherein the bottom of the housing is provided with a fixing position, and the rotating cleaning structure further comprises a fixing member which cooperates with the fixing position to fix the housing outside.

11. The rotating cleaning structure of claim 10, wherein the fixing member is arranged to fix the housing outside the object to be cleaned.

12. The rotating cleaning structure of claim 1, wherein the length of the cleaning member is arranged to match the radius of the circular object to be cleaned.

13. The rotating cleaning structure of claim 12, wherein the control circuit board is further connected to the first steering engine, the control circuit board is arranged to define the preset angle position, the preset angle position is the position reached after the first steering engine rotates 60°, the rotation angle of the first steering engine is arranged according to the pulse width control signal, the control circuit board is arranged to process the pulse width control signal to make the second steering engine rotate in a preset direction, the preset direction comprises the same direction and two opposite directions, the cleaning member comprises a wiper head and a rubber strip, the rotating cleaning structure further comprises a housing, wherein the first steering engine and the control circuit board are fixed inside the housing, the transmission rod is arranged to pass through the housing, and the first hinge is located outside the housing, the bottom of the housing is provided with a fixing position, and the rotating cleaning structure further comprises a fixing member which cooperates with the fixing position to fix the housing outside the object to be cleaned, the first steering engine is a 180-degree steering engine, and the second steering engine is a 360-degree steering engine. The first steering engine is further arranged to rotate the transmission rod to reset in a power-off state or under the control of the control circuit board, so that the rotating cleaning structure does not block the cleaned element.

14. A circular glass rain and dirt cleaning structure, comprising at least one rotating cleaning structure according to any one of claims 1 to 13, wherein the first hinge and the second hinge are arranged to adjust the inclination and distance of the cleaning member to the circular object to be cleaned, and the control circuit board is connected to the second steering engine, and the control circuit board is arranged to process the pulse width control signal to make the second steering engine rotate and drive the cleaning member to rotate.

15. The circular glass rain and dirt cleaning structure of claim 14, wherein the control circuit board is further connected to the first steering engine, and the control circuit board is arranged to define the preset angle position.

16. The circular glass rain and dirt cleaning structure of claim 14, wherein the control circuit board is arranged to process the pulse width control signal to make the second steering engine rotate in a preset direction, and the preset direction comprises the same direction and two opposite directions.

17. The circular glass rain and dirt cleaning structure according to claim 14, wherein the cleaning member comprises a wiper head and a rubber strip.

18. The circular glass rain and dirt cleaning structure according to claim 14, wherein the rotating cleaning structure further comprises a housing, the first steering engine and the control circuit board are fixed inside the housing, the transmission rod is arranged to pass through the housing, and the first hinge is located outside the housing.

19. The circular glass rain and dirt cleaning structure according to claim 14, wherein the length of the cleaning member is arranged to match the radius of the circular target to be cleaned, the preset angular position is the position reached after the first steering engine rotates 60°, the rotation angle of the first steering engine is arranged according to the pulse width control signal, the control circuit board is arranged to process the pulse width control signal to make the second steering engine rotate in a preset direction cyclically, the preset direction comprises the same direction and two opposite directions, the cleaning member comprises a wiper head and a rubber strip, the rotating cleaning structure further comprises a housing, the first steering engine and the control circuit board are fixed inside the housing, the transmission rod is arranged to pass through the housing, and the first hinge is located outside the housing, the bottom of the housing is provided with a fixing position, the rotating cleaning structure further comprises a fixing member, the fixing member cooperates with the fixing position to fix the housing outside the target to be cleaned, the first steering engine is a 180-degree steering engine, and the second steering engine is a 360-degree steering engine.

20. An automatic driving device comprising a circular glass rain and dirt cleaning structure, wherein the circular glass rain and dirt cleaning structure comprises at least one rotating cleaning structure according to any one of claims 1 to 13. The first hinge and the second hinge are arranged to adjust the inclination and distance between the cleaning member and the circular target to be cleaned, the control circuit board is connected to the second steering engine, the control circuit board is arranged to process the pulse width control signal to make the second steering engine rotate cyclically and drive the cleaning member to rotate cyclically, the first steering engine is a 180-degree steering engine, and the second steering engine is a 360-degree steering engine.

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