Turning assistance control method and device for cleaning equipment, equipment and medium

Abstract

The invention relates to the technical field of cleaning equipment, and discloses a turning assistance control method, device and equipment for cleaning equipment and a medium. The turning assistance control method of the cleaning equipment comprises the steps that the rotating speed of a left driving wheel and the rotating speed of a right driving wheel are obtained, and / or the driving current of the left driving wheel and the driving current of the right driving wheel are obtained; determining a user intention; and controlling and adjusting the driving power of the left driving wheel and / or the driving power of the right driving wheel. The intention of a user is determined by obtaining the rotating speeds of a left driving wheel and a right driving wheel of the cleaning equipment and / or the driving current of the left driving wheel and the driving current of the right driving wheel, and then the driving power of the left driving wheel and / or the driving power of the right driving wheel serving as a power assisting system are / is controlled and adjusted, so that the action of the power assisting system meets the actual operation requirement, and the user experience is improved. The power assisting effect of the driving wheels is good, when the cleaning equipment needs to steer or bypass an obstacle, physical output of an operator is reduced, the operation accuracy is improved, and the cleaning efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a turning assistance control method, device, equipment and medium for cleaning equipment. Background Art

[0002] With the continuous development of cleaning equipment, floor scrubbers have gradually become an indispensable tool in commercial, industrial and home environments. However, there are still many inconveniences in the operation of floor scrubbers and other cleaning equipment, especially in turning and operating in complex terrains. They mainly rely on manual operation by users to control the turning and travel direction, which not only increases the difficulty of operation, but also causes users to easily get tired after long-term use, reducing work efficiency.

[0003] Especially in large areas and complex environments, such as shopping malls, supermarkets, industrial plants, etc., operators need to frequently adjust the direction and path of the floor scrubber, and the operating experience of the cleaning equipment in these situations is poor. Especially when the cleaning equipment needs to turn or bypass obstacles, the operator often needs to exert a large force to push or pull the equipment, which not only increases physical exertion, but also easily leads to operational errors and reduces cleaning efficiency.

[0004] Although some related technologies attempt to reduce the burden on operators by adding auxiliary wheels or simple power-assisted motors to cleaning equipment, these technologies still have shortcomings in practical applications. Most related technologies cannot accurately identify the steering action of cleaning equipment, and the power-assisted system is out of touch with actual operation requirements, resulting in poor power-assisted effects and even interfering with the user's operation in some cases. Summary of the invention

[0005] In view of this, the present invention provides a turning assist control method, device, equipment and medium for cleaning equipment to solve the problem that the cleaning equipment cannot accurately identify the steering action, the assist system is out of touch with the actual operation requirements, and the assist effect is poor.

[0006] It should be noted that when the user is located on the rear side of the cleaning device and facing the cleaning device, the driving wheel of the cleaning device located on the left side of the user is the left driving wheel, and the driving wheel of the cleaning device located on the right side of the user is the right driving wheel; when the user is located on the rear side of the cleaning device and facing the cleaning device, when the cleaning device turns to the left side of the user, it is a left turn, and turning to the right side of the user is a right turn, when the cleaning device turns to the left side in front of the user, it is a forward left turn, turning to the left side behind the user is a backward left turn, turning to the right side in front of the user is a forward right turn, and turning to the right side behind the user is a backward right turn.

[0007] In a first aspect, the present invention provides a turning assist control method for a cleaning device, wherein the cleaning device comprises a roller brush, a left driving wheel and a right driving wheel, and the control method comprises:

[0008] Acquire the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or acquire the driving current of the left driving wheel and the driving current of the right driving wheel;

[0009] determining a user intention, wherein the user intention includes a left turn and a right turn;

[0010] According to the determined user intention, the driving power of the left driving wheel and / or the driving power of the right driving wheel are controlled and adjusted.

[0011] Beneficial effect: During the cleaning process of the cleaning equipment, the rotational speed of the left driving wheel and the right driving wheel of the cleaning equipment, and / or the driving current of the left driving wheel and the right driving wheel are obtained to determine and judge whether the user intends to turn left or right, and the driving power of the left driving wheel and / or the driving power of the right driving wheel as the power-assisting system is controlled and adjusted according to the user's intention, so that the action of the power-assisting system meets the actual operation requirements, the power-assisting effect of the driving wheel is good, and when the cleaning equipment needs to turn or bypass an obstacle, the operator does not need to exert a large force to push or pull the equipment, which reduces the operator's physical exertion, improves the operation accuracy, and can improve the cleaning efficiency.

[0012] In an optional implementation, the left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn; and determining the user intention includes:

[0013] When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left in the forward direction;

[0014] When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right from forward;

[0015] When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is less than zero, and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left backwards;

[0016] When the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right backward.

[0017] Beneficial effect: when the sum of the rotational speed of the left driving wheel and the rotational speed of the right driving wheel is greater than zero, it indicates that the user wants to move forward, and when the sum of the rotational speed of the left driving wheel and the rotational speed of the right driving wheel is less than zero, it indicates that the user wants to go backward; when the driving current of the left driving wheel is less than the driving current of the right driving wheel, it indicates that the user wants to turn left, and when the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it indicates that the user wants to turn right. Therefore, by monitoring the rotational speed of the driving wheels on both sides and the driving current of the driving wheels on both sides, it is possible to accurately judge whether the user's intention is to turn left forward, turn right forward, turn left backward or turn right backward, and then control the driving power of the left driving wheel and the right driving wheel in a targeted manner according to the determined true intention of the user to provide assistance, so that the assistance action is more in line with the actual operation needs and the assistance effect of the driving wheels is better.

[0018] In an optional implementation, the left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn; and determining the user intention includes:

[0019] When the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, and the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, it is determined that the user intends to turn left in the forward direction;

[0020] When the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, and the sum of the rotation speeds of the left driving wheel and the right driving wheel is greater than zero, it is determined that the user intends to turn right in the forward direction;

[0021] When the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, and the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, it is determined that the user intends to turn left backwards;

[0022] When the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, and the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, it is determined that the user intends to turn right backward.

[0023] Beneficial effect: when the sum of the rotation speeds of the left driving wheel and the right driving wheel is greater than zero, it indicates that the user wants to move forward, and when the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, it indicates that the user wants to go backward; when the rotation speed of the left driving wheel is less than that of the right driving wheel, it indicates that the user wants to turn left, and when the rotation speed of the left driving wheel is greater than that of the right driving wheel, it indicates that the user wants to turn right. Therefore, by monitoring the rotation speeds of the left driving wheel and the right driving wheel, it is possible to accurately determine whether the user's intention is to turn left forward, turn right forward, turn left backward or turn right backward, and then control the driving power of the left driving wheel and the right driving wheel in a targeted manner according to the determined true intention of the user to provide assistance, so that the assistance action is more in line with the actual operation needs and the assistance effect of the driving wheels is better.

[0024] In an optional embodiment, the left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn;

[0025] While obtaining the driving current of the left driving wheel and the driving current of the right driving wheel, the method further includes:

[0026] Acquiring the driving current of the roller brush and calculating the driving current change rate of the roller brush;

[0027] When the driving current change rate is greater than zero and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left in the forward direction;

[0028] When the driving current change rate is greater than zero and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right from forward;

[0029] When the driving current change rate is less than zero and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left backwards;

[0030] When the driving current change rate is less than zero and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right backward.

[0031] Beneficial effect: by comparing the driving current of the left driving wheel and the driving current of the right driving wheel, it is determined whether the user wants to turn left or right. When the driving current of the left driving wheel is less than that of the right driving wheel, it indicates that the user wants to turn left. Conversely, when the driving current of the left driving wheel is greater than that of the right driving wheel, it indicates that the user wants to turn right. By judging and determining whether the user wants to move forward or backward through the driving current change rate of the roller brush, when the driving current change rate of the roller brush is greater than zero, it indicates that the user wants to move forward, and when the driving current change rate is less than zero, it indicates that the user wants to move backward. Thus, the user's intention can be accurately judged based on the monitoring of the driving current of the left driving wheel, the driving current of the right driving wheel and the driving current of the roller brush, and then the driving power of the left driving wheel and the right driving wheel can be controlled respectively according to the determined true intention of the user to provide assistance, so that the assistance action is more in line with the actual operation needs and the assistance effect of the driving wheel is better.

[0032] In an optional embodiment, the left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn;

[0033] Acquiring the rotation speed of the left driving wheel and the rotation speed of the right driving wheel also includes:

[0034] Acquiring the driving current of the roller brush and calculating the driving current change rate of the roller brush;

[0035] When the driving current change rate is greater than zero and the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, it is determined that the user intends to turn left in the forward direction;

[0036] When the driving current change rate is greater than zero and the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, it is determined that the user intends to turn right from the forward direction;

[0037] When the driving current change rate is less than zero and the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, it is determined that the user intends to turn left backward;

[0038] When the driving current change rate is less than zero and the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, it is determined that the user intends to turn right backward.

[0039] Beneficial effect: by comparing the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, it is determined whether the user wants to turn left or right. When the rotation speed of the left driving wheel is less than that of the right driving wheel, it indicates that the user wants to turn left. Conversely, when the rotation speed of the left driving wheel is greater than that of the right driving wheel, it indicates that the user wants to turn right. By judging and determining whether the user wants to move forward or backward through the driving current change rate of the roller brush, when the driving current change rate of the roller brush is greater than zero, it indicates that the user wants to move forward, and when the driving current change rate is less than zero, it indicates that the user wants to move backward. Therefore, the user's intention can be accurately judged based on the monitoring of the rotation speed of the left driving wheel, the rotation speed of the right driving wheel and the driving current of the roller brush, and then the driving power of the left driving wheel and the right driving wheel can be controlled respectively according to the determined true intention of the user to provide assistance, so that the assistance action is more in line with the actual operation needs and the assistance effect of the driving wheel is better.

[0040] In an optional implementation, controlling and adjusting the driving power of the left driving wheel and / or the driving power of the right driving wheel according to the determined user intention includes:

[0041] When the user intends to turn left, the driving power of the left driving wheel is maintained, and the driving power of the right driving wheel is controlled to be increased; or, the driving power of the left driving wheel is controlled to be reduced, and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is controlled to be reduced, and the driving power of the right driving wheel is controlled to be increased;

[0042] When the user intends to turn right, the driving power of the left driving wheel is increased and the driving power of the right driving wheel is maintained; or the driving power of the left driving wheel is maintained and the driving power of the right driving wheel is reduced; or the driving power of the left driving wheel is increased and the driving power of the right driving wheel is reduced;

[0043] When the user intends to turn left, the driving power of the left driving wheel is maintained, and the driving power of the right driving wheel is controlled to be increased; or, the driving power of the left driving wheel is controlled to be reduced, and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is controlled to be reduced, and the driving power of the right driving wheel is controlled to be increased;

[0044] When the user intends to turn right backward, the driving power of the left driving wheel is increased and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is maintained and the driving power of the right driving wheel is reduced; or, the driving power of the left driving wheel is increased and the driving power of the right driving wheel is reduced.

[0045] Beneficial effects: when turning left, the power-assisting modes can be adopted, such as reducing the driving power of the left driving wheel while maintaining the driving power of the right driving wheel, maintaining the driving power of the left driving wheel while increasing the driving power of the right driving wheel, or reducing the driving power of the left driving wheel while increasing the driving power of the right driving wheel; when turning right, the power-assisting modes can be adopted, such as increasing the driving power of the left driving wheel while maintaining the driving power of the right driving wheel unchanged, maintaining the driving power of the left driving wheel while reducing the driving power of the right driving wheel, or increasing the driving power of the left driving wheel while reducing the driving power of the right driving wheel, thereby improving the power-assisting effect and improving user satisfaction.

[0046] In an optional implementation, the controlling and adjusting the driving power of the left driving wheel and / or the driving power of the right driving wheel includes:

[0047] The control adjusts the rotation speed of the left driving wheel and / or the rotation speed of the right driving wheel.

[0048] Beneficial effect: The change of the driving power of the driving wheel can be reflected by the change of the rotation speed of the driving wheel. Therefore, the rotation speed of the driving wheel can be adjusted to adapt to different user intentions, achieve accurate and reliable power assistance, and improve user experience.

[0049] In an optional implementation, the control method further includes:

[0050] When the user intends to turn left, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V-Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 +K*(I 右 -I 左 );

[0051] When the user intends to turn right, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V左 =V-Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 -K*(I 右 -I 左 );

[0052] When the user intends to turn left, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V+Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 -K*(I 右 -I 左 );

[0053] When the user intends to turn right, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V+Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 +K*(I 右 -I 左 );

[0054] The preset speed V is the speed of the driving wheel when the force of the driving wheel and the force of the roller brush cancel each other out when the driving wheel is running;

[0055] Ki is a first preset proportional constant or a first preset function;

[0056] K is a second preset proportional constant or a second preset function;

[0057] Di is the rate of change of the driving current of the roller brush;

[0058] I 左 is the driving current of the left driving wheel, I 右 is the driving current of the right driving wheel.

[0059] Beneficial effect: By monitoring the change rate of the driving current of the roller brush, the preset proportional constant (or preset function) and the difference between the right driving wheel and the left driving wheel, the rotation speed of the left driving wheel and the right driving wheel are determined, so as to achieve the purpose of accurately controlling the driving wheel speed according to actual conditions, saving users effort while providing precise assistance.

[0060] In an optional implementation manner, after controlling and adjusting the rotation speed of the left driving wheel and / or the rotation speed of the right driving wheel, the method further includes:

[0061] Obtain the total adjustment duration of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and compare it with the preset duration;

[0062] When the total adjustment time is greater than the preset time, the turning assist is stopped;

[0063] Alternatively, the absolute value of the difference between the rotation speed of the right driving wheel and the rotation speed of the left driving wheel is obtained, and when the absolute value of the difference continues to decrease within a certain period of time, the turning assist is stopped.

[0064] Beneficial effects: The preset duration is the duration corresponding to completing a turn. When the total adjustment time of the driving wheel speed is greater than the preset duration, it indicates that the turn has been completed. Alternatively, when the absolute value of the difference between the rotational speed of the right driving wheel and the rotational speed of the left driving wheel continues to decrease within a certain period of time, it indicates that the rotational speeds of the left and right driving wheels are approaching the same, indicating that the cleaning equipment has completed the turn. At this time, the turning assist is stopped in time, and the turning assist has high reliability and will not affect the normal cleaning operation.

[0065] In an optional implementation, before obtaining the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or obtaining the driving current of the left driving wheel and the driving current of the right driving wheel, the method further includes:

[0066] Obtaining a driving current of the roller brush;

[0067] Determining the range of the driving current of the roller brush;

[0068] Determining a driving power value of the roller brush according to the range of the driving current of the roller brush;

[0069] The roller brush is controlled to operate according to the determined driving power value.

[0070] Beneficial effect: Before determining the user's intention, the driving current of the roller brush is obtained to determine the range of the driving current of the roller brush. The range of the driving current of the roller brush represents the amount of hair on the roller brush, and then the driving power value of the roller brush is determined according to the amount of hair on the roller brush, and the roller brush is controlled to work at the determined driving power value. The less hair, the higher the driving power value is required to make up for the problem of incomplete cleaning caused by the reduction of hair.

[0071] In a second aspect, the present invention further provides a control device, the device comprising:

[0072] An acquisition module, used for acquiring the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or acquiring the driving current of the left driving wheel and the driving current of the right driving wheel;

[0073] a determination module, configured to determine the user intention according to the obtained rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or the obtained driving current of the left driving wheel and the driving current of the right driving wheel;

[0074] A control module is used to control and adjust the driving power of the left driving wheel and / or the driving power of the right driving wheel according to the determined user intention.

[0075] Beneficial effect: The acquisition module acquires the rotational speed of the left driving wheel and the rotational speed of the right driving wheel, and / or acquires the driving current of the left driving wheel and the driving current of the right driving wheel, which are then used as the basis for the determination module to determine the user's intention, and the driving power of the left driving wheel and / or the driving power of the right driving wheel are controlled and adjusted according to the determined user's intention, so that the action of the power-assisting system meets the actual operation requirements, the power-assisting effect of the driving wheel is good, and when the cleaning equipment needs to turn or bypass an obstacle, the operator does not need to exert a large force to push or pull the equipment, which reduces the operator's physical exertion, improves the operation accuracy, and can improve the cleaning efficiency.

[0076] In a third aspect, the present invention further provides a computer device, comprising:

[0077] A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes any of the control methods described above by executing the computer instructions.

[0078] Beneficial effect: Since the processor executes the turning control method of the cleaning equipment of the present invention by executing the computer instructions stored in the memory, it has the same technical effect as the control method of the present invention and will not be repeated here.

[0079] In a fourth aspect, the present invention further provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute any of the control methods described above.

[0080] Beneficial effect: Since the computer instructions stored on the computer-readable storage medium are used to enable the computer to execute the turning control method of the cleaning equipment of the present invention, it has the same technical effect as the control method of the present invention and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0082] Figure 1 is a flow chart of a turning assist control method for a cleaning device according to an embodiment of the present invention;

[0083] Figure 2 is a flow chart of another turning assist control method for cleaning equipment according to an embodiment of the present invention;

[0084] Figure 3 is a structural block diagram of a control device according to an embodiment of the present invention;

[0085] Figure 4 is a schematic diagram of a first hardware structure of a computer device according to an embodiment of the present invention;

[0086] Figure 5 It is a schematic diagram of a second hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0087] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0088] In the description of the invention, it should be noted that, unless otherwise specified, the meaning of "plurality" is two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0089] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0090] Combine the following Figures 1 to 5 , describing an embodiment of the present invention.

[0091] According to an embodiment of the present invention, on the one hand, Figure 1As shown, a turning assist control method for a cleaning device is provided, the cleaning device includes a roller brush, a left driving wheel and a right driving wheel, and the control method includes:

[0092] Obtaining the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or obtaining the driving current of the left driving wheel and the driving current of the right driving wheel;

[0093] Determine user intent, which includes left turns and right turns;

[0094] According to the determined user intention, the driving power of the left driving wheel and / or the driving power of the right driving wheel are controlled and adjusted.

[0095] During the cleaning process of the cleaning device, the rotational speed of the left driving wheel and the right driving wheel of the cleaning device, and / or the driving current of the left driving wheel and the right driving wheel are obtained to determine and judge whether the user intends to turn left or right, and the driving power of the left driving wheel and / or the driving power of the right driving wheel as the power-assisting system is controlled and adjusted according to the user's intention, so that the action of the power-assisting system meets the actual operation requirements, the power-assisting effect of the driving wheel is good, and when the cleaning device needs to turn or bypass an obstacle, the operator does not need to exert a large force to push or pull the device, which reduces the operator's physical exertion, improves the operation accuracy, and can improve the cleaning efficiency.

[0096] It should be noted that the turning assistance control method of the present invention can be applied to cleaning equipment such as floor scrubbers and vacuum cleaners.

[0097] In some embodiments, the left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn; and determining the user's intention includes:

[0098] When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left in the forward direction;

[0099] When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right from forward;

[0100] When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is less than zero, and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left backwards;

[0101] When the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right backward.

[0102] When the sum of the rotational speeds of the left drive wheel and the right drive wheel is greater than zero, it indicates that the user wants to move forward, and when the sum of the rotational speeds of the left drive wheel and the right drive wheel is less than zero, it indicates that the user wants to go backward; when the driving current of the left drive wheel is less than that of the right drive wheel, it indicates that the user wants to turn left, and when the driving current of the left drive wheel is greater than that of the right drive wheel, it indicates that the user wants to turn right. Therefore, by monitoring the rotational speeds of the drive wheels on both sides and the driving current of the drive wheels on both sides, it is possible to accurately determine whether the user's intention is to turn left forward, turn right forward, turn left backward or turn right backward, and then control the driving power of the left drive wheel and the right drive wheel in a targeted manner according to the determined true intention of the user to provide assistance, so that the assistance action is more in line with the actual operation needs and the assistance effect of the drive wheels is better.

[0103] In some embodiments, the left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn; and determining the user's intention includes:

[0104] When the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, and the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, it is determined that the user intends to turn left in the forward direction;

[0105] When the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, and the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, it is determined that the user intends to turn right in the forward direction;

[0106] When the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, and the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is less than zero, it is determined that the user intends to turn left backwards;

[0107] When the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, and the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, it is determined that the user intends to turn right backward.

[0108] When the sum of the rotation speeds of the left drive wheel and the right drive wheel is greater than zero, it indicates that the user wants to move forward, and when the sum of the rotation speeds of the left drive wheel and the right drive wheel is less than zero, it indicates that the user wants to go backward; when the rotation speed of the left drive wheel is less than that of the right drive wheel, it indicates that the user wants to turn left, and when the rotation speed of the left drive wheel is greater than that of the right drive wheel, it indicates that the user wants to turn right. Therefore, by monitoring the rotation speeds of the left drive wheel and the right drive wheel, it is possible to accurately determine whether the user's intention is to turn left forward, turn right forward, turn left backward, or turn right backward, and then control the driving power of the left drive wheel and the right drive wheel in a targeted manner according to the determined true intention of the user to provide assistance, so that the assistance action is more in line with the actual operation needs and the assistance effect of the drive wheels is better.

[0109] In some embodiments, the left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn;

[0110] When obtaining the driving current of the left driving wheel and the driving current of the right driving wheel, it also includes:

[0111] Obtaining the driving current of the roller brush and calculating the changing rate of the driving current of the roller brush;

[0112] When the driving current change rate is greater than zero and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left in the forward direction;

[0113] When the driving current change rate is greater than zero and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right from the forward direction;

[0114] When the driving current change rate is less than zero and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left backwards;

[0115] When the driving current change rate is less than zero and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right backward.

[0116] By comparing the driving current of the left driving wheel and the driving current of the right driving wheel, it is determined whether the user wants to turn left or right. When the driving current of the left driving wheel is less than that of the right driving wheel, it indicates that the user wants to turn left. Conversely, when the driving current of the left driving wheel is greater than that of the right driving wheel, it indicates that the user wants to turn right. The driving current change rate of the roller brush is used to judge and determine whether the user wants to move forward or backward. When the driving current change rate of the roller brush is greater than zero, it indicates that the user wants to move forward, and when the driving current change rate is less than zero, it indicates that the user wants to move backward. Therefore, the user's intention can be accurately judged based on the monitoring of the driving current of the left driving wheel, the driving current of the right driving wheel and the driving current of the roller brush, and then the driving power of the left driving wheel and the right driving wheel can be controlled respectively according to the determined true intention of the user to provide assistance, so that the assistance action is more in line with the actual operation needs and the assistance effect of the driving wheel is better.

[0117] In some embodiments, the left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn;

[0118] When obtaining the left driving wheel speed and the right driving wheel speed, it also includes:

[0119] Obtaining the driving current of the roller brush and calculating the changing rate of the driving current of the roller brush;

[0120] When the driving current change rate is greater than zero and the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, it is determined that the user intends to turn left in the forward direction;

[0121] When the driving current change rate is greater than zero and the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, it is determined that the user intends to turn right from the forward direction;

[0122] When the driving current change rate is less than zero and the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, it is determined that the user intends to turn left backward;

[0123] When the driving current change rate is less than zero and the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, it is determined that the user intends to turn right backward.

[0124] By comparing the rotation speed of the left drive wheel and the rotation speed of the right drive wheel, it is determined whether the user wants to turn left or right. When the rotation speed of the left drive wheel is less than that of the right drive wheel, it indicates that the user wants to turn left. Conversely, when the rotation speed of the left drive wheel is greater than that of the right drive wheel, it indicates that the user wants to turn right. The driving current change rate of the roller brush is used to judge and determine whether the user wants to move forward or backward. When the driving current change rate of the roller brush is greater than zero, it indicates that the user wants to move forward, and when the driving current change rate is less than zero, it indicates that the user wants to move backward. Therefore, the user's intention can be accurately judged based on the monitoring of the rotation speed of the left drive wheel, the rotation speed of the right drive wheel and the driving current of the roller brush, and then the driving power of the left drive wheel and the right drive wheel can be controlled respectively according to the determined true intention of the user to provide assistance, so that the assistance action is more in line with the actual operation needs and the assistance effect of the drive wheel is better.

[0125] In some embodiments, according to the determined user intention, controlling and adjusting the driving power of the left driving wheel and / or the driving power of the right driving wheel includes:

[0126] When the user intends to turn left, the driving power of the left driving wheel is maintained and the driving power of the right driving wheel is increased; or, the driving power of the left driving wheel is controlled to be reduced and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is controlled to be reduced and the driving power of the right driving wheel is controlled to be increased;

[0127] When the user intends to turn right, the driving power of the left driving wheel is increased and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is maintained and the driving power of the right driving wheel is reduced; or, the driving power of the left driving wheel is increased and the driving power of the right driving wheel is reduced;

[0128] When the user intends to turn left, the driving power of the left driving wheel is maintained and the driving power of the right driving wheel is increased; or, the driving power of the left driving wheel is reduced and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is reduced and the driving power of the right driving wheel is increased;

[0129] When the user intends to turn right backward, the control system increases the driving power of the left driving wheel and maintains the driving power of the right driving wheel; or, maintains the driving power of the left driving wheel and controls to reduce the driving power of the right driving wheel; or, controls to increase the driving power of the left driving wheel and controls to reduce the driving power of the right driving wheel.

[0130] When turning left, the power assist modes can be adopted such as reducing the driving power of the left driving wheel while maintaining the driving power of the right driving wheel, maintaining the driving power of the left driving wheel while increasing the driving power of the right driving wheel, or reducing the driving power of the left driving wheel while increasing the driving power of the right driving wheel; when turning right, the power assist mode can be adopted such as increasing the driving power of the left driving wheel while maintaining the driving power of the right driving wheel unchanged, maintaining the driving power of the left driving wheel while reducing the driving power of the right driving wheel, or increasing the driving power of the left driving wheel while reducing the driving power of the right driving wheel, thereby improving the power assist effect and improving user satisfaction.

[0131] In some embodiments, controlling and adjusting the driving power of the left driving wheel and / or the driving power of the right driving wheel includes:

[0132] The control adjusts the left drive wheel speed and / or the right drive wheel speed.

[0133] The change in the driving power of the driving wheel can be reflected by the change in the rotational speed of the driving wheel. Therefore, the rotational speed of the driving wheel can be adjusted to adapt to different user intentions, achieve accurate and reliable assistance, and improve user experience.

[0134] In some embodiments, the control method further comprises:

[0135] When the user intends to turn left, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V-Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 +K*(I 右 -I 左 );

[0136] When the user intends to turn right, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V-Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 -K*(I 右 -I 左 );

[0137] When the user intends to turn left, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V+Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 -K*(I 右 -I 左 );

[0138] When the user intends to turn right, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V+Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 +K*(I 右 -I 左 );

[0139] The preset speed V is the speed of the driving wheel when the force of the driving wheel and the force of the roller brush cancel each other out when the driving wheel is running;

[0140] Ki is a first preset proportional constant or a first preset function;

[0141] K is a second preset proportional constant or a second preset function;

[0142] Di is the rate of change of the driving current of the roller brush;

[0143] I 左 is the driving current of the left driving wheel, I 右 is the driving current of the right driving wheel.

[0144] By monitoring the change rate of the driving current of the roller brush, a preset proportional constant (or preset function) and the difference between the right driving wheel and the left driving wheel, the rotation speed of the left driving wheel and the right driving wheel are determined, thereby achieving the purpose of accurately controlling the driving wheel rotation speed according to actual conditions, saving users effort while providing accurate assistance.

[0145] When Ki is a constant, the value range is > 0. The specific value is adjusted according to the actual application. If the user wants to provide more obvious turning assistance, the Ki value can be increased. If only a smaller degree of turning assistance is desired, the Ki value can be lowered. It should be noted that Ki is linearly related to the turning assistance effect.

[0146] When K is a constant and its value range is >0, the effect is similar to Ki. If you want to enhance the power-assisting effect, you should increase the value of K. If you want to weaken the power-assisting effect, you should lower the value of K. This will achieve the purpose of adjusting the turning power-assisting effect. K is also linearly related to the turning power-assisting effect.

[0147] Although Ki and K are both parameters for adjusting the cornering assist effect, they target different points. Ki is adjusted based on the data of the roller brush, while K is adjusted based on the data of the drive wheel.

[0148] In some embodiments, after controlling and adjusting the rotation speed of the left driving wheel and / or the rotation speed of the right driving wheel, the method further includes:

[0149] Obtain the total adjustment duration of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and compare it with the preset duration;

[0150] When the total adjustment time is greater than the preset time, the control stops the turning assist;

[0151] Alternatively, the absolute value of the difference between the rotation speed of the right driving wheel and the rotation speed of the left driving wheel is obtained, and when the absolute value of the difference continues to decrease within a certain period of time, the turning assist is stopped.

[0152] The preset duration is the duration corresponding to completing a turn. When the total adjustment time of the driving wheel speed is greater than the preset duration, it indicates that the turn has been completed. Alternatively, when the absolute value of the difference between the rotational speed of the right driving wheel and the rotational speed of the left driving wheel continues to decrease within a certain period of time, it indicates that the rotational speeds of the left and right driving wheels are approaching the same, indicating that the cleaning equipment has completed the turn. At this time, the turning assist is stopped in time. The turning assist has high reliability and will not affect the normal cleaning operation.

[0153] In some embodiments, before obtaining the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or obtaining the driving current of the left driving wheel and the driving current of the right driving wheel, the method further includes:

[0154] Obtaining the driving current of the roller brush;

[0155] Determine the range of the driving current of the roller brush;

[0156] Determine the driving power value of the roller brush according to the range of the driving current of the roller brush;

[0157] The roller brush is controlled to work according to a determined driving power value.

[0158] Before determining the user's intention, the method also includes determining the range of the roller brush driving current by obtaining the roller brush driving current. The range of the roller brush driving current represents the amount of hair on the roller brush, and then determining the driving power value of the roller brush according to the amount of hair on the roller brush, and controlling the roller brush to work at the determined driving power value. The less hair, the higher the driving power value is required to make up for the problem of incomplete cleaning caused by the reduced hair.

[0159] like Figure 2 As shown, a specific embodiment of the present invention provides a turning assist control method for a floor scrubber. The status of the floor scrubber equipment includes a shutdown state, a standby state, and a cleaning operation state.

[0160] In shutdown state, the floor scrubber equipment is shut down and powered off;

[0161] In standby mode, the floor scrubber is turned on, but the loads are not working;

[0162] In the cleaning operation state, the floor scrubber equipment is turned on, its load is working, and the floor scrubber equipment as a whole moves forward and backward and turns according to the user's handheld operation.

[0163] When the floor scrubber is in the cleaning operation state, the drive wheel is controlled to accelerate or decelerate according to the collected current and speed data, which can reduce the burden on the user when operating the cleaning equipment.

[0164] The floor scrubber includes a roller brush, a left drive wheel and a right drive wheel. Two power-assisted motors are installed at the bottom of the floor scrubber, and each drive wheel is respectively connected to the corresponding power-assisted motor. The power-assisted motor is controlled by the data collected by the current sensor and the speed sensor to achieve power assistance of the floor scrubber. Among them, a current sensor is installed on the drive wheel and roller brush of the floor scrubber to detect the current during the operation of the two drive wheels and the roller brush; a speed sensor is installed on each of the two drive wheels of the floor scrubber to identify the operating speed of the whole machine.

[0165] The specific steps for implementation are as follows:

[0166] S101, the whole machine is powered on, the roller brush close to the ground is operated at a fixed power, and the magnitude of the driving current I of the roller brush is determined.

[0167] S102: If the current I is small, it means that the amount of roller brush hair is reduced (since the working plane of the floor scrubber is generally relatively single, other variables can be ignored and the amount of roller brush hair can be identified by current). In order to maintain the same cleaning effect as the initial hair amount, the system should appropriately increase the power output of the roller brush motor. According to the range of current I, the corresponding roller brush output ratio K is selected. W For example: in the interval [I1, I2], the output ratio is K W =1, in the interval [I2,I3], then the output ratio is K W =1.05, in the interval [I3,I4], the output ratio is K W =1.1, in the interval [I4,I5], the output ratio is K W =1.15, the output power of the rear roller brush is increased by a corresponding multiple. After adjusting the roller brush motor power, the change of the roller brush current is monitored in real time to determine whether the expected power output is achieved to achieve the corresponding cleaning effect. The current satisfies I1>I2>I3>I4>I5, K W The value is not fixed and is actually adjusted according to the quality of the roller brush.

[0168] S103, detecting the rotation speed V of the left and right driving wheels 左 and V 右 , driving current I 左 ,I 右 And the driving current change rate Di of the roller brush (referring to the difference between the driving current of the roller brush collected this time and the driving current of the roller brush collected last time).

[0169] S104: During operation, the forward or backward direction of the floor scrubber is determined based on the driving current of the driving wheel according to any of the following conditions:

[0170] If the roller brush is fixed and moves forward, the driving current of the roller brush increases (Di>0) during the operation, indicating that the force output by the user is opposite to the movement direction of the whole machine, and it is judged that the user intends to move the whole machine backward, and then enter step S106; if the current of the roller brush decreases (Di<0) during the operation, it means that the force output by the user is the same as the movement direction of the whole machine, and it is judged that the user intends to move the whole machine forward, and then enter step S105. If the roller brush is fixed and moves backward, then vice versa.

[0171] The speed sensors on the two driving wheels obtain the positive and negative of the sum of the speeds to determine whether to turn forward or backward. 左 +V 右 >0, it is forward and enters S105; if V 左 +V 右 <0, it is a backward turn, and the process goes to step S106; it should be noted that if the user turns too much when turning forward, one of the wheels will turn backward, so using the sum of the speeds of the two driving wheels to judge will more accurately identify whether it is forward or backward.

[0172] S105 (forward): during operation, the user is judged to turn left or right according to the driving current of the driving wheel:

[0173] During operation, if the current of the left driving wheel is larger than that of the right driving wheel, it is determined to be a right turn; if the current of the right driving wheel is larger than that of the left driving wheel, it is determined to be a left turn;

[0174] During operation, if the speed of the left driving wheel is greater than that of the right driving wheel, it is determined to be a right turn; if the speed of the right driving wheel is greater than that of the left driving wheel, it is determined to be a left turn.

[0175] S106 (backward): during operation, judging whether the user is turning left or right backward according to the driving current of the driving wheel:

[0176] During operation, if the driving current of the left driving wheel is greater than that of the right driving wheel, it is determined to be a right turn; if the driving current of the right driving wheel is greater than that of the left driving wheel, it is determined to be a left turn;

[0177] During operation, if the speed of the left driving wheel is greater than that of the right driving wheel, it is determined to be a right turn; if the speed of the right driving wheel is greater than that of the left driving wheel, it is determined to be a left turn.

[0178] S107, identifying that the current turning action of the user is a forward left turn, a forward right turn, a backward left turn or a backward right turn, and changing the driving wheel speed according to the corresponding action.

[0179] When the user intends to turn left, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V-Ki*|Di|, so that the speed of the right driving wheel satisfies V右 =V 左 +K*(I 右 -I 左 );

[0180] When the user intends to turn right, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V-Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 -K*(I 右 -I 左 );

[0181] When the user intends to turn left, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V+Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 -K*(I 右 -I 左 );

[0182] When the user intends to turn right, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V+Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 +K*(I 右 -I 左 );

[0183] The preset speed V is the speed of the driving wheel when the force of the driving wheel and the force of the roller brush cancel each other out when the driving wheel is running;

[0184] Ki is a first preset proportional constant or a first preset function;

[0185] K is a second preset proportional constant or a second preset function;

[0186] Di is the rate of change of the driving current of the roller brush;

[0187] I 左 is the driving current of the left driving wheel, I 右 is the driving current of the right driving wheel.

[0188] S108, if the adjustment time exceeds the time T, or D is obtained by continuous acquisition V =|V 右 -V 左 |If it continues to decrease, the turning assist stops.

[0189] The present invention has the following beneficial effects:

[0190] (1) The speed of the driving wheel is collected by installing a speed sensor on the driving wheel, and a current sensor is installed on the roller brush and the driving wheel. According to the collected current and speed data, the data is analyzed to identify the user's turning action, control the acceleration or deceleration of the power-assisting motor, and exit the turning assistance based on time or the movement information of the two wheels. Accurate identification of steering action: By real-time monitoring of the changes in the current of the driving wheel and the roller brush, the present invention can accurately identify the steering action of the floor scrubber (including forward left turn, forward right turn, rear left turn, and rear right turn). This precise steering identification enables the system to dynamically adjust the power-assisting output during operation to ensure smooth operation of the equipment when turning.

[0191] (2) Intelligent power-assist control: Based on the identified steering action, the present invention can adjust the power output of the power-assist wheel motor in real time. The system can control the output power of the left and right power-assist wheel motors according to different steering requirements to achieve intelligent power-assist control. This intelligent power-assist greatly reduces the operator's energy consumption when turning and improves the convenience of operation.

[0192] (3) Effective identification of forward / reverse state: The present invention can accurately identify the forward or reverse state of the floor scrubber through the change of the roller brush current, and adjust the output of the power-assist wheel accordingly. This accurate identification ensures that the equipment can obtain appropriate power support during the forward or reverse process, thereby improving the efficiency of the cleaning operation and the operational stability of the equipment.

[0193] (4) Improving operating comfort: By reducing the effort required by the operator when turning, the present invention significantly reduces the operator's fatigue, especially when cleaning a large area or operating for a long time in a complex environment, it can significantly improve operating comfort and work efficiency.

[0194] (5) Improve cleaning efficiency and safety: Intelligent power steering control not only makes the scrubber more flexible in complex terrain, but also reduces collisions or accidents caused by operating errors, thereby improving cleaning efficiency and safety.

[0195] The present invention can be applied to the intelligent steering power control of a small household floor scrubber:

[0196] Floor scrubbers work in narrow corridors or rooms with dense furniture, and users want to easily operate the equipment in these spaces. The system determines the turning action through the difference in the drive wheel current, and controls the power output of the power-assisted wheel motor in combination with the change in the roller brush current. For example, when the floor scrubber enters a corner, the current of the left drive wheel increases, and the system recognizes it as a right turn, reducing the power output of the left power-assisted wheel and increasing the power output of the right power-assisted wheel, helping the floor scrubber to easily turn around obstacles.

[0197] The present invention can be applied to industrial floor scrubbers operating for long periods of time in large venues:

[0198] In a wide industrial plant, floor scrubbers need to run for long periods of time and make frequent turns to avoid equipment or building structures. Industrial floor scrubbers are equipped with high-precision current sensors that can more sensitively capture changes in the current of the drive wheels and roller brushes. The system dynamically adjusts the output of the power-assisted wheel motor by judging the left or right turn action, making the equipment turn more smoothly over a large range and reducing the operator's physical exertion.

[0199] The present invention can be applied to the steering power control of commercial floor scrubbers in supermarkets or shopping malls:

[0200] The floor scrubber works in the aisles of supermarkets, surrounded by customers, shopping carts and shelves, and needs to turn quickly and accurately. The system monitors the changes in the drive wheel current in real time and flexibly adjusts the output of the power-assisted wheels according to the identified turning action. For example, in narrow aisles, the system helps the floor scrubber turn easily by reducing the power of the power-assisted wheels on the inside of the turn and increasing the power of the power-assisted wheels on the outside to avoid collisions with customers or shelves.

[0201] The present invention can be applied to the steering assistance control of a floor scrubber with automatic navigation function:

[0202] The floor scrubber autonomously navigates in a large shopping mall, cleans designated areas, and needs to avoid dynamic obstacles (such as customers, moving display racks, etc.). The automatic navigation system is integrated with the drive wheel and roller brush current detection system to automatically adjust the power wheel motor output by judging the steering action. When the equipment encounters an obstacle or needs to turn, the power system provides corresponding steering assistance to ensure that the equipment turns smoothly and continues to clean the path as planned.

[0203] According to an embodiment of the present invention, on the other hand, Figure 3 As shown, a control device is also provided, the device comprising:

[0204] An acquisition module, used for acquiring the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or acquiring the driving current of the left driving wheel and the driving current of the right driving wheel;

[0205] a determination module, configured to determine the user intention according to the obtained rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or the obtained driving current of the left driving wheel and the driving current of the right driving wheel;

[0206] The control module is used to control and adjust the driving power of the left driving wheel and / or the driving power of the right driving wheel according to the determined user intention.

[0207] The acquisition module acquires the rotational speed of the left driving wheel and the rotational speed of the right driving wheel, and / or acquires the driving current of the left driving wheel and the driving current of the right driving wheel, which are then used as the basis for the determination module to determine the user's intention, and the driving power of the left driving wheel and / or the driving power of the right driving wheel are controlled and adjusted according to the determined user's intention, so that the action of the power-assisting system meets the actual operation requirements, the power-assisting effect of the driving wheel is good, and when the cleaning equipment needs to turn or bypass an obstacle, the operator does not need to exert a large force to push or pull the equipment, which reduces the operator's physical exertion, improves the operation accuracy, and can improve the cleaning efficiency.

[0208] In this embodiment, a control device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0209] The control device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0210] According to an embodiment of the present invention, on the other hand, a computer device is provided, including:

[0211] The memory and the processor are connected to each other for communication. The memory stores computer instructions. The processor executes any one of the above control methods by executing the computer instructions.

[0212] Since the processor executes the turning control method of the cleaning equipment of the present invention by executing the computer instructions stored in the memory, it has the same technical effect as the control method of the present invention and will not be described in detail here.

[0213] According to an embodiment of the present invention, on another aspect, a computer-readable storage medium is provided, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute any one of the above control methods.

[0214] Since the computer instructions stored on the computer-readable storage medium are used to enable the computer to execute the turning control method of the cleaning equipment of the present invention, it has the same technical effect as the control method of the present invention and will not be repeated here.

[0215] See also Figure 4 , Figure 4 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 4 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 4 A processor 10 is taken as an example.

[0216] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0217] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0218] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0219] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0220] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means, and in this embodiment, the connection via a bus is taken as an example.

[0221] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0222] like Figure 5 As shown, the computer device further includes a communication interface 50 for the computer device to communicate with other devices or a communication network.

[0223] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0224] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0225] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A turning assist control method for a cleaning device, characterized in that: The cleaning device comprises a roller brush, a left driving wheel and a right driving wheel, and the control method comprises: Acquire the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or acquire the driving current of the left driving wheel and the driving current of the right driving wheel; determining a user intention, wherein the user intention includes a left turn and a right turn; According to the determined user intention, the driving power of the left driving wheel and / or the driving power of the right driving wheel are controlled and adjusted.

2. The control method according to claim 1, characterized in that: The left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn; and determining the user intention includes: When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left in the forward direction; When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right from forward; When the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is less than zero, and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left backwards; When the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right backward.

3. The control method according to claim 1, characterized in that: The left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn; and determining the user intention includes: When the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, and the sum of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel is greater than zero, it is determined that the user intends to turn left in the forward direction; When the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, and the sum of the rotation speeds of the left driving wheel and the right driving wheel is greater than zero, it is determined that the user intends to turn right in the forward direction; When the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, and the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, it is determined that the user intends to turn left backwards; When the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, and the sum of the rotation speeds of the left driving wheel and the right driving wheel is less than zero, it is determined that the user intends to turn right backward.

4. The control method according to claim 1, characterized in that: The left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn; While obtaining the driving current of the left driving wheel and the driving current of the right driving wheel, the method further includes: Acquiring the driving current of the roller brush and calculating the driving current change rate of the roller brush; When the driving current change rate is greater than zero and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left in the forward direction; When the driving current change rate is greater than zero and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right from forward; When the driving current change rate is less than zero and the driving current of the left driving wheel is less than the driving current of the right driving wheel, it is determined that the user intends to turn left backwards; When the driving current change rate is less than zero and the driving current of the left driving wheel is greater than the driving current of the right driving wheel, it is determined that the user intends to turn right backward.

5. The control method according to claim 1, characterized in that: The left turn includes a forward left turn and a backward left turn, and the right turn includes a forward right turn and a backward right turn; Acquiring the rotation speed of the left driving wheel and the rotation speed of the right driving wheel also includes: Acquiring the driving current of the roller brush and calculating the driving current change rate of the roller brush; When the driving current change rate is greater than zero and the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, it is determined that the user intends to turn left in the forward direction; When the driving current change rate is greater than zero and the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, it is determined that the user intends to turn right from the forward direction; When the driving current change rate is less than zero and the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, it is determined that the user intends to turn left backward; When the driving current change rate is less than zero and the rotation speed of the left driving wheel is greater than the rotation speed of the right driving wheel, it is determined that the user intends to turn right backward.

6. The control method according to any one of claims 2 to 5, characterized in that: The controlling and adjusting the driving power of the left driving wheel and / or the driving power of the right driving wheel according to the determined user intention includes: When the user intends to turn left, the driving power of the left driving wheel is maintained, and the driving power of the right driving wheel is controlled to be increased; or, the driving power of the left driving wheel is controlled to be reduced, and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is controlled to be reduced, and the driving power of the right driving wheel is controlled to be increased; When the user intends to turn right, the driving power of the left driving wheel is increased and the driving power of the right driving wheel is maintained; or the driving power of the left driving wheel is maintained and the driving power of the right driving wheel is reduced; or the driving power of the left driving wheel is increased and the driving power of the right driving wheel is reduced; When the user intends to turn left, the driving power of the left driving wheel is maintained, and the driving power of the right driving wheel is controlled to be increased; or, the driving power of the left driving wheel is controlled to be reduced, and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is controlled to be reduced, and the driving power of the right driving wheel is controlled to be increased; When the user intends to turn right backward, the driving power of the left driving wheel is increased and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is maintained and the driving power of the right driving wheel is reduced; or, the driving power of the left driving wheel is increased and the driving power of the right driving wheel is reduced.

7. The control method according to claim 1, characterized in that: The controlling and adjusting the driving power of the left driving wheel and / or the driving power of the right driving wheel comprises: The control adjusts the rotation speed of the left driving wheel and / or the rotation speed of the right driving wheel.

8. The control method according to claim 7, characterized in that: Also includes: When the user intends to turn left, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V-Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 +K*(I 右 -I 左 ); When the user intends to turn right, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V-Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 -K*(I 右 -I 左 ); When the user intends to turn left, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V+Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 -K*(I 右 -I 左 ); When the user intends to turn right, the control adjusts the speed of the left driving wheel and the speed of the right driving wheel so that the speed of the left driving wheel meets V 左 =V+Ki*|Di|, so that the speed of the right driving wheel satisfies V 右 =V 左 +K*(I 右 -I 左 ); The preset speed V is the speed of the driving wheel when the force of the driving wheel and the force of the roller brush cancel each other out when the driving wheel is running; Ki is a first preset proportional constant or a first preset function; K is a second preset proportional constant or a second preset function; Di is the rate of change of the driving current of the roller brush; I 左 is the driving current of the left driving wheel, I 右 is the driving current of the right driving wheel.

9. The control method according to claim 7 or 8, characterized in that: After controlling and adjusting the rotation speed of the left driving wheel and / or the rotation speed of the right driving wheel, the method further includes: Obtain the total adjustment duration of the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and compare it with the preset duration; When the total adjustment time is greater than the preset time, the turning assist is stopped; Alternatively, the absolute value of the difference between the rotation speed of the right driving wheel and the rotation speed of the left driving wheel is obtained, and when the absolute value of the difference continues to decrease within a certain period of time, the turning assist is stopped.

10. The control method according to any one of claims 1 to 9, characterized in that: Before obtaining the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or obtaining the driving current of the left driving wheel and the driving current of the right driving wheel, the method further includes: Obtaining a driving current of the roller brush; Determining the range of the driving current of the roller brush; Determining a driving power value of the roller brush according to the range of the driving current of the roller brush; The roller brush is controlled to operate according to the determined driving power value.

11. A control device, characterized in that: The device comprises: An acquisition module, used for acquiring the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or acquiring the driving current of the left driving wheel and the driving current of the right driving wheel; a determination module, configured to determine the user intention according to the obtained rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or the obtained driving current of the left driving wheel and the driving current of the right driving wheel; A control module is used to control and adjust the driving power of the left driving wheel and / or the driving power of the right driving wheel according to the determined user intention.

12. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the control method according to any one of claims 1 to 10 by executing the computer instructions.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the control method according to any one of claims 1 to 10.

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