Turning assist control method, device, equipment and medium of cleaning equipment

Abstract

The present application relates to the technical field of cleaning equipment, and discloses a turning assisting force control method, device, equipment and medium of a cleaning equipment. The turning assisting force control method of the cleaning equipment comprises: acquiring the rotation speed of a left driving wheel and the rotation speed of a right driving wheel, and / or acquiring the driving current of the left driving wheel and the driving current of the right driving wheel; 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. By acquiring the rotation 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 driving current of the right driving wheel, the user intention is determined, and then the driving power of the left driving wheel and / or the driving power of the right driving wheel as an assisting force system is controlled and adjusted, so that the action of the assisting force system meets the actual operation requirement, the assisting force effect of the driving wheel is good, the physical consumption of the operator is reduced when the cleaning equipment needs to turn or bypass an obstacle, the operation accuracy is improved, and the cleaning efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a turning assist control method, device, equipment and medium of cleaning equipment. BACKGROUND

[0002] With the continuous development of cleaning equipment, scrubbers have gradually become an indispensable important tool in commercial, industrial and home environments. However, cleaning equipment such as scrubbers still has many inconveniences in the operation process, especially in the operation under complex terrain, which mainly relies on the manual operation of the user to control the turning and the direction of travel, which not only increases the difficulty of operation, but also causes the user to be easily tired after a long time of use, reducing the work efficiency.

[0003] Especially in large areas and complex environments, such as shopping malls, supermarkets, industrial plants, etc., the operator needs to frequently adjust the direction and travel path of the scrubber, and the operation experience of the cleaning equipment in these cases is poor. In particular, when the cleaning equipment needs to turn or pass around obstacles, the operator often needs to exert a large force to push or pull the equipment, which not only increases the physical consumption, but also easily leads to operation errors, reducing the cleaning efficiency.

[0004] Although some related technologies attempt to reduce the burden of the operator by adding auxiliary wheels or simple assist motors to the cleaning equipment, these technologies still have deficiencies in actual application. Most related technologies cannot accurately identify the turning action of the cleaning equipment, the assist system is disconnected from the actual operation demand, resulting in poor assist effect, and even in some cases may interfere with the operation of the user. SUMMARY

[0005] Therefore, the present application provides a turning assist control method, device, equipment and medium of cleaning equipment to solve the problem that the cleaning equipment cannot accurately identify the turning action, the assist system is disconnected from the actual operation demand, resulting in poor assist effect.

[0006] It should be noted that when the user is located at the tail side of the cleaning equipment and faces the cleaning equipment, the drive wheel of the cleaning equipment located at the left side of the user is the left drive wheel, and the drive wheel of the cleaning equipment located at the right side of the user is the right drive wheel; when the user is located at the tail side of the cleaning equipment and faces the cleaning equipment, when the cleaning equipment turns to the left side of the user, it is left turn, and when the cleaning equipment turns to the right side of the user, it is right turn, when the cleaning equipment turns to the left side of the front of the user, it is forward left turn, when the cleaning equipment turns to the left side of the rear of the user, it is rear left turn, when the cleaning equipment turns to the right side of the front of the user, it is forward right turn, and when the cleaning equipment turns to the right side of the rear of the user, it is rear right turn.

[0007] In a first aspect, the present application provides a turning assisting control method of a cleaning device, the cleaning device comprising a rolling brush, a left driving wheel and a right driving wheel, the control method comprising:

[0008] 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;

[0009] determining the user intention, the user intention comprising left turning and right turning;

[0010] controlling to 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.

[0011] Beneficial effects: In the cleaning process of the cleaning device, the user intention of left turning or right turning is determined and judged by obtaining the rotation speed of the left driving wheel and the rotation speed of the right driving wheel of the cleaning device, and / or the driving current of the left driving wheel and the driving current of the right driving wheel, and the driving power of the left driving wheel and / or the driving power of the right driving wheel of the assisting system is controlled and adjusted according to the user intention, so that the action of the assisting system meets the actual operation demand, the assisting effect of the driving wheel is good, and the operator does not need to exert a large force to push or pull the device when the cleaning device needs to turn or bypass obstacles, thereby reducing the physical consumption of the operator, improving the operation accuracy, and improving the cleaning efficiency.

[0012] In an optional embodiment, the left turning comprises forward left turning and backward left turning, and the right turning comprises forward right turning and backward right turning; the determination of the user intention comprises:

[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 intention is forward left turning;

[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 intention is forward right turning;

[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 intention is backward left turning;

[0016] 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 greater than the driving current of the right driving wheel, it is determined that the user intention is backward right turning.

[0017] Beneficial effects: When the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is greater than zero, it represents that the user wants to go forward, and when the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is less than zero, it represents that the user wants to go backward; when the driving current of the left drive wheel is less than the driving current of the right drive wheel, it represents that the user wants to turn left, and when the driving current of the left drive wheel is greater than the driving current of the right drive wheel, it represents that the user wants to turn right, therefore, by monitoring the rotational speed of the two sides of the drive wheel and the driving current of the two sides of the drive wheel, the user's intention for forward left turn, forward right turn, backward left turn or backward right turn can be accurately judged, and then according to the determined user's real intention, the driving power of the left drive wheel and the right drive wheel is controlled respectively to assist, so that the assisting action is more matched with the actual operation demand, and the assisting effect of the drive wheel is better.

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

[0019] When the rotational speed of the left drive wheel is less than the rotational speed of the right drive wheel, and the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is greater than zero, it is determined that the user's intention is forward left turn;

[0020] When the rotational speed of the left drive wheel is greater than the rotational speed of the right drive wheel, and the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is greater than zero, it is determined that the user's intention is forward right turn;

[0021] When the rotational speed of the left drive wheel is less than the rotational speed of the right drive wheel, and the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is less than zero, it is determined that the user's intention is backward left turn;

[0022] When the rotational speed of the left drive wheel is greater than the rotational speed of the right drive wheel, and the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is less than zero, it is determined that the user's intention is backward right turn.

[0023] Beneficial effects: When the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is greater than zero, it represents that the user wants to go forward, and when the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is less than zero, it represents that the user wants to go backward; when the rotational speed of the left drive wheel is less than the rotational speed of the right drive wheel, it represents that the user wants to turn left, and when the rotational speed of the left drive wheel is greater than the rotational speed of the right drive wheel, it represents that the user wants to turn right, therefore, by monitoring the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, the user's intention for forward left turn, forward right turn, backward left turn or backward right turn can be accurately judged, and then according to the determined user's real intention, the driving power of the left drive wheel and the right drive wheel is controlled respectively to assist, so that the assisting action is more matched with the actual operation demand, and the assisting effect of the drive wheel is better.

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

[0025] The method further comprises:

[0026] The method further comprises:

[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 make a forward left turn.

[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 make a forward right turn.

[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 make a backward left turn.

[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 make a backward right turn.

[0031] The method further comprises:

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

[0033] The method further comprises:

[0034] The method further comprises:

[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's intention is forward left turning;

[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's intention is forward right turning;

[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's intention is backward left turning;

[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's intention is backward right turning.

[0039] Beneficial effects: 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 the rotation speed 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 the rotation speed of the right driving wheel, it indicates that the user wants to turn right. By the driving current change rate of the roller brush, it is determined whether the user wants to go forward or backward. When the driving current change rate of the roller brush is greater than zero, it indicates that the user wants to go forward. When the driving current change rate is less than zero, it indicates that the user wants to go backward. Thus, by monitoring the rotation speed of the left driving wheel, the rotation speed of the right driving wheel, and the driving current of the roller brush, the user's intention is accurately determined. Then, according to the determined user's real intention, the driving power of the left driving wheel and the right driving wheel is controlled respectively to provide assistance, so that the assistance action is more matched with the actual operation demand, and the driving wheel has better assistance effect.

[0040] In an optional embodiment, the control of adjusting the driving power of the left driving wheel and / or the driving power of the right driving wheel according to the determined user's intention comprises:

[0041] when the user's intention is forward left turning, the driving power of the left driving wheel is maintained, and the driving power of the right driving wheel is controlled to increase; or, the driving power of the left driving wheel is controlled to decrease, and the driving power of the right driving wheel is maintained; or, the driving power of the left driving wheel is controlled to decrease, and the driving power of the right driving wheel is controlled to increase;

[0042] when the user's intention is forward right turning, the driving power of the left driving wheel is controlled to increase, 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 controlled to decrease; or, the driving power of the left driving wheel is controlled to increase, and the driving power of the right driving wheel is controlled to decrease;

[0043] When the user's intention is to turn left, the drive power of the left drive wheel is maintained, and the drive power of the right drive wheel is increased; or, the drive power of the left drive wheel is decreased, and the drive power of the right drive wheel is maintained; or, the drive power of the left drive wheel is decreased, and the drive power of the right drive wheel is increased.

[0044] When the user intends to turn right, the system controls to increase the driving power of the left drive wheel and maintain the driving power of the right drive wheel; or, maintain the driving power of the left drive wheel and control to decrease the driving power of the right drive wheel; or, control to increase the driving power of the left drive wheel and control to decrease the driving power of the right drive wheel.

[0045] Beneficial effects: When turning left, the assist can be improved by using several methods: reducing the driving power of the left drive wheel while maintaining the driving power of the right drive wheel, maintaining the driving power of the left drive wheel while increasing the driving power of the right drive wheel, or reducing the driving power of the left drive wheel while increasing the driving power of the right drive wheel. When turning right, the assist can be improved by using several methods: increasing the driving power of the left drive wheel while maintaining the driving power of the right drive wheel, maintaining the driving power of the left drive wheel while decreasing the driving power of the right drive wheel, or increasing the driving power of the left drive wheel while decreasing the driving power of the right drive wheel. This improves the assist effect and increases user satisfaction.

[0046] In one optional implementation, controlling the adjustment of the drive power of the left drive wheel and / or the drive power of the right drive wheel includes:

[0047] Control and adjust the speed of the left drive wheel and / or the speed of the right drive wheel.

[0048] Beneficial effects: Changes in the driving power of the drive wheels can be reflected by changes in the speed of the drive wheels. Therefore, by adjusting the speed of the drive wheels, different user intentions can be adapted to achieve precise and reliable assistance and improve the 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 drive wheel and the speed of the right drive wheel so that the speed of the left drive wheel satisfies V. 左 =V-Ki*|Di|, so that the rotational speed of the right drive wheel satisfies V 右 =V 左 +K*(I 右 -I 左 );

[0051] When the user's intention is to turn forward and then right, the control adjusts the speed of the left drive wheel and the speed of the right drive wheel so that the speed of the left drive wheel satisfies V.左 = V - Ki * |Di|, the speed of the right drive wheel meets 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 drive wheel and the speed of the right drive wheel, so that the speed of the left drive wheel meets V 左 = V + Ki * |Di|, the speed of the right drive wheel meets 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 drive wheel and the speed of the right drive wheel, so that the speed of the left drive wheel meets V 左 = V + Ki * |Di|, the speed of the right drive wheel meets V 右 = V 左 + K*(I 右 - I 左 );

[0054] Wherein, the preset speed V is the speed of the drive wheel when the driving force of the drive wheel and the rolling brush force offset each other during the operation of the drive wheel;

[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 rolling brush;

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

[0059] Beneficial effect: by monitoring the rate of change of the driving current of the rolling brush, the preset proportional constant (or the preset function) and the difference between the right drive wheel and the left drive wheel, the speed of the left drive wheel and the speed of the right drive wheel are determined, and the purpose of accurately controlling the speed of the drive wheel according to the actual situation is realized, which saves the user's effort and accurately assists.

[0060] In an optional embodiment, after the control adjusts the speed of the left drive wheel and / or the speed of the right drive wheel, the method further comprises:

[0061] Obtaining the total adjustment time of the speed of the left drive wheel and the speed of the right drive wheel, and comparing with the preset time;

[0062] When the total adjustment duration is greater than the preset duration, the turning assisting force is controlled to stop.

[0063] Alternatively, an absolute value of a difference between the rotational speed of the right drive wheel and the rotational speed of the left drive wheel is obtained, and when the absolute value of the difference continuously decreases within a certain time period, the turning assisting force is controlled to stop.

[0064] Beneficial effects: The preset duration corresponds to a duration for completing the turning, and when the total adjustment duration of the drive wheel speed is greater than the preset duration, it indicates that the turning is completed, or when the absolute value of the difference between the rotational speed of the right drive wheel and the rotational speed of the left drive wheel continuously decreases within a certain time period, it indicates that the rotational speeds of the left and right drive wheels tend to be the same, representing that the cleaning device has completed the turning, at which time the turning assisting force is timely controlled to stop, the turning assisting force has high reliability, and normal cleaning operation is not affected.

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

[0066] Obtaining the drive current of the roller brush;

[0067] Determining an interval in which the drive current of the roller brush is located;

[0068] Determining a drive power value of the roller brush according to the interval in which the drive current of the roller brush is located;

[0069] Controlling the roller brush to work at the determined drive power value.

[0070] Beneficial effects: Before the user intention judgment, the method further includes determining an interval in which the drive current of the roller brush is located by obtaining the drive current of the roller brush, the interval in which the drive current of the roller brush is located represents the amount of hair of the roller brush, and then the drive power value of the roller brush is determined according to the amount of hair of the roller brush, and the roller brush is controlled to work at the determined drive power value. The less the amount of hair is, the higher the drive power value needs to work, so as to make up for the problem of incomplete cleaning caused by the decrease of the amount of hair.

[0071] In a second aspect, the application further provides a control device, which includes:

[0072] An obtaining module, configured to obtain the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, and / or obtain the drive current of the left drive wheel and the drive current of the right drive wheel;

[0073] A determining module, configured to determine the user intention according to the obtained rotational speed of the left drive wheel and the rotational speed of the right drive wheel, and / or the obtained drive current of the left drive wheel and the drive current of the right drive wheel;

[0074] A control module is configured to control 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 effects: The speed of the left driving wheel and the speed of the right driving wheel are acquired by the acquisition module, and / or the driving current of the left driving wheel and the driving current of the right driving wheel are acquired, which are used as the basis for determining the user intention by the determination module, and the driving power of the left driving wheel and / or the driving power of the right driving wheel are controlled according to the determined user intention, so that the action of the power-assisted system meets the actual operation demand, the power-assisted effect of the driving wheel is good, and the operator does not need to exert a large force to push or pull the cleaning equipment when the cleaning equipment needs to turn or bypass an obstacle, thereby reducing the physical exertion of the operator, improving the operation accuracy, and improving the cleaning efficiency.

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

[0077] A memory and a processor are communicatively connected, and the memory stores computer instructions, and the processor executes the computer instructions to perform the control method.

[0078] Beneficial effects: Since the processor executes the computer instructions stored in the memory to perform the turning control method of the cleaning equipment, the same technical effects as the control method of the present application are achieved, which will not be repeated here.

[0079] In a fourth aspect, the present application further provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make the computer execute the control method.

[0080] Beneficial effects: Since the computer instructions stored on the computer readable storage medium are used to make the computer execute the turning control method of the cleaning equipment, the same technical effects as the control method of the present application are achieved, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0081] In order to more clearly illustrate the technical solutions in the specific embodiments or related art, the drawings needed in the specific embodiments or related art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0082] Figure 1 is a flowchart of a turning power-assisted control method of a cleaning equipment according to an embodiment of the present application;

[0083] Figure 2 FIG. 3 is a flowchart of a turning assist control method of another cleaning device according to an embodiment of the present application;

[0084] Figure 3 FIG. 4 is a structural block diagram of a control device according to an embodiment of the present application;

[0085] Figure 4 FIG. 5 is a first hardware structure diagram of a computer device according to an embodiment of the present application;

[0086] Figure 5 FIG. 6 is a second hardware structure diagram of a computer device according to an embodiment of the present application. DETAILED DESCRIPTION

[0087] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of the present application.

[0088] In the description of the application, it should be noted that, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0089] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0090] The embodiments of the present application will be described below with reference to Figures 1 to 5 , the embodiments of the present application.

[0091] According to the embodiments of the present application, on the one hand, as Figure 1As shown, a turning assisting control method of a cleaning device is provided, the cleaning device comprising a rolling brush, a left driving wheel and a right driving wheel, the control method comprising:

[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] determining a user intention, the user intention comprising a left turning and a right turning;

[0094] controlling to 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.

[0095] In the cleaning process of the cleaning device, the rotation speed of the left driving wheel and the rotation speed of the right driving wheel, and / or the driving current of the left driving wheel and the driving current of the right driving wheel are obtained to determine and judge whether the user intention is a left turning or a right turning, and the driving power of the left driving wheel and / or the driving power of the right driving wheel as an assisting system are controlled and adjusted according to the user intention, so that the action of the assisting system meets the actual operation demand, the assisting effect of the driving wheel is good, and the operator does not need to exert a large force to push or pull the device when the cleaning device needs to turn or bypass obstacles, thereby reducing the physical consumption of the operator, improving the operation accuracy, and improving the cleaning efficiency.

[0096] It should be noted that the turning assisting control method of the present application can be applied to cleaning devices such as scrubbers and vacuum cleaners.

[0097] In some embodiments, the left turning comprises a forward left turning and a backward left turning, and the right turning comprises a forward right turning and a backward right turning; determining the user intention comprises:

[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 intention is a forward left turning;

[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 intention is a forward right turning;

[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 intention is a backward left turning;

[0101] 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 greater than the driving current of the right driving wheel, it is determined that the user intention is a backward right turning.

[0102] When the sum of the rotational speeds of the left driving wheel and the right driving wheel is greater than zero, it represents that the user wants to move forward, and when the sum of the rotational speeds of the left driving wheel and the right driving wheel is less than zero, it represents that the user wants to move backward; when the driving current of the left driving wheel is less than the driving current of the right driving wheel, it represents 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 represents that the user wants to turn right. Therefore, by monitoring the rotational speeds of the two driving wheels and the driving currents of the two driving wheels, the user's intention to move forward left, move forward right, move backward left or move backward right can be accurately determined, and then the driving power of the left driving wheel and the right driving wheel is controlled according to the determined user's real intention to provide assistance, so that the assistance action is more matched with the actual operation demand, and the assistance effect of the driving wheel is better.

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

[0104] When the rotational speed of the left driving wheel is less than the rotational speed of the right driving wheel, and the sum of the rotational speeds of the left driving wheel and the right driving wheel is greater than zero, it is determined that the user's intention is to move forward left;

[0105] When the rotational speed of the left driving wheel is greater than the rotational speed of the right driving wheel, and the sum of the rotational speeds of the left driving wheel and the right driving wheel is greater than zero, it is determined that the user's intention is to move forward right;

[0106] When the rotational speed of the left driving wheel is less than the rotational speed of the right driving wheel, and the sum of the rotational speeds of the left driving wheel and the right driving wheel is less than zero, it is determined that the user's intention is to move backward left;

[0107] When the rotational speed of the left driving wheel is greater than the rotational speed of the right driving wheel, and the sum of the rotational speeds of the left driving wheel and the right driving wheel is less than zero, it is determined that the user's intention is to move backward right.

[0108] When the sum of the rotational speeds of the left driving wheel and the right driving wheel is greater than zero, it represents that the user wants to move forward, and when the sum of the rotational speeds of the left driving wheel and the right driving wheel is less than zero, it represents that the user wants to move backward; when the rotational speed of the left driving wheel is less than the rotational speed of the right driving wheel, it represents that the user wants to turn left, and when the rotational speed of the left driving wheel is greater than the rotational speed of the right driving wheel, it represents that the user wants to turn right. Therefore, by monitoring the rotational speeds of the left driving wheel and the right driving wheel, the user's intention to move forward left, move forward right, move backward left or move backward right can be accurately determined, and then the driving power of the left driving wheel and the right driving wheel is controlled according to the determined user's real intention to provide assistance, so that the assistance action is more matched with the actual operation demand, and the assistance effect of the driving wheel is better.

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

[0110] The driving current of the left driving wheel and the driving current of the right driving wheel are obtained, and the method further comprises:

[0111] The driving current of the rolling brush is obtained, and the driving current change rate of the rolling brush is calculated;

[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's intention is forward left turning;

[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's intention is forward right turning;

[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's intention is backward left turning;

[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's intention is backward right turning.

[0116] The size of the driving current of the left driving wheel and the driving current of the right driving wheel is compared to determine whether the user wants to turn left or right. 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 vice versa. When the driving current change rate of the rolling 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 is accurately determined according to 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 rolling brush, and the driving power of the left driving wheel and the right driving wheel is controlled according to the determined user's real intention to provide assistance, so that the assistance action is more matched with the actual operation demand, and the driving wheel has better assistance effect.

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

[0118] The rotational speed of the left driving wheel and the rotational speed of the right driving wheel are obtained, and the method further comprises:

[0119] The driving current of the rolling brush is obtained, and the driving current change rate of the rolling brush is calculated;

[0120] When the driving current change rate is greater than zero and the rotational speed of the left driving wheel is less than the rotational speed of the right driving wheel, it is determined that the user's intention is forward left turning;

[0121] When the driving current change rate is greater than zero and the rotational speed of the left driving wheel is greater than the rotational speed of the right driving wheel, it is determined that the user's intention is forward right turning;

[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 speeds of the left driving wheel and the right driving wheel, it is determined whether the user intends to turn left or right. When the rotation speed of the left driving wheel is less than the rotation speed of the right driving wheel, it is indicated that the user intends to turn left, and vice versa. By the driving current change rate of the roller, it is determined whether the user intends to move forward or backward. When the driving current change rate of the roller is greater than zero, it is indicated that the user intends to move forward, and when the driving current change rate is less than zero, it is indicated that the user intends to move backward. Thus, by monitoring the rotation speeds of the left driving wheel and the right driving wheel and the driving current of the roller, the user's intention is accurately determined, and then the driving power of the left driving wheel and the right driving wheel is controlled according to the determined user's real intention, so that the power assisting action is more matched with the actual operation demand, and the power assisting effect of the driving wheel is better.

[0125] In some embodiments, according to the determined user's intention, the control adjusts the driving power of the left driving wheel and / or the driving power of the right driving wheel, including:

[0126] When the user's intention is forward left turn, the driving power of the left driving wheel is maintained, and the driving power of the right driving wheel is controlled to increase; or the driving power of the left driving wheel is controlled to decrease, and the driving power of the right driving wheel is maintained; or the driving power of the left driving wheel is controlled to decrease, and the driving power of the right driving wheel is controlled to increase;

[0127] When the user's intention is forward right turn, the driving power of the left driving wheel is controlled to increase, 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 controlled to decrease; or the driving power of the left driving wheel is controlled to increase, and the driving power of the right driving wheel is controlled to decrease;

[0128] When the user's intention is backward left turn, the driving power of the left driving wheel is maintained, and the driving power of the right driving wheel is controlled to increase; or the driving power of the left driving wheel is controlled to decrease, and the driving power of the right driving wheel is maintained; or the driving power of the left driving wheel is controlled to decrease, and the driving power of the right driving wheel is controlled to increase;

[0129] When the user's intention is backward right turn, the driving power of the left driving wheel is controlled to increase, 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 controlled to decrease; or the driving power of the left driving wheel is controlled to increase, and the driving power of the right driving wheel is controlled to decrease.

[0130] The left drive wheel can be assisted by reducing the driving power of the left drive wheel while maintaining the driving power of the right drive wheel, maintaining the driving power of the left drive wheel while increasing the driving power of the right drive wheel, or reducing the driving power of the left drive wheel while increasing the driving power of the right drive wheel when turning left; the right drive wheel can be assisted by increasing the driving power of the left drive wheel while maintaining the driving power of the right drive wheel, maintaining the driving power of the left drive wheel while reducing the driving power of the right drive wheel, or increasing the driving power of the left drive wheel while reducing the driving power of the right drive wheel when turning right, thereby improving the assistance effect and improving user satisfaction.

[0131] In some embodiments, the control adjusts the driving power of the left drive wheel and / or the driving power of the right drive wheel, including:

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

[0133] The change in driving power of the drive wheel can be reflected by the change in rotational speed of the drive wheel, so that the user's intention can be adapted by adjusting the rotational speed of the drive wheel, achieving precise and reliable assistance and improving user experience.

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

[0135] When the user's intention is to turn left forward, the control adjusts the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, so that the rotational speed of the left drive wheel satisfies V 左 = V - Ki * | Di |, and the rotational speed of the right drive wheel satisfies V 右 = V 左 + K * (I 右 -I 左 ) ;

[0136] When the user's intention is to turn right forward, the control adjusts the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, so that the rotational speed of the left drive wheel satisfies V 左 = V - Ki * | Di |, and the rotational speed of the right drive wheel satisfies V 右 = V 左 - K * (I 右 -I 左 ) ;

[0137] When the user's intention is to turn left backward, the control adjusts the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, so that the rotational speed of the left drive wheel satisfies V 左 = V + Ki * | Di |, and the rotational speed of the right drive wheel satisfies V 右 = V 左 - K * (I 右 -I 左 ) ;

[0138] When the user's intention is to turn right, the control adjusts the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, so that the rotational speed of the left drive wheel satisfies V 左 = V + Ki * |Di|, so that the rotational speed of the right drive wheel satisfies V 右 = V 左 + K * (I 右 - I 左 );

[0139] Wherein, the preset speed V is the speed of the drive wheel when the driving force of the drive wheel and the rolling brush force cancel each other out;

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

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

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

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

[0144] By monitoring the driving current change rate of the rolling brush, the preset proportion constant (or the preset function), and the difference between the right drive wheel and the left drive wheel, the rotational speed of the left drive wheel and the rotational speed of the right drive wheel are determined, so as to achieve the purpose of accurately controlling the rotational speed of the drive wheel according to the actual situation, and the user saves effort while achieving accurate assistance.

[0145] When Ki takes a constant, the value range > 0. The specific value is adjusted according to actual application. If the user wants to provide more obvious turning assistance, Ki value can be adjusted higher. If only a small turning assistance is needed, Ki value can be adjusted lower. It should be noted that Ki and the turning assistance effect are in a linear relationship.

[0146] When K takes a constant, the value range > 0, and the effect is similar to Ki. If you want to enhance the assistance effect, you can adjust the value of K higher. If you want to weaken the assistance effect, you can adjust the value of K lower, so as to achieve the effect of adjusting the turning assistance effect, and K is also in a linear relationship with the turning assistance effect.

[0147] Although Ki and K are both parameters for adjusting the turning assistance effect, they are different in that Ki is adjusted according to the data of the rolling brush, while K is adjusted according to the data of the drive wheel.

[0148] In some embodiments, after the control adjusts the rotational speed of the left drive wheel and / or the rotational speed of the right drive wheel, the method further comprises:

[0149] Comparing the total length of time for adjusting the rotational speed of the left drive wheel and the rotational speed of the right drive wheel with a preset length of time;

[0150] When the total length of adjustment is greater than the preset length, the turning assist force is controlled to stop.

[0151] Alternatively, an absolute value of a difference between the rotational speed of the right drive wheel and the rotational speed of the left drive wheel is obtained, and when the absolute value of the difference continuously decreases within a certain time period, the turning assist force is controlled to stop.

[0152] The preset length is a length corresponding to completion of turning, and when the total length of adjustment of the drive wheel speed is greater than the preset length, it indicates that the turning is completed, or when the absolute value of the difference between the rotational speed of the right drive wheel and the rotational speed of the left drive wheel continuously decreases within a certain time period, it indicates that the rotational speeds of the left and right drive wheels tend to be the same, representing that the cleaning device has completed the turning, at which time the turning assist force is timely controlled to stop, the turning assist force has high reliability, and normal cleaning operation is not affected.

[0153] In some embodiments, before obtaining the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, and / or obtaining the drive current of the left drive wheel and the drive current of the right drive wheel, the method further comprises:

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

[0155] Determining the interval in which the drive current of the roller brush is located;

[0156] According to the interval in which the drive current of the roller brush is located, determining the drive power value of the roller brush;

[0157] Controlling the roller brush to work according to the determined drive power value.

[0158] Before determining the user's intention, the method further comprises determining the interval in which the drive current of the roller brush is located by obtaining the drive current of the roller brush, the interval in which the drive current of the roller brush is located representing the amount of hair of the roller brush, and then determining the drive power value of the roller brush according to the amount of hair of the roller brush, and controlling the roller brush to work according to the determined drive power value. The less the amount of hair, the higher the drive power value required to work, so as to make up for the incomplete cleaning problem caused by the decrease in the amount of hair.

[0159] As shown in Figure 2 The embodiment of the present application provides a turning assist force control method of a scrubber.

[0160] In the shutdown state, the scrubber device is powered off;

[0161] In the standby state, the scrubber device is powered on, but each load does not work;

[0162] In the cleaning running state, the scrubber device is powered on, the load works, and the scrubber device as a whole moves forward and backward and turns according to the user's hand-held operation.

[0163] When the scrubber device is in a cleaning operation state, in combination with the current and speed data collected, the driving wheel is accelerated or decelerated, which can reduce the burden of the user when operating the cleaning device.

[0164] The scrubber includes a rolling brush, a left driving wheel and a right driving wheel. Two booster motors are installed at the lower part of the scrubber, and each driving wheel is in transmission connection with the corresponding booster motor. The booster motor is controlled by the data collected by the current sensor and the speed sensor to realize the booster of the scrubber. The current sensor is installed on the driving wheel and the rolling brush of the scrubber to detect the current during the operation of the two driving wheels and the rolling brush. The speed sensor is installed on the two driving wheels of the scrubber to identify the running speed of the whole machine.

[0165] The specific steps are as follows:

[0166] S101, the whole machine is powered on, the rolling brush close to the ground runs at a fixed power, and the size of the driving current I of the rolling brush is judged.

[0167] S102, if the current I is small, it indicates that the rolling brush hair amount is less (since the working plane of the scrubber is generally single, other variables can be ignored, and the amount of rolling brush hair is 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 rolling brush motor, according to the interval of the current I, select the corresponding rolling brush output multiple K W . For example: in the interval [I1, I2], the output multiple K W =1, in the interval [I2, I3], the output multiple K W =1.05, in the interval [I3, I4], the output multiple K W =1.1, in the interval [I4, I5], the output multiple K W =1.15, the output power of the rear rolling brush is increased by the corresponding multiple at the same time, after adjusting the rolling brush motor power, the change of the rolling brush current is monitored in real time, whether the expected booster output is reached is judged, and the corresponding cleaning effect is achieved. The current satisfies I1>I2>I3>I4>I5, the value of K W is not fixed, which is actually adjusted according to the quality of the rolling brush.

[0168] S103, the rotating speeds V 左 and V 右 of the left and right driving wheels, the driving currents I 左 , I 右 and the driving current change rate Di of the rolling brush (which refers to the difference between the driving current of the rolling brush collected this time and the driving current of the rolling brush collected last time) are detected.

[0169] S104, during the operation, according to the driving current of the driving wheel, the scrubber is judged to be forward or backward according to any of the following conditions:

[0170] If the rolling brush is fixed to run forward, the driving current of the rolling brush becomes larger (Di>0) during the running process, which indicates that the force output by the user is opposite to the moving direction of the machine, and it is judged that the user intends to move the machine backward, and then step S106 is entered; the current of the rolling brush becomes smaller (Di<0) during the running process, which indicates that the force output by the user is the same as the moving direction of the machine, and it is judged that the user intends to move the machine forward, and then step S105 is entered. If the rolling brush is fixed to run backward, the above conditions are reversed.

[0171] The positive and negative of the sum of the speeds of the two driving wheels are used to judge the forward rotation or the backward rotation according to the speed sensors on the two driving wheels. If V 左 +V 右 >0, the forward rotation is determined, and step S105 is entered; if V 左 +V 右 <0, the backward rotation is determined, and step S106 is entered; it should be noted that if the user turns too large when turning forward, one wheel will turn backward, and therefore, the sum of the speeds of the two driving wheels is used to more accurately identify the forward rotation or the backward rotation.

[0172] S105 (forward rotation), the driving current of the driving wheel is used to judge the forward left turn or the forward right turn of the user during the running process.

[0173] During the running process, if the current of the left driving wheel is larger than that of the right driving wheel, it is determined that the right turn is made, and if the current of the right driving wheel is larger than that of the left driving wheel, it is determined that the left turn is made.

[0174] During the running process, if the speed of the left driving wheel is larger than that of the right driving wheel, it is determined that the right turn is made, and if the speed of the right driving wheel is larger than that of the left driving wheel, it is determined that the left turn is made.

[0175] S106 (backward rotation), the driving current of the driving wheel is used to judge the backward left turn or the backward right turn of the user during the running process.

[0176] During the running process, if the current of the left driving wheel is larger than that of the right driving wheel, it is determined that the right turn is made, and if the current of the right driving wheel is larger than that of the left driving wheel, it is determined that the left turn is made.

[0177] During the running process, if the speed of the left driving wheel is larger than that of the right driving wheel, it is determined that the right turn is made, and if the speed of the right driving wheel is larger than that of the left driving wheel, it is determined that the left turn is made.

[0178] S107, the turning motion of the current user is identified as the forward left turn, the forward right turn, the backward left turn or the backward right turn, and the speed of the driving wheel is changed according to the corresponding motion.

[0179] When the user intends to make the forward left turn, the speed of the left driving wheel and the speed of the right driving wheel are adjusted, so that the speed of the left driving wheel satisfies V 左 =V-Ki*|Di|, and 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 forward, the control adjusts the rotation speed of the left drive wheel and the rotation speed of the right drive wheel, so that the rotation speed of the left drive wheel satisfies V 左 = V - KI*|DI|, and the rotation speed of the right drive wheel satisfies V 右 = V 左 -K*(I 右 -I 左 );

[0181] When the user intends to turn left backward, the control adjusts the rotation speed of the left drive wheel and the rotation speed of the right drive wheel, so that the rotation speed of the left drive wheel satisfies V 左 = V + KI*|DI|, and the rotation speed of the right drive wheel satisfies V 右 = V 左 -K*(I 右 -I 左 );

[0182] When the user intends to turn right backward, the control adjusts the rotation speed of the left drive wheel and the rotation speed of the right drive wheel, so that the rotation speed of the left drive wheel satisfies V 左 = V + KI*|DI|, and the rotation speed of the right drive wheel satisfies V 右 = V 左 + K*(I 右 -I 左 );

[0183] Wherein, the preset speed V is the speed of the drive wheel when the driving force of the drive wheel and the rolling brush force offset each other during the operation of the drive wheel;

[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 driving current change rate of the rolling brush;

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

[0188] S108, if the adjustment time exceeds the time T, or the D V = |V 右 -V 左 | continuously becomes smaller, the turning assistance is stopped.

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

[0190] (1) By installing a speed sensor on the drive wheel to collect the drive wheel speed, and installing a current sensor on the brush, the system analyzes the collected current and speed data to identify the user's turning action and controls the booster motor to accelerate or decelerate, with time or two-wheel motion information exiting the turning assist. Precise identification of steering action: By monitoring the changes in drive wheel and brush current in real time, the invention can accurately identify the steering action of the scrubber (including forward left turn, forward right turn, backward left turn, and backward right turn). This precise steering recognition allows the system to dynamically adjust the assist output during operation, ensuring smooth operation of the device when turning.

[0191] (2) Intelligent assist control: Based on the identified steering action, the invention can adjust the power output of the assist wheel motor in real time. The system can control the output power of the left and right assist wheel motors according to different steering requirements, achieving intelligent assist control. This intelligent assist significantly reduces the physical effort of the operator when turning, improving the convenience of operation.

[0192] (3) Effective identification of forward / reverse state: The invention can accurately identify the forward or reverse state of the scrubber through the change in brush current, and adjust the output of the assist wheel accordingly. This precise identification ensures that the device can obtain appropriate assist support during forward or reverse movement, improving the efficiency of cleaning operations and the stability of device operation.

[0193] (4) Improve operation comfort: By reducing the physical effort required by the operator when turning, the invention significantly reduces the fatigue of the operator, especially when operating for a long time in a large area or complex environment, which can significantly improve the comfort and efficiency of operation.

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

[0195] The invention can be applied to intelligent steering assist control of small household scrubbers:

[0196] The scrubber works in narrow corridors or rooms with dense furniture, and the user wants to easily operate the device in these spaces. The system judges the steering action by the difference in drive wheel current and controls the power output of the assist wheel motor in combination with the change in brush current. For example, when the scrubber enters a corner, the left drive wheel current increases, the system identifies a right turn action, reduces the power output of the left assist wheel, and increases the power output of the right assist wheel to help the scrubber easily turn around the obstacle.

[0197] The invention can be applied to long-term operation of industrial scrubbers in large venues:

[0198] In a wide industrial plant, the scrubber needs to run for a long time and frequently turn to avoid equipment or building structures. The industrial scrubber is equipped with high-precision current sensors that can more sensitively capture changes in the drive wheel and roller brush current. The system dynamically adjusts the output of the assist wheel motor by determining the left or right turning action, making the device turn more smoothly in a wide range and reducing the operator's physical exertion.

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

[0200] The scrubber works in the aisle of a supermarket, 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 assist wheel according to the identified turning action. For example, in a narrow aisle, the system helps the scrubber turn easily by reducing the power of the assist wheel on the inside of the turn and increasing the power of the assist wheel on the outside, avoiding collisions with customers or shelves.

[0201] The present application can be applied to the steering assist control of scrubbers with automatic navigation function:

[0202] The scrubber autonomously navigates in a large shopping center, cleaning designated areas and avoiding dynamic obstacles such as customers, moving display stands, etc. The automatic navigation system is integrated with the drive wheel and roller brush current detection system, which automatically adjusts the output of the assist wheel motor by determining the turning action. When the device encounters obstacles or needs to turn, the assist system provides corresponding steering assist to ensure smooth turning of the device and continue cleaning the planned path.

[0203] According to an embodiment of the present application, in another aspect, as Figure 3 shown, a control device is also provided, the device comprising:

[0204] an acquisition module for acquiring the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, and / or acquiring the drive current of the left drive wheel and the drive current of the right drive wheel;

[0205] a determination module for determining the user's intention according to the acquired rotational speed of the left drive wheel and the rotational speed of the right drive wheel, and / or the acquired drive current of the left drive wheel and the drive current of the right drive wheel;

[0206] a control module for controlling the adjustment of the drive power of the left drive wheel and / or the drive power of the right drive wheel according to the determined user's intention.

[0207] The speed of the left driving wheel and the speed of the right driving wheel are acquired by the acquisition module, and / or the driving current of the left driving wheel and the driving current of the right driving wheel are acquired, so as to serve as the determination basis of 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 according to the determined user's intention, so that the action of the power-assisted system meets the actual operation demand, the power-assisted 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, thereby reducing the physical consumption of the operator, improving the operation accuracy, and improving the cleaning efficiency.

[0208] In the embodiments, a control device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation of hardware, or a combination of software and hardware, is also possible and contemplated.

[0209] The control device in the embodiments is presented in the form of functional units, where the units refer to ASIC (Application Specific Integrated Circuit) circuits, processors and memories that execute one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0210] According to the embodiments of the present application, in a further aspect, a computer device is also provided, comprising:

[0211] The memory and the processor are communicatively connected with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the control method of any one of the above.

[0212] Since the processor executes the computer instructions stored in the memory to perform the turning control method of the cleaning equipment of the present application, the same technical effects as the control method of the present application are achieved, which will not be described again.

[0213] According to the embodiments of the present application, in a further aspect, a computer readable storage medium is also provided, which stores computer instructions, and the computer instructions are used to make the computer execute the control method of any one of the above.

[0214] Since the computer instructions stored on the computer readable storage medium are used to make the computer execute the turning control method of the cleaning equipment of the present application, the same technical effects as the control method of the present application are achieved, which will not be described again.

[0215] Please refer to Figure 4 ,Figure 4 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 4 As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 4 Take a processor 10 as an example.

[0216] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0217] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0218] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

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

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

[0221] Input device 30 can receive input numerical or character information, and generate key signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0222] like Figure 5 As shown, the computer device also includes a communication interface 50 for communicating with other devices or communication networks.

[0223] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0224] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, through the operation of the computer, can invoke or provide the method and / or technical solutions according to the present application. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source files, executable files, installation package files and the like, and accordingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0225] Although the embodiments of the present application are described in conjunction with the drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall 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 includes a roller brush, a left drive wheel, and a right drive wheel; the control method includes: The rotational speed of the left drive wheel and the rotational speed of the right drive wheel are obtained, as are the drive current of the left drive wheel and the drive current of the right drive wheel. Determine the user's intent, which includes turning left and turning right; Based on the determined user intent, control and adjust the drive power of the left drive wheel and the drive power of the right drive wheel; Obtain the driving current of the roller brush and calculate the rate of change of the driving current of the roller brush; When the user intends to turn left, the control adjusts the speed of the left drive wheel and the speed of the right drive wheel so that the speed of the left drive wheel satisfies V. 左 =V-Ki*|Di|, so that the rotational speed of the right drive wheel satisfies V 右 =V 左 +K*(I 右 -I 左 ); When the user's intention is to turn forward and then right, the control adjusts the speed of the left drive wheel and the speed of the right drive wheel so that the speed of the left drive wheel satisfies V. 左 =V-Ki*|Di|, so that the rotational speed of the right drive 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 drive wheel and the speed of the right drive wheel so that the speed of the left drive wheel satisfies V. 左 =V + Ki * |Di |, so that the rotational speed of the right drive wheel satisfies V 右 =V 左 -K*(I 右 -I 左 ); When the user intends to turn right, the control adjusts the speeds of the left and right drive wheels to ensure that the speed of the left drive wheel satisfies V. 左 =V + Ki * |Di |, so that the rotational speed of the right drive wheel satisfies V 右 =V 左 +K*(I 右 -I 左 ); The preset speed V is the speed of the drive wheel when the force of the drive wheel and the force of the roller brush cancel each other out during the operation of the drive wheel; 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 I is the drive current for the left drive wheel. 右 This represents the drive current for the right drive wheel.

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; determining the user's intent includes: When the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is greater than zero, and the drive current of the left drive wheel is less than the drive current of the right drive wheel, it is determined that the user's intention is to turn left forward. When the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is greater than zero, and the drive current of the left drive wheel is greater than the drive current of the right drive wheel, then it is determined that the user's intention is to turn right forward. When the sum of the rotational speed of the left drive wheel and the rotational speed of the right drive wheel is less than zero, and the drive current of the left drive wheel is less than the drive current of the right drive wheel, it is determined that the user's intention is to turn left backward. When the sum of the rotational speeds of the left drive wheel and the right drive wheel is less than zero, and the drive current of the left drive wheel is greater than the drive current of the right drive wheel, it is determined that the user's intention is 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; determining the user's intent includes: When the rotational speed of the left drive wheel is less than the rotational speed of the right drive wheel, and the sum of the rotational speeds of the left drive wheel and the right drive wheel is greater than zero, the user's intention is determined to be to turn left forward. When the rotational speed of the left drive wheel is greater than the rotational speed of the right drive wheel, and the sum of the rotational speeds of the left drive wheel and the right drive wheel is greater than zero, it is determined that the user's intention is to turn right forward. When the rotational speed of the left drive wheel is less than the rotational speed of the right drive wheel, and the sum of the rotational speeds of the left drive wheel and the right drive wheel is less than zero, it is determined that the user's intention is to turn left backward. When the rotational speed of the left drive wheel is greater than the rotational speed of the right drive wheel, and the sum of the rotational speeds of the left drive wheel and the right drive wheel is less than zero, the user's intention is determined to be 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; In addition to acquiring the drive current of the left drive wheel and the drive current of the right drive wheel, the method also includes: When the rate of change of the driving current 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's intention is to turn left forward. When the rate of change of the driving current 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's intention is to turn right forward. When the rate of change of the driving current 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's intention is to turn left backward. When the rate of change of the driving current 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's intention is 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; In addition to obtaining the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, the method also includes: Obtain the driving current of the roller brush and calculate the rate of change of the driving current of the roller brush; When the rate of change of the driving current is greater than zero and the rotational speed of the left drive wheel is less than the rotational speed of the right drive wheel, it is determined that the user's intention is to turn left forward. When the rate of change of the driving current is greater than zero and the rotational speed of the left drive wheel is greater than the rotational speed of the right drive wheel, it is determined that the user's intention is to turn forward to the right. When the rate of change of the driving current is less than zero, and the rotational speed of the left drive wheel is less than the rotational speed of the right drive wheel, it is determined that the user's intention is to turn left backward. When the rate of change of the driving current is less than zero and the rotational speed of the left drive wheel is greater than the rotational speed of the right drive wheel, it is determined that the user's intention is to turn right backward.

6. The control method according to any one of claims 2 to 5, characterized in that, The step of controlling and adjusting the drive power of the left drive wheel and the drive power of the right drive wheel according to the determined user intention includes: When the user's intention is to turn left forward, the drive power of the left drive wheel is maintained, and the drive power of the right drive wheel is increased; or, the drive power of the left drive wheel is decreased, and the drive power of the right drive wheel is maintained; or, the drive power of the left drive wheel is decreased, and the drive power of the right drive wheel is increased. When the user's intention is to turn right forward, the system controls to increase the driving power of the left drive wheel and maintain the driving power of the right drive wheel; or, maintain the driving power of the left drive wheel and control to decrease the driving power of the right drive wheel; or, control to increase the driving power of the left drive wheel and control to decrease the driving power of the right drive wheel. When the user's intention is to turn left, the drive power of the left drive wheel is maintained, and the drive power of the right drive wheel is increased; or, the drive power of the left drive wheel is decreased, and the drive power of the right drive wheel is maintained; or, the drive power of the left drive wheel is decreased, and the drive power of the right drive wheel is increased. When the user intends to turn right, the system controls to increase the driving power of the left drive wheel and maintain the driving power of the right drive wheel; or, maintain the driving power of the left drive wheel and control to decrease the driving power of the right drive wheel; or, control to increase the driving power of the left drive wheel and control to decrease the driving power of the right drive wheel.

7. The control method according to claim 1, characterized in that, The control adjustment of the drive power of the left drive wheel and the drive power of the right drive wheel includes: Control and adjust the speed of the left drive wheel and / or the speed of the right drive wheel.

8. The control method according to claim 7, characterized in that, After controlling and adjusting the speed of the left drive wheel and the speed of the right drive wheel, the method further includes: The total adjustment time for the rotational speeds of the left and right drive wheels is obtained and compared with the preset time. When the total adjustment time exceeds the preset time, the steering assist will be stopped. Alternatively, the absolute value of the difference between the rotational speed of the right drive wheel and the rotational speed of the left drive wheel can be obtained. If the absolute value of the difference continues to decrease within a certain period of time, the steering assist can be stopped.

9. The control method according to claim 1, characterized in that, Before obtaining the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, and before obtaining the drive current of the left drive wheel and the drive current of the right drive wheel, the method further includes: Obtain the driving current of the roller brush; Determine the range of the drive current of the roller brush; The driving power value of the brush is determined based on the range of the driving current of the brush. The roller brush is controlled to operate at the determined drive power value.

10. A control device, characterized in that, The device includes: The acquisition module is used to acquire the rotational speed of the left drive wheel and the rotational speed of the right drive wheel, and to acquire the drive current of the left drive wheel and the drive current of the right drive wheel; The determination module is used to determine the user intent based on the obtained rotational speed of the left drive wheel and the rotational speed of the right drive wheel, as well as the obtained drive current of the left drive wheel and the drive current of the right drive wheel. The control module is used to control and adjust the drive power of the left drive wheel and the drive power of the right drive wheel according to a determined user intention; and when the user intention is to turn left forward, it controls and adjusts the speed of the left drive wheel and the speed of the right drive wheel so that the speed of the left drive wheel satisfies V. 左 =V-Ki*|Di|, so that the rotational speed of the right drive wheel satisfies V 右 =V 左 +K*(I 右 -I 左 This function is used to control and adjust the speeds of the left and right drive wheels when the user's intention is to turn forward to the right, so that the speed of the left drive wheel satisfies V. 左 =V-Ki*|Di|, so that the rotational speed of the right drive wheel satisfies V 右 =V 左 -K*(I 右 -I 左 This function is used to control and adjust the speeds of the left and right drive wheels when the user intends to turn left, so that the speed of the left drive wheel satisfies V. 左 =V + Ki * |Di |, so that the rotational speed of the right drive wheel satisfies V 右 =V 左 -K*(I 右 -I 左 This function is used to control and adjust the speeds of the left and right drive wheels when the user intends to turn right, so that the speed of the left drive wheel satisfies V. 左 =V + Ki * |Di |, so that the rotational speed of the right drive wheel satisfies V 右 =V 左 +K*(I 右 -I 左 ); where the preset speed V is the speed of the drive wheel when the force of the drive wheel and the force of the roller brush cancel each other out during the operation of the drive wheel; Ki is the first preset proportional constant or the first preset function; K is the second preset proportional constant or the second preset function; Di is the rate of change of the drive current of the roller brush; I 左 I is the drive current for the left drive wheel. 右 This represents the drive current for the right drive wheel.

11. A computer device, characterized in that, include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the control method of any one of claims 1 to 9 by executing the computer instructions.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the control method according to any one of claims 1 to 9.

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