Cleaning machine power-assisted control method, cleaning machine and storage medium

Abstract

The invention relates to a power-assisted control method for a cleaning machine. The motion direction and the motion speed of the cleaning machine are obtained; when the movement speed is reduced, the assistance force to the cleaning machine is controlled to be reduced, and the assistance force direction is consistent with the movement direction. According to the cleaning machine assistance control method, assistance consistent with the user operation intention direction can be provided. The cleaning machine comprises a machine body, a controller and a storage device, the storage device is in electric signal connection with the controller, walking wheels are arranged on the two sides of the machine body, and a detection device used for detecting the walking direction and speed of the walking wheels and a driving device in driving connection with the walking wheels are further arranged in the machine body. The detection device is arranged close to the walking wheels and is in electric signal connection with the controller, the driving device is in electric signal connection with the controller, a computer instruction is stored in the memory, and the controller executes the power-assisted control method of the cleaning machine by executing the computer instruction. The invention further relates to a computer readable storage medium.

Description

Technical Field

[0001] The invention relates to a power-assistance control method for a cleaning machine, and further relates to a cleaning machine applying the power-assistance control method and a storage medium. Background Art

[0002] A floor scrubber is a cleaning machine that is suitable for cleaning hard floors and sucking out wastewater at the same time, and taking the wastewater away from the site. The floor scrubber mainly uses a cleaning brush to clean the particles on the ground, and then dissolves the particles in water and sucks them into the sewage tank. The greater the friction of the cleaning brush on the ground, the better the cleaning effect. At that time, while pursuing the cleaning effect, there were also the following pain points in use: users felt a sense of effort when holding the floor scrubber to turn, move forward, and move backward, which was inconvenient to use.

[0003] In order to make it easier to use, a power-assisting device is provided in the prior art in the floor scrubber, and auxiliary power-assisting driving is performed during the rolling process of the cleaning brush based on the operation of the power-assisting device. For example, the Chinese invention patent application "Power-assisting control method and cleaning machine" with publication number CN114831569A (application number 202210501031.X) discloses a method that uses the acquired detection data to determine the movement trend of the cleaning machine, and then uses the movement trend to determine the power-assisting direction of the cleaning machine; and controls the cleaning machine to provide power-assisting according to the power-assisting direction. However, during the use of the cleaning machine, the user's control of the direction of the floor scrubber is relatively complicated. It is difficult to predict the user's intention to act on the floor scrubber simply by changing the movement trend. For example, when the user acts on the floor scrubber backward, it may be to slow down or to make the machine move backward. If the opposite power-assisting is provided based on the deceleration trend, the power-assisting direction will be inconsistent with the user's intention, and even the user may be injured because of the power-assisting provided in the opposite direction of the user's intention. Summary of the invention

[0004] The first technical problem to be solved by the present invention is to provide a cleaning machine assist control method that can provide assist in a direction consistent with the user's operation intention, with respect to the above-mentioned prior art.

[0005] The second technical problem to be solved by the present invention is to provide a cleaning machine using the above-mentioned cleaning machine power-assisted control method in view of the above-mentioned prior art.

[0006] The third technical problem to be solved by the present invention is to provide a storage medium for the above-mentioned prior art, storing computer instructions for enabling a computer to execute the above-mentioned cleaning machine power-assisted control method.

[0007] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: a power-assisted control method for a cleaning machine, characterized in that: the moving direction and moving speed of the cleaning machine are obtained;

[0008] When the moving speed decreases, the control reduces the power assisting the cleaning machine and the power assisting direction is consistent with the moving direction.

[0009] In order to more quickly determine the user's operating intention on the movement direction of the cleaning machine, when the movement speed is reduced to the set minimum value, the control reduces the power assistance to the cleaning machine to 0.

[0010] In order to more accurately obtain the user's operation intention information, the direction of the user's force on the cleaning machine is obtained. If the direction of the user's force on the cleaning machine is opposite to the movement direction of the cleaning machine, the control reduces the force on the cleaning machine and the force direction is consistent with the movement direction.

[0011] As an improvement, the magnitude of the force exerted by the user on the cleaning machine is obtained. When the direction of the force exerted by the user on the cleaning machine is opposite to the direction of movement of the cleaning machine, the assistance to the cleaning machine gradually decreases as the force exerted by the user on the cleaning machine increases.

[0012] As an improvement, the magnitude of the force exerted by the user on the cleaning machine is obtained. When the direction of the force exerted by the user on the cleaning machine is the same as the movement direction of the cleaning machine, the assistance to the cleaning machine gradually increases as the force exerted by the user on the cleaning machine increases.

[0013] As an improvement, the magnitude of the force exerted by the user on the cleaning machine is obtained;

[0014] When the direction of the force applied by the user to the cleaning machine is the same as the moving direction of the cleaning machine, and when the force applied by the user to the cleaning machine decreases, the current power-assisting direction and power-assisting data are maintained.

[0015] The technical solution adopted by the present invention to solve the above second technical problem is: a cleaning machine, including a machine body, a controller and a memory arranged in the machine body, the memory being connected to the controller by electrical signals, and walking wheels being arranged on both sides of the machine body, characterized in that: a detection device for detecting the walking direction and speed of the walking wheel and a driving device connected to the walking wheel are also arranged in the machine body, the detection device is arranged close to the walking wheel and connected to the controller by electrical signals, and the driving device is connected to the controller by electrical signals;

[0016] The memory stores computer instructions, and the controller executes the aforementioned cleaning machine power-assistance control method by executing the computer instructions.

[0017] In order to more accurately judge the movement state of the cleaning machine while ensuring that the cleaning machine is powered, and thus avoid the slipping of the travel wheels, one of the two travel wheels is a power-assisted wheel, and the other is a detection wheel;

[0018] A driving device is respectively provided corresponding to the power-assisted wheel and the walking wheel, and the detection device is provided corresponding to the detection wheel;

[0019] The power-assisted wheel includes a driving working state;

[0020] The detection wheel includes a detection working state and a driving working state;

[0021] The driving working state is: based on the driving device, the travel wheel is driven in the same direction as the movement direction of the cleaning machine;

[0022] The detection working state is: the moving direction of the cleaning machine is detected by the detection device, and a small driving force is applied to the travel wheel;

[0023] When the cleaning machine just starts to move and the force exerted by the user on the cleaning machine is opposite to the moving direction of the cleaning machine, the detection wheel is in the detection working state.

[0024] Preferably, the driving device is drivingly connected to the travel wheel via a transmission mechanism.

[0025] In order to better detect the direction of the force applied by the user on the cleaning machine, the machine body includes a handle, a first stress sensor and a second stress sensor on the handle, the first stress sensor is arranged at a forward push position on the handle and is connected to the controller electrical signal, and the second stress sensor is arranged at a backward pull position on the handle and is connected to the controller electrical signal.

[0026] The technical solution adopted by the present invention to solve the third technical problem mentioned above is: a computer-readable storage medium, characterized in that: the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the aforementioned cleaning machine power-assisting control method.

[0027] Compared with the prior art, the advantages of the present invention are: the cleaning machine power assist control method of the present invention does not judge the movement trend of the cleaning machine, but adjusts the magnitude of the power assist according to the current movement direction of the cleaning machine, thereby avoiding the inconsistency between the power assist direction provided based on the movement trend judgment and the movement direction of the cleaning machine, and thus can better match the user's intended operating direction of the cleaning machine.

[0028] Cleaning that applies the cleaning machine power assistance control method is more intelligent and can avoid providing power assistance contrary to the user's intention and harming the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Flow chart of the power-assistance control method for a cleaning machine in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below with reference to the accompanying drawings.

[0031] In this embodiment, a cleaning machine and a cleaning machine power-assistance control method are disclosed, wherein the cleaning machine power-assistance control method can be implemented by using various cleaning machines that implement its working content. In this embodiment, taking a cleaning machine as an example, the cleaning machine power-assistance control method and the cleaning machine applying the cleaning machine power-assistance control method are respectively described in detail.

[0032] The cleaning machine includes a body, a controller and a memory arranged in the body, and the memory is electrically connected to the controller. Travel wheels are arranged on both sides of the body, and a detection device for detecting the walking direction and speed of the travel wheels is also arranged in the body, and a driving device connected to the travel wheels. The detection device is arranged close to the travel wheels and is electrically connected to the controller, so that the detection device can detect the walking direction and speed of the body. The detection device can adopt various detectors in the prior art, such as an acceleration sensor. The driving device is electrically connected to the controller, so that the driving device can drive the travel wheels to rotate under the control of the control signal of the controller, thereby providing power for the body. In this embodiment, the driving device is connected to the travel wheel drive through a transmission mechanism, and the driving device usually adopts a motor. The transmission mechanism can adopt various transmission structures in the prior art, such as a transmission gear set. Computer instructions are stored in the memory, and the controller executes the computer instructions to execute the following cleaning machine power control method.

[0033] In order to more accurately judge the movement state of the cleaning machine while ensuring that the cleaning machine is provided with power assistance, thereby avoiding the slipping of the walking wheels. One of the two walking wheels is a power-assisting wheel, and the other is a detection wheel. A driving device is respectively provided for the power-assisting wheel and the walking wheel, and the detection device is provided corresponding to the detection wheel. The main purpose of the power-assisting wheel is to provide power assistance for the forward and backward movement of the walking wheel, and the detection wheel cooperates with the use of the detection device to realize the real-time walking direction, walking speed and other information of the machine body, and on the other hand, it can also realize the power-assisted drive of the walking wheel based on the drive of the driving mechanism.

[0034] Specifically, the power-assisted wheel in this embodiment includes a driving working state. The detection wheel includes a detection working state and a driving working state. The driving working state is: based on the driving device, the driving of the walking wheel is realized in the same direction as the movement direction of the cleaning machine. The detection working state is: the detection of the movement direction of the cleaning machine is realized by the detection device, and a small driving force is applied to the walking wheel. The small driving force can be specifically set as needed, such as being set to a small and fixed driving force value, the small driving force can also be 0, and the small driving force can also be set to a small proportional driving force value proportional to the walking speed of the machine body. When the cleaning machine just moves and the user's force on the cleaning machine is opposite to the movement direction of the cleaning machine, the detection wheel is in the detection working state, and at other times, the detection wheel is in the driving working state. The power-assisted wheel is continuously in the driving working state during the working process of the machine body. In this way, when the cleaning machine just moves and the user's force on the cleaning machine is opposite to the movement direction of the cleaning machine, only a small driving force is used to drive the detection wheel to move, so that the user's operation intention to the cleaning machine can be more accurately judged, which does not affect the current power assistance to the cleaning machine, and the user's operation force is not too large to meet his operation intention.

[0035] In addition, in order to better detect the direction of the force applied by the user to the cleaning machine, the machine body in this embodiment includes a handle, and the handle is provided with a first stress sensor and a second stress sensor. The first stress sensor is provided at the forward push position of the handle and is connected to the controller electrical signal, and the second stress sensor is provided at the backward pull position of the handle and is connected to the controller electrical signal. In this way, when the user pushes forward or pulls backward on the machine body, it can act on the first stress sensor and the second stress sensor accordingly, and then judge the direction of the user's action on the cleaning machine by the force conditions of the first stress sensor and the second stress sensor. As needed, the first stress sensor and the second stress sensor can be set as an integrated part, set at a suitable position of the handle, and can detect forward and backward stress at the same time. The first stress sensor and the second stress sensor can also be set as two separate parts, which are respectively set at positions that can be touched when the user pushes forward or pushes and pulls the handle.

[0036] The user's operating intention for the cleaning machine usually includes a variety of situations. The cleaning machine usually works in a forward-moving state, but when encountering a difficult-to-clean position, the user usually applies a backward pulling force to the cleaning machine, based on the backward pulling operation, or used to reduce the walking speed of the cleaning machine, or to achieve forward and backward pushing and pulling movements. As stated in the background technology, if the backward assistance is directly provided based on the deceleration movement trend of the cleaning machine, the user's operating intention will be misjudged for the situation where the speed only needs to be reduced and moved forward, and even the user may be injured.

[0037] The cleaning machine power-assistance control method in this embodiment can effectively avoid misjudgment of the user's operating intention, thereby avoiding injuries to the user due to providing power assistance in the wrong direction, making the cleaning machine using the cleaning machine power-assistance control method more intelligent.

[0038] like Figure 1 As shown, the power-assistance control method of the cleaning machine in this embodiment specifically includes the following contents. The moving direction and speed of the cleaning machine are obtained. In this embodiment, the detection of the moving direction and speed of the cleaning machine is realized by a detection device arranged near the detection wheel. When the detection device detects that the moving speed of the cleaning machine decreases, the power-assistance to the cleaning machine is controlled to be reduced and the power-assistance direction is consistent with the moving direction. Usually, the speed of the cleaning machine is reduced because the user applies a force opposite to the current moving direction to the cleaning machine, hoping that the cleaning machine can reduce speed or change direction. In this embodiment, on the basis of the original moving direction, by reducing the power-assistance to the cleaning machine, the purpose of further reducing the speed of the cleaning machine on the basis of the current moving direction is achieved, and the situation of directly changing the power-assistance direction and violating the user's operating intention is avoided. Then, on the basis of further deceleration of the cleaning machine, further detection of the moving direction and speed of the cleaning machine and control of the power-assistance are further circulated, so as to gradually meet the user's operating intention of decelerating or changing the walking direction of the cleaning machine. In this process, the operating force of the user on the cleaning machine is effectively reduced, and the collision damage to the user when the power-assistance direction of the cleaning machine is directly changed and the user's operating intention is violated can be avoided.

[0039] In order to more quickly determine the user's operating intention for the movement direction of the cleaning machine, when the movement speed is reduced to the set minimum value, the power assist to the cleaning machine can be controlled to be reduced to 0. That is, the driving mechanism is stopped, so that the detection wheel and the power assist wheel are both in the 0 power assist state. In this way, the cleaning machine can only change the movement state based on the user's operating force, and can more accurately and quickly determine the user's operating intention.

[0040] During the operation of the cleaning machine, in order to more accurately obtain the user's operating intention information and the direction of the user's force on the cleaning machine, in this embodiment, the aforementioned first stress sensor and second stress sensor are used to obtain information about the direction of the user's force on the cleaning machine. If the direction of the user's force on the cleaning machine is opposite to the direction of movement of the cleaning machine, the power assist to the cleaning machine is controlled to be reduced and the power assist direction is consistent with the direction of movement. According to specific needs, only the power assist of the detection wheel can be reduced, or the power assist of the detection wheel and the power assist wheel can be reduced at the same time. When reducing the power assist of the detection wheel and the power assist wheel at the same time, the reduction can be done in the same proportion or in different proportions. When reducing the power assist of the detection wheel and the power assist wheel in different proportions, the reduction ratio for the detection wheel is usually larger.

[0041] Specifically, the magnitude of the force applied by the user to the cleaning machine is obtained. When the direction of the force applied by the user to the cleaning machine is opposite to the direction of movement of the cleaning machine, the power assisting the cleaning machine gradually decreases as the force applied by the user to the cleaning machine increases. When the direction of the force applied by the user to the cleaning machine is the same as the direction of movement of the cleaning machine, the power assisting the cleaning machine gradually increases as the force applied by the user to the cleaning machine increases. When the direction of the force applied by the user to the cleaning machine is the same as the direction of movement of the cleaning machine, when the force applied by the user to the cleaning machine decreases, the current power assisting direction and power assisting data are maintained.

[0042] The cleaning machine power assist control method of the present invention does not judge the movement trend of the cleaning machine, but adjusts the magnitude of the power assist according to the current movement direction of the cleaning machine, thereby avoiding the inconsistency between the power assist direction provided based on the movement trend judgment and the movement direction of the cleaning machine, and thus can better match the user's operating intention direction for the cleaning machine.

[0043] Cleaning that applies the cleaning machine power assistance control method is more intelligent and can avoid providing power assistance contrary to the user's intention and harming the user.

[0044] The present invention also relates to a computer-readable storage medium, which stores computer instructions for causing a computer to execute the aforementioned cleaning machine power-assistance control method.

[0045] In the specification and claims of the present invention, terms indicating directions, such as "front", "rear", "up", "down", "left", "right", "side", "top", "bottom", etc., are used to describe various exemplary structural parts and elements of the present invention, but these terms are used here only for the purpose of convenience of description and are determined based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in the present invention can be arranged in different directions, these terms indicating directions are only used as explanations and should not be regarded as limitations. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

Claims

1. A power-assisted control method for a cleaning machine, characterized in that: Obtain the moving direction and speed of the cleaning machine; When the moving speed decreases, the control reduces the power assisting the cleaning machine and the power assisting direction is consistent with the moving direction.

2. The cleaning machine power-assistance control method according to claim 1, characterized in that: When the movement speed is reduced to the set minimum value, the control reduces the power assist to the cleaning machine to 0.

3. The power-assisted control method for a cleaning machine according to claim 1, characterized in that: The direction of the force applied by the user to the cleaning machine is obtained. If the direction of the force applied by the user to the cleaning machine is opposite to the movement direction of the cleaning machine, the power assisting the cleaning machine is controlled to be reduced and the power assisting direction is consistent with the movement direction.

4. The cleaning machine power-assistance control method according to claim 3, characterized in that: The magnitude of the force exerted by the user on the cleaning machine is obtained. When the direction of the force exerted by the user on the cleaning machine is opposite to the movement direction of the cleaning machine, the power assisting the cleaning machine gradually decreases as the force exerted by the user on the cleaning machine increases.

5. The cleaning machine power-assistance control method according to claim 3, characterized in that: The magnitude of the force exerted by the user on the cleaning machine is obtained. When the direction of the force exerted by the user on the cleaning machine is the same as the movement direction of the cleaning machine, the assistance to the cleaning machine gradually increases as the force exerted by the user on the cleaning machine increases.

6. The power-assisted control method for a cleaning machine according to claim 5, characterized in that: Obtain the magnitude of the force exerted by the user on the cleaning machine; When the direction of the force applied by the user to the cleaning machine is the same as the moving direction of the cleaning machine, and when the force applied by the user to the cleaning machine decreases, the current power-assisting direction and power-assisting data are maintained.

7. A cleaning machine, comprising a machine body, a controller and a memory arranged in the machine body, wherein the memory is connected to the controller by electrical signals, and running wheels are arranged on both sides of the machine body, characterized in that: The machine body is also provided with a detection device for detecting the walking direction and speed of the walking wheel, and a driving device connected to the walking wheel. The detection device is arranged close to the walking wheel and is connected to the controller by electrical signals, and the driving device is connected to the controller by electrical signals; The memory stores computer instructions, and the controller executes the cleaning machine power-assisting control method according to any one of claims 1 to 6 by executing the computer instructions.

8. The cleaning machine according to claim 7, characterized in that: One of the two running wheels is a power-assisting wheel, and the other is a detection wheel; A driving device is respectively provided corresponding to the power-assisted wheel and the walking wheel, and the detection device is provided corresponding to the detection wheel; The power-assisted wheel includes a driving working state; The detection wheel includes a detection working state and a driving working state; The driving working state is: based on the driving device, the travel wheel is driven in the same direction as the movement direction of the cleaning machine; The detection working state is: the moving direction of the cleaning machine is detected by the detection device, and a small driving force is applied to the travel wheel; When the cleaning machine just starts to move and the force exerted by the user on the cleaning machine is opposite to the moving direction of the cleaning machine, the detection wheel is in the detection working state.

9. The cleaning machine according to claim 8, characterized in that: The driving device is drivingly connected to the travel wheel via a transmission mechanism.

10. The cleaning machine according to claim 7, characterized in that: The body includes a handle, a first stress sensor and a second stress sensor on the handle, the first stress sensor is arranged at a forward push position on the handle and is connected to a controller by electrical signals, and the second stress sensor is arranged at a backward pull position on the handle and is connected to a controller by electrical signals.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the cleaning machine power-assisting control method according to any one of claims 1 to 6.

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