Cleaning machine, working method and storage medium

Abstract

The invention relates to a cleaning machine which comprises a machine shell and a power assisting wheel. The roughness detector is arranged on the machine shell; the balancing weight is movably arranged on the machine shell; the first driving mechanism is in driving connection with the balancing weight and is used for driving the distance between the balancing weight and the power-assisted wheel; and the control module is in electric signal connection with the roughness detector and the first driving mechanism. According to the cleaning machine, the gravity center of the machine shell can be adjusted based on ground roughness, so that friction force between the power-assisted wheel and the ground is appropriate. The invention further relates to a working method of the cleaning machine. The working method comprises the steps that the ground roughness Ra of the position where the current machine shell is located is detected and obtained based on the roughness detector; according to the ground roughness Ra, the first driving mechanism is controlled to drive the balancing weight, and then the gravity center of the machine shell is adjusted to move forwards and backwards. According to the working method of the cleaning machine, the friction force between the power-assisted wheel and the ground can be adjusted according to the ground roughness, and then the problems that the power-assisted wheel slips and is seriously abraded are solved. The invention further relates to a storage medium.

Description

Technical Field

[0001] The invention relates to a cleaning machine, a working method and a storage medium. Background Art

[0002] The use of various cleaning machines such as floor scrubbers and vacuum cleaners is becoming more and more widespread. When using these cleaning machines, in order to reduce the labor intensity of users, a power-assisting system is usually set in the cleaning machine, and the power-assisting system includes a power-assisting wheel, a driving mechanism for driving the power-assisting wheel, etc. The Chinese invention patent application with publication number CN115644751A (application number 202211339006.2) is entitled "An automatic power-assisting control method for a floor scrubber". The power-assisting control method of the floor scrubber disclosed therein obtains the ground state of the floor scrubber passing through the ground during operation, and adjusts the power-assisting torque based on different ground states. However, simply adjusting the power-assisting torque cannot actually adjust the friction between the power-assisting wheel and the ground. The walking principle of the power-assisting wheel of the floor scrubber is based on the friction between the wheel body and the ground. In actual scenarios, if the roughness of the ground in the user's home is small, the driving mechanism will slip when driving the power-assisting wheel forward or backward, thereby affecting the power-assisting experience. This is because the static friction between the power-assisting wheel and the ground is not large enough. On the contrary, if the floor of the user's home is rough, the friction between the driving mechanism and the floor will be too large when the power-assisted wheel is driven forward or backward, resulting in serious wear of the power-assisted wheel during rotation, which will affect the life of the power-assisted wheel. Existing cleaning machine technology cannot effectively adjust the friction between the power-assisted wheel and the floor based on the roughness of the floor, resulting in slippage or serious wear of the power-assisted wheel during the power-assisted process. Summary of the invention

[0003] The first technical problem to be solved by the present invention is to provide a cleaning machine with a casing center of gravity that can be adjusted based on the roughness of the ground so that the friction between the power-assisted wheel and the ground is appropriate, with respect to the above-mentioned prior art.

[0004] The second technical problem to be solved by the present invention is to provide a working method of a cleaning machine for the above-mentioned prior art, which can adjust the friction between the power-assisted wheel and the ground according to the roughness of the ground, thereby improving the problem of power-assisted wheel slippage and severe wear of the power-assisted wheel.

[0005] The third technical problem to be solved by the present invention is to provide a computer program storing a computer for executing the working method of the cleaning machine described above in response to the above-mentioned prior art.

[0006] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: a cleaning machine, including a housing, and power-assisted wheels arranged on both sides of the housing, characterized in that: it also includes

[0007] A roughness detector is arranged on the housing and is used to detect the roughness of the ground;

[0008] A counterweight block is movably arranged on the casing;

[0009] A first driving mechanism is drivingly connected to the counterweight block and is used to drive the distance of the counterweight block relative to the power-assisted wheel;

[0010] The control module is connected to the roughness detector and the first driving mechanism via electrical signals respectively.

[0011] Preferably, the power-boosting wheels are arranged on both sides of the rear part of the casing, and the counterweight block is arranged on the casing so as to be movable forward and backward.

[0012] Preferably, the counterweight blocks include two and are symmetrically arranged on the casing.

[0013] In order to limit the moving path of the counterweight block, a guide groove is provided on the housing along the moving direction of the counterweight block, and the counterweight block is movably constrained in the guide groove.

[0014] Simply, the first driving mechanism includes a first motor and a screw connected to the driving end of the motor, the counterweight is screwed on the screw, and the first motor is connected to the control module via electrical signals.

[0015] In order to obtain more accurate roughness information, the housing is further provided with a second driving mechanism connected to the control module by electrical signals, and the second driving mechanism is drivingly connected to the roughness detector to drive the roughness detector to move up and down relative to the housing.

[0016] Briefly, the second drive mechanism comprises a second motor connected to the control module by electrical signals, and a screw connected to the driving end of the second motor;

[0017] A mounting seat is threadedly connected to the screw rod, and the roughness detector is fixed on the mounting seat.

[0018] In order to facilitate the installation of the second motor, a mounting plate is provided on the housing, and the second motor is fixed on the mounting plate.

[0019] In order to detect the change of the ground roughness in time, the roughness detector is arranged at the front of the casing.

[0020] As an improvement, the housing is further provided with a material detector for detecting changes in ground material, and the material detector is electrically connected to the control module.

[0021] In order to conveniently prompt the user to perform some operations, a prompter connected to the control module by electrical signals is also included.

[0022] Preferably, the prompter is a voice player.

[0023] The technical solution adopted by the present invention to solve the above second technical problem is: a working method of a cleaning machine, characterized in that: the cleaning machine as described above is adopted;

[0024] When the cleaning machine is moving, the roughness Ra of the ground at the current location of the housing is obtained based on the roughness detector;

[0025] According to the ground roughness Ra, the first driving mechanism is controlled to drive the counterweight block, thereby adjusting the forward and backward movement of the center of gravity of the casing.

[0026] As an improvement, the obtained ground roughness Ra is compared with the set roughness threshold Ra0. If Ra>Ra0, the center of gravity of the casing is adjusted to move forward; if Ra≤Ra0, the center of gravity of the casing is adjusted to move backward.

[0027] As an improvement, when Ra>Ra0, the position of the counterweight relative to its moving range is determined. If the counterweight is located at the front of its moving range, the current position of the counterweight is maintained; if the counterweight is located at the back of its moving range, the driving mechanism is controlled to drive the counterweight forward to the front of its moving range.

[0028] As an improvement, when Ra≤Ra0, the position of the counterweight relative to its moving range is determined. If the counterweight is located at the front of its moving range, the driving mechanism is controlled to drive the counterweight backward to the rear of its moving range; if the counterweight is located at the rear of its moving range, the current position of the counterweight is maintained.

[0029] Preferably, a cleaning machine as described above is used;

[0030] The second driving mechanism is controlled to drive the roughness detector to move up and down relative to the ground, and the roughness data detected by the roughness detector at different heights are obtained, and the roughness data at each height position are averaged to obtain the ground roughness Ra at the current position of the housing.

[0031] 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 working method of the cleaning machine.

[0032] Compared with the prior art, the advantages of the present invention are as follows: the cleaning machine in the present invention is provided with a detector for detecting the roughness of the ground, so that the roughness of the ground can be obtained in real time when the cleaning machine is working. On this basis, a counterweight block is also provided, so that based on the roughness of the ground, the driving mechanism can be controlled to drive the counterweight block, and the position of the counterweight block on the casing can be changed, so as to achieve the purpose of adjusting the center of gravity of the casing. Based on the change in the position of the center of gravity of the casing, the magnitude of the friction between the power-assisted wheel and the ground will change accordingly, so that the friction between the power-assisted wheel and the ground is more appropriate, which effectively improves the problem of the power-assisted wheel slipping when the ground is smooth, and effectively improves the problem of serious loss of the power-assisted wheel on rough ground.

[0033] The cleaning working method also provides a corresponding working method for how to realize the driving of the counterweight block, and then changes the size of the friction between the power-assisted wheel and the ground based on adjusting the position of the counterweight block. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a three-dimensional diagram of a cleaning machine in an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below with reference to the accompanying drawings.

[0036] like Figure 1 As shown, the cleaning machine in this embodiment includes a housing 1, a power-assisting wheel 2, a roughness detector 3, a counterweight 4, a first driving mechanism 5, and a control module.

[0037] Two power-assisted wheels 2 are provided and located on both sides of the casing 1. In order to realize power-assisted driving, a power-assisted driving mechanism connected to the power-assisted wheel 2 is also provided in the casing 1, and the power-assisted driving mechanism drives the power-assisted wheel 2 to move forward and backward.

[0038] The roughness detector 3 is arranged on the housing 1 and is used to detect the surface roughness. The roughness detector 3 is electrically connected to the control module, and can transmit the detected signal data to the control module. The roughness detector 3 can adopt various devices in the prior art that can realize surface roughness detection. For example, a spectral detector can be adopted, and then the roughness calculation is realized based on the obtained spectral information and the spectral confocal principle.

[0039] The counterweight 4 is movably arranged on the housing 1. The counterweight 4 in this embodiment is made of a material with a relatively large mass density such as metal, and based on the change of the position of the counterweight 4 on the housing 1, the center of gravity of the housing 1 can be effectively changed. In this embodiment, the power-assisting wheels 2 are arranged on both sides of the rear part of the housing 1, and the counterweight 4 is movably arranged on the housing 1 forward and backward. In this way, the front and rear center of gravity of the housing 1 can be adjusted by the difference in the front and rear positions of the counterweight 4 on the housing 1, and the corresponding pressure acting on the power-assisting wheel 2 is also different, so that the friction between the power-assisting wheel 2 and the ground changes.

[0040] In order to avoid the change of the center of gravity of the casing 1 in the left and right directions, the counterweight 4 needs to be balanced when installed on the casing 1. For example, a counterweight 4 can be set and arranged on the left and right midlines of the casing 1. In this embodiment, in order to ensure the weight of the counterweight 4 and to ensure the left and right balance, two counterweights 4 are symmetrically arranged on the casing 1. In order to facilitate installation, the counterweight 4 in this embodiment is arranged on the upper surface of the casing 1.

[0041] At the same time, in order to effectively limit the forward and backward moving direction of the counterweight 4 and prevent the counterweight 4 from tilting during the forward and backward moving process and changing the target center of gravity position of the housing 1, a guide groove 11 is provided on the housing 1 along the moving direction of the counterweight 4, and the counterweight 4 is movably constrained in the guide groove 11. The guide groove 11 in this embodiment is extended along the forward and backward direction.

[0042] The first driving mechanism 5 is connected to the counterweight 4 by driving, and the first driving mechanism 5 is connected to the control module by electrical signals, and the first driving mechanism 5 works based on the control command of the control module. According to specific needs, a first driving mechanism 5 can be set for each counterweight 4, or a driving mechanism can be set and connected to each counterweight 4 by driving through a connecting frame, and the first driving mechanism 5 is used to drive the distance of the counterweight 4 relative to the power-assisted wheel 2, thereby realizing the adjustment of the center of gravity of the housing 1, and at the same time realizing the adjustment of the pressure of the housing 1 on the power-assisted wheel 2.

[0043] The first driving mechanism 5 in this embodiment includes a first motor 51 and a screw rod 52 connected to the driving end of the motor, the counterweight 4 is screwed on the screw rod 52, and the first motor 51 is connected to the control module by electrical signals. When working, the first motor 51 operates according to the command of the control module, and the first motor 51 drives the screw rod 52 to rotate, thereby driving the counterweight 4 to move forward and backward.

[0044] In order to improve the accuracy of the detection of the roughness of the ground, the housing 1 is also provided with a second driving mechanism 6 connected to the control module electrical signal, and the second driving mechanism 6 is connected to the roughness detector 3 to drive the roughness detector 3 to move up and down relative to the housing 1. The second driving mechanism 6 includes a second motor connected to the control module electrical signal, and a screw connected to the driving end of the second motor; a mounting seat 7 is screwed on the screw, and the roughness detector 3 is fixed on the mounting seat 7. When in use, the second motor drives the screw to rotate based on the control command of the control module, and drives the mounting seat 7 to move up and down based on the rotation of the screw, and the roughness detector 3 moves up and down with the mounting seat 7. Therefore, the roughness detector 3 can detect the roughness of the ground at different height positions, and based on the roughness data corresponding to different height positions obtained, more accurate roughness data can be calculated.

[0045] In order to facilitate the installation of the second motor, a mounting plate 12 is provided on the housing 1 , and the second motor is fixed on the mounting plate 12 .

[0046] In order to detect the change of ground roughness in time, the roughness detector 3 is arranged at the front of the housing 1 .

[0047] In addition, the housing 1 is also provided with a material detector 8 for detecting changes in the ground material, and the material detector 8 is electrically connected to the control module. The material detector 8 can use various detection devices that can detect the ground material, such as a light sensor. Based on the fact that the material detector 8 can detect the changes in the ground material in a timely manner, the roughness detector 3 is assisted to detect and obtain more accurate ground roughness data. For example, when the material detector 8 detects that the ground material has a sudden change, the control module can control the cleaning machine to stop working based on the material mutation information, and use the following prompter to prompt the user to stop pushing the cleaning machine, so that the roughness detector 3 can detect the ground roughness information when the cleaning machine is parked, and the roughness information obtained is more accurate. Based on the assistance of the material detector 8, the roughness detector 3 can only detect the ground roughness when the machine is just turned on and the ground material has a sudden change. Alternatively, the roughness detector 3 can be used to detect the ground roughness data in real time, and the roughness data of the roughness detector 3 can be assisted to correct based on the detection data of the material detector 8.

[0048] In order to conveniently prompt the user to perform some operations, a prompter connected to the control module by electrical signals is also included, and the prompter can be a display light or a voice player. In this embodiment, the prompter is a voice player, and the voice player is used to perform corresponding voice prompts, which is more conducive to the user understanding the prompt information.

[0049] The working method of the aforementioned cleaning machine is as follows.

[0050] When the cleaning machine is moving, the roughness Ra of the ground at the current location of the housing 1 is detected based on the roughness detector 3. In this embodiment, the second driving mechanism 6 is controlled to drive the roughness detector 3 to move up and down relative to the ground, and the roughness data detected by the roughness detector 3 at different heights are obtained, and the roughness data at each height is averaged to obtain the ground roughness Ra at the current location of the housing 1.

[0051] According to the ground roughness Ra, the first driving mechanism 5 is controlled to drive the counterweight 4, thereby adjusting the forward and backward movement of the center of gravity of the housing 1. Specifically, the obtained ground roughness Ra is compared with the set roughness threshold Ra0, if Ra>Ra0, the center of gravity of the housing 1 is adjusted to move forward; if Ra≤Ra0, the center of gravity of the housing 1 is adjusted to move backward.

[0052] In this embodiment, when Ra>Ra0, the position of the counterweight 4 relative to its moving range is determined. If the counterweight 4 is located at the front of its moving range, the current position of the counterweight 4 is maintained; if the counterweight 4 is located at the rear of its moving range, the drive mechanism is controlled to drive the counterweight 4 to move forward to the front of its moving range. When Ra≤Ra0, the position of the counterweight 4 relative to its moving range is determined. If the counterweight 4 is located at the front of its moving range, the drive mechanism is controlled to drive the counterweight 4 to move backward to the rear of its moving range; if the counterweight 4 is located at the rear of its moving range, the current position of the counterweight 4 is maintained.

[0053] The present invention also relates to a computer-readable storage medium, which stores computer instructions for causing a computer to execute the aforementioned working method of the cleaning machine.

[0054] The cleaning machine of the present invention is provided with a detector 3 for detecting the roughness of the ground, so that the roughness of the ground can be obtained in real time when the cleaning machine is working. On this basis, a counterweight block 4 is also provided, so that based on the roughness of the ground, the driving mechanism can be controlled to drive the counterweight block 4, and the position of the counterweight block 4 on the casing 1 can be changed, so as to achieve the purpose of adjusting the center of gravity of the casing 1. Based on the change of the center of gravity position of the casing 1, the magnitude of the friction between the power-assisted wheel 2 and the ground will be changed accordingly, so that the friction between the power-assisted wheel 2 and the ground is more appropriate, which effectively improves the problem of the power-assisted wheel 2 slipping when the ground is smooth, and effectively improves the problem of the power-assisted wheel 2 being seriously damaged on the rough ground.

[0055] The cleaning working method also provides a corresponding working method for how to realize the driving of the counterweight block 4, and then changes the size of the friction between the power-assisted wheel 2 and the ground based on adjusting the position of the counterweight block 4.

[0056] 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 cleaning machine, comprising a housing (1), and power-assisted wheels (2) arranged on both sides of the housing (1), characterized in that: Also includes A roughness detector (3), arranged on the housing (1) and used for detecting the roughness of the ground; A counterweight (4) is movably arranged on the casing (1); A first driving mechanism (5) is drivingly connected to the counterweight (4) and is used to drive the distance of the counterweight (4) relative to the power-assisted wheel (2); The control module is connected to the roughness detector (3) and the first driving mechanism (5) respectively via electrical signals.

2. The cleaning machine according to claim 1, characterized in that: The booster wheels (2) are arranged on both sides of the rear part of the casing (1), and the counterweight block (4) is arranged on the casing (1) so as to be movable forward and backward.

3. The cleaning machine according to claim 2, characterized in that: The counterweight blocks (4) include two counterweight blocks (4) which are symmetrically arranged on the casing (1).

4. The cleaning machine according to any one of claims 1 to 3, characterized in that: A guide groove (11) is provided on the housing (1) along the moving direction of the counterweight block (4), and the counterweight block (4) is movably constrained in the guide groove (11).

5. The cleaning machine according to any one of claims 1 to 3, characterized in that: The first driving mechanism (5) comprises a first motor (51) and a screw rod (52) connected to the driving end of the motor, the counterweight (4) is screwed onto the screw rod (52), and the first motor (51) is connected to the control module via electrical signals.

6. The cleaning machine according to any one of claims 1 to 3, characterized in that: The housing (1) is also provided with a second driving mechanism (6) connected to the control module by electrical signals, and the second driving mechanism (6) is drivingly connected to the roughness detector (3) to drive the roughness detector (3) to move up and down relative to the housing (1).

7. The cleaning machine according to claim 6, characterized in that: The second driving mechanism (6) comprises a second motor connected to the control module by electrical signals, and a screw connected to the driving end of the second motor; A mounting seat (7) is threadedly connected to the screw rod, and the roughness detector (3) is fixed on the mounting seat (7).

8. The cleaning machine according to claim 7, characterized in that: The housing (1) is provided with a mounting plate (12), and the second motor is fixed on the mounting plate (12).

9. The cleaning machine according to any one of claims 1 to 3, characterized in that: The roughness detector (3) is arranged at the front of the housing (1).

10. The cleaning machine according to any one of claims 1 to 3, characterized in that: The housing (1) is also provided with a material detector (8) for detecting changes in ground material, and the material detector (8) is connected to the control module via an electrical signal.

11. The cleaning machine according to any one of claims 1 to 3, characterized in that: Also included is a prompter connected to the control module by electrical signals.

12. The cleaning machine according to claim 11, characterized in that: The prompter is a voice player.

13. A working method of a cleaning machine, characterized in that: Using a cleaning machine as described in any one of claims 1 to 12; When the cleaning machine is moving, the roughness Ra of the ground surface at the current location of the housing (1) is detected by the roughness detector (3); According to the ground roughness Ra, the first driving mechanism (5) is controlled to drive the counterweight (4), thereby adjusting the forward and backward movement of the center of gravity of the casing (1).

14. The working method of the cleaning machine according to claim 13, characterized in that: The acquired ground roughness Ra is compared with a set roughness threshold Ra0; if Ra>Ra0, the center of gravity of the housing (1) is adjusted to move forward; if Ra≤Ra0, the center of gravity of the housing (1) is adjusted to move backward.

15. The working method of the cleaning machine according to claim 14, characterized in that: When Ra>Ra0, the position of the counterweight (4) relative to its moving range is determined; if the counterweight (4) is located at the front of its moving range, the current position of the counterweight (4) is maintained; if the counterweight (4) is located at the rear of its moving range, the driving mechanism is controlled to drive the counterweight (4) to move forward to the front of its moving range.

16. The working method of the cleaning machine according to claim 14, characterized in that: When Ra≤Ra0, the position of the counterweight (4) relative to its moving range is determined; if the counterweight (4) is located at the front of its moving range, the driving mechanism is controlled to drive the counterweight (4) to move backward to the rear of its moving range; if the counterweight (4) is located at the rear of its moving range, the current position of the counterweight (4) is maintained.

17. The working method of the cleaning machine according to claim 13, characterized in that: Using the cleaning machine as claimed in claim 6; The second driving mechanism (6) is controlled to drive the roughness detector (3) to move up and down relative to the ground, and roughness data detected by the roughness detector (3) at different height positions are obtained, and the roughness data at each height position are averaged to obtain the ground roughness Ra at the current position of the housing (1).

18. 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 working method of the cleaning machine according to any one of claims 13-17.

Images