Control method for horizontal floor cleaning machine
By using infrared sensing technology control method between the handle of the horizontal floor cleaning machine and the horizontal host, the movement of the horizontal host is automatically controlled, which solves the time-consuming and labor-intensive problem of manually handling and cleaning the host and improves the cleaning efficiency.
Patent Information
- Application Number
- CN202311504198.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-13
- Publication Date
- 2025-05-13
AI Technical Summary
The existing horizontal floor cleaning machine requires manual handling and cleaning of the main machine during the cleaning process, which is time-consuming and labor-intensive and reduces cleaning efficiency.
A control method is adopted, by setting an infrared light transmitter at the handle and setting an optical receiver at the horizontal host, the infrared sensing technology is used to judge the distance and deviation between the handle and the horizontal host, and the horizontal host is automatically controlled to advance, backward and steering.
The horizontal host automatically follows the handle promoted by the user, saving time and effort, and improving the efficiency of floor cleaning.
Smart Images
Figure CN119969884A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of floor cleaning equipment, and in particular to a control method for a horizontal floor cleaning machine. Background Art
[0002] The cleaning equipment performs floor cleaning through a fluid-connected cleaning host and a cleaning head. The cleaning head moves back and forth along the ground to suck up garbage on the ground. The cleaning host is loaded with a suction motor and a battery. The suction motor loads suction force at the cleaning head to recover garbage on the ground. As the cleaning head moves, the cleaning host must always be near the cleaning head to provide suction force to the cleaning head through the fluid channel. It is often necessary to manually carry the cleaning host, which is time-consuming and labor-intensive and reduces cleaning efficiency. Summary of the invention
[0003] In order to solve the above technical problems, an object of the present invention is to provide a control method for a horizontal floor cleaning machine.
[0004] To achieve the above-mentioned object, the present invention adopts the following technical scheme: a control method for a horizontal floor cleaning machine, the horizontal floor cleaning machine comprising: a horizontal main machine that can be driven forward, backward and turn by a driving device powered by a rechargeable battery, a cleaning head that can be pushed by a user to move on the ground, and a connecting pipe assembly located between the horizontal main machine and the cleaning head; the horizontal main machine has an interface connected to the connecting pipe assembly, the horizontal main machine defines a central vertical plane passing through the interface, the connecting pipe assembly comprises a rigid tube connected to the cleaning head, a flexible tube located between the rigid tube and the interface, and a handle installed at the rigid tube and configured to be held by a user; the control method comprises: Controlling at least one infrared light emitter arranged at the handle to cyclically emit a plurality of infrared lights of different intensities in sequence according to a preset order; Utilizing a plurality of light receivers dispersedly arranged along the left and right directions at the horizontal host to receive the infrared light; And based on whether each of the optical receivers receives the infrared light and the intensity information of the received infrared light, the horizontal distance between the handle and the horizontal host and whether the handle deviates from the central vertical plane are judged; when the horizontal distance is not within the predefined distance parameter range, the horizontal host is controlled to move forward or backward, and when the handle deviates from the central vertical plane, the horizontal host is controlled to turn.
[0005] In the above technical solution, it is further preferred that the horizontal main machine has two moving wheels, one on the left and one on the right, and controlling the steering of the horizontal main machine includes: controlling the two moving wheels to move at different speeds.
[0006] In the above technical solution, further preferably, the control method also includes: controlling the at least one infrared light emitter to directionally emit infrared light with a first intensity, and the infrared light of the first intensity can be transmitted over a distance greater than the maximum distance between the handle and the horizontal host.
[0007] In the above technical solution, further preferably, the control method further includes: when the plurality of light receivers do not receive the infrared light of the first intensity, issuing a warning message to the outside.
[0008] In the above technical solution, it is further preferred that the control method includes: when the horizontal distance is not within a predefined distance parameter range, calculating the difference between the horizontal distance and the predefined distance parameter, and setting the forward or backward speed of the horizontal main machine based on the difference.
[0009] In the above technical solution, further preferably, the control method includes: monitoring the power level of the rechargeable battery, and sending a prompt message to the outside when it is monitored that the power level of the rechargeable battery is lower than a predefined power level distance.
[0010] In the above technical solution, it is further preferred that the preset order is arranged from large to small according to the intensity of the infrared light.
[0011] In the above technical solution, it is further preferred that in a cycle of emitting infrared light of a plurality of different intensities, the difference in intensity between two adjacent emissions of the infrared light gradually decreases.
[0012] In the above technical solution, it is further preferred that when it is determined that the horizontal distance between the handle and the horizontal host is not within a predefined distance parameter range and at the same time the handle deviates from the central vertical plane, the horizontal host is first controlled to turn until the handle is located in the central vertical plane, and then the horizontal host is controlled to move forward or backward.
[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention adapts the control method of the horizontal floor cleaning machine to control the horizontal main machine to automatically follow the handle pushed by the user when the horizontal floor cleaning machine is cleaning the floor. When the horizontal main machine deviates, the horizontal main machine can be controlled to move forward, backward and turn based on infrared sensing between the infrared light transmitter on the handle and multiple light receivers on the horizontal main machine, thereby saving time and effort and improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 A schematic diagram of the steps of a control method for a horizontal floor cleaning machine provided in an embodiment of the present application; Figure 2 A schematic diagram of the three-dimensional structure of a horizontal floor cleaning machine to which the control method of the present application is applicable; Figure 3 for Figure 2 A schematic diagram of the three-dimensional structure of the horizontal main engine; Figure 4 for Figure 3 Schematic diagram of the internal structure of the horizontal main engine; Figure 5 for Figure 2 A rear view of a mid-horizontal floor cleaning machine with the handle not deviating from the central vertical plane of the horizontal main machine; Figure 6 for Figure 5 A side view of a horizontal floor cleaning machine; Figure 7 for Figure 5 A schematic diagram of the infrared light emitted by the infrared tube transmitter in a preset order; Figure 8 for Figure 7 A histogram in which the difference in the intensity of the infrared light in the image decreases in a preset order.
[0015] Wherein: 100, horizontal floor cleaning machine; 10, horizontal main machine; 1, driving device; 5, interface; 6, moving wheel; 8, light receiver; 9, control circuit; 20, cleaning head; 30, connecting pipe assembly; 2, rigid pipe; 3, flexible pipe; 4, handle; 7, infrared light transmitter. DETAILED DESCRIPTION
[0016] To describe the technical content, structural features, achieved purpose and effect of the application in detail, the technical solutions in the embodiments of the application will be described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all of the embodiments. In the following description, for the purpose of explanation, many specific details are set forth to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may also be implemented without these specific details or in the case of one or more equivalent arrangements. In addition, various exemplary embodiments may be different, but not necessarily exclusive. For example, without departing from the inventive concept, the specific shape, structure and characteristics of the exemplary embodiment may be used or implemented in another exemplary embodiment.
[0017] In the following, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.
[0018] In the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium.
[0019] The present invention provides a control method for a horizontal floor cleaning machine. The control method is suitable for the horizontal floor cleaning machine so that a horizontal main machine of the horizontal floor cleaning machine can move forward, backward, turn and the like by itself when deviating from the horizontal main machine.
[0020] like Figure 2 As shown, the horizontal floor cleaning machine 100 includes a horizontal main machine 10, a cleaning head 20 and a connecting pipe assembly 30, and the connecting pipe assembly 30 is connected between the horizontal main machine 10 and the cleaning head 20 to achieve fluid communication between the horizontal main machine 10 and the cleaning head 20. The horizontal main machine 10 is equipped with a driving device 1, and the driving device 1 is powered by a rechargeable battery to drive the horizontal main machine 10 to move forward, backward and turn. The cleaning head 20 can be pushed by the user to move along the ground, and a suction port facing the ground is provided on the cleaning head 20, and negative pressure is applied to the suction port to suck the dirt on the ground into the horizontal floor cleaning machine 100. The connecting pipe assembly 30 includes a rigid pipe 2 connected to the cleaning head 20, a flexible pipe 3 that fluidly connects the rigid pipe 2 and the horizontal main machine 10, and a handle 4 installed on the rigid pipe 2 and for the user to hold, and the user pushes the handle 4 to move the cleaning head 20 along the ground. The horizontal main machine 10 has an interface 5 connected to the flexible pipe 3, and the horizontal main machine 10 defines a central vertical plane W passing through the interface 5 (see FIG. Figure 5 and attached Figure 6 ); When the horizontal main unit 10, the connecting pipe assembly 30 and the cleaning head 20 are connected in sequence, the suction port, the rigid tube 2, the flexible tube 3 and the interface 5 are fluidly connected in sequence to form a suction channel. A suction motor connected to the fluid of the suction channel is provided in the horizontal main unit 10. The suction motor loads a suction force in the suction channel, so that the dirt on the ground is sucked into the suction channel through the suction port. A dust collecting device is also provided in the suction channel to collect the dirt sucked into the suction channel.
[0021] like Figure 1 , 4As shown, the horizontal main machine 10 also has two moving wheels 6, one on the left and one on the right. Both moving wheels 6 are transmission-connected to the driving device 1 and rotate under the drive of the driving device 1 to drive the horizontal main machine 10 to move along the ground.
[0022] like Figure 3-6 As shown, at least one infrared light emitter 7 is provided at the handle 4 of the horizontal floor cleaning machine 100, and a plurality of light receivers 8 are distributed along the left and right directions at the front of the horizontal main machine 10, the infrared light emitter 7 is used to emit infrared light outward, and the plurality of light receivers 8 are used to receive the infrared light emitted by the infrared light emitter 7. A control circuit 9 is also provided in the horizontal main machine 10, and the control circuit 9 connects the plurality of light receivers 8 with the drive device 1 by signal, and the control circuit 9 controls the drive device 1 to drive the two moving wheels 6 based on the signal feedback of whether the plurality of light receivers 8 receive infrared light.
[0023] like Figure 1 As shown, the control method includes the following steps: At least one infrared light emitter at the handle emits infrared light of multiple different intensities in a cycle in a preset order; A plurality of light receivers receive infrared light; Based on whether each light receiver receives infrared light and the intensity information of the received infrared light, the horizontal distance between the handle and the horizontal host and whether the handle deviates from the central vertical plane are judged; when the horizontal distance is not within the predefined distance parameter range, the horizontal host is controlled to move forward or backward, and when the handle deviates from the central vertical plane, the horizontal host is controlled to turn.
[0024] In order to prevent the horizontal main machine 10 from continuing to move forward and backward in the case of deviation from the direction and thus going further away from the predefined distance parameter range, step 103 includes: Step 1031, determine whether the handle deviates from the central vertical plane; if yes, proceed to step 1033, if no, proceed to step 1032; Step 1032, controlling the horizontal main machine to turn; Step 1033, determine whether the horizontal distance between the handle and the horizontal host is within a predefined distance parameter range; if yes, proceed to step 101, if not, proceed to step 1034; Step 1034, control the horizontal host to move forward or backward.
[0025] When the horizontal distance between the handle 4 and the horizontal host 10 is not within the predefined distance parameter range and the handle 4 also deviates from the central vertical plane W, it is necessary to first control the horizontal host 10 to turn until the handle is located in the central vertical plane W, and then control the horizontal host 10 to move forward or backward.
[0026] In step 103, the control method controls the driving device 1 to drive the two moving wheels 6 to rotate at different speeds, so as to achieve the purpose of turning the horizontal main machine 10, and the horizontal main machine 10 turns toward the side with the moving wheel with a slower rotation speed.
[0027] In the control method, at least one infrared light emitter 7 is controlled to emit infrared light with a first intensity in a direction, and the infrared light of the first intensity can be transmitted over a distance greater than the maximum horizontal distance between the handle 4 and the horizontal main machine 10. When there is an obstacle between the horizontal main machine 10 and the handle 4, the infrared light emitted by the infrared light emitter 7 is blocked by the obstacle, and the light receiver 8 cannot receive the infrared light emitted by the infrared light emitter 7. When multiple light receivers 8 do not receive the infrared light of the first intensity, a warning message needs to be sent to the outside. The warning message sent by the horizontal floor cleaning machine is used to remind the user to find out the current situation to remove the obstacle from between the horizontal main machine 10 and the handle 4, so that the horizontal floor cleaning machine can be used normally, and the horizontal main machine 10 can continue to move with the cleaning head 20 and the connecting pipe assembly 30 based on the reception result of the light receiver 8.
[0028] like Figure 7 , 8 As shown, in this control method, the preset order is arranged from large to small according to the intensity of infrared light. In one infrared light emission cycle, the difference between the intensity of two adjacent infrared lights emitted is Δt, and in one emission cycle, Δt gradually decreases according to the preset order C; infrared light of different intensities can be output to the outside at different distances. As the intensity of infrared light decreases, the distance of infrared light output decreases, so that multiple light receivers 8 judge the horizontal distance between the handle 4 and the horizontal host 10 according to the intensity of infrared light that can be received. When the intensity of infrared light that the light receiver 8 can receive is small, it means that the distance between the horizontal host 10 and the handle 4 is small; when the intensity of infrared light that the light receiver 8 can receive is large, it means that the distance between the horizontal host 10 and the handle 4 is large. When the horizontal distance is not within the predefined distance parameter range, the difference between the horizontal distance and the predefined distance parameter is calculated, and the forward or backward speed of the horizontal main machine 10 is set based on the difference. When the difference is small, the horizontal main machine 10 moves slowly into the predefined distance parameter range under the drive of the drive device 1. When the difference is large, the horizontal main machine 10 moves quickly under the drive of the drive device 1 to enter the distance parameter range as soon as possible to avoid increasing the waiting time.
[0029] like Figure 1 , 2As shown, in addition, when the light receiver 8 on the left side of the horizontal host 10 does not receive infrared light, but the light receiver 8 on the right side receives infrared light, the handle 4 is biased toward the right side of the horizontal host 10; when the light receiver 8 on the right side of the horizontal host 10 does not receive infrared light, but the light receiver 8 on the left side receives infrared light, the handle 4 is biased toward the left side of the horizontal host 10; at this time, the driving device 1 controls a pair of moving wheels 6 to rotate at different speeds to realize the steering of the horizontal host 10. When the handle 4 is biased toward the left side of the horizontal host 10, the horizontal host 10 turns to the left through the moving wheels 6 with different rotation speeds until the handle 4 is located in the central vertical plane W; when the handle 4 is biased toward the right side of the horizontal host 10, the horizontal host 10 turns to the right through the moving wheels 6 with different rotation speeds until the handle 4 is located in the central vertical plane W.
[0030] The control method also includes monitoring the power level of the rechargeable battery. When it is detected that the power level of the rechargeable battery is lower than a predefined power level, a prompt message is sent to remind the user to charge the device in time.
[0031] The present invention adapts the control method of the horizontal floor cleaning machine to control the horizontal main machine to automatically follow the handle pushed by the user when the horizontal floor cleaning machine is cleaning the floor. When the horizontal main machine deviates, the horizontal main machine can be controlled to move forward, backward and turn based on infrared sensing between the infrared light transmitter on the handle and multiple light receivers on the horizontal main machine, thereby saving time and effort and improving cleaning efficiency.
[0032] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present application. Without departing from the spirit and scope of the present application, the present application may have various changes and improvements, and the scope of protection claimed in the present application is defined by the attached claims, description and their equivalents.
Claims
1. A control method for a horizontal floor cleaning machine, characterized in that: The horizontal floor cleaning machine comprises: a horizontal main machine that can be driven forward, backward and turn by a driving device powered by a rechargeable battery, a cleaning head that can be pushed by a user to move on the ground, and a connecting pipe assembly located between the horizontal main machine and the cleaning head; the horizontal main machine has an interface connected to the connecting pipe assembly, the horizontal main machine defines a central vertical plane passing through the interface, the connecting pipe assembly comprises a rigid pipe connected to the cleaning head, a flexible pipe located between the rigid pipe and the interface, and a handle installed at the rigid pipe and configured to be held by a user; the control method comprises: Controlling at least one infrared light emitter arranged at the handle to cyclically emit a plurality of infrared lights of different intensities in sequence according to a preset order; Utilizing a plurality of light receivers dispersedly arranged along the left-right direction at the horizontal host to receive the infrared light; and Based on whether each of the optical receivers receives the infrared light and the intensity information of the received infrared light, the horizontal distance between the handle and the horizontal host and whether the handle deviates from the central vertical plane are judged; when the horizontal distance is not within the predefined distance parameter range, the horizontal host is controlled to move forward or backward, and when the handle deviates from the central vertical plane, the horizontal host is controlled to turn.
2. The control method for a horizontal floor cleaning machine according to claim 1, characterized in that: The horizontal main machine has two moving wheels, one on the left and one on the right. Controlling the steering of the horizontal main machine includes: controlling the two moving wheels to move at different speeds.
3. The control method for a horizontal floor cleaning machine according to claim 1, characterized in that: The control method further comprises: controlling the at least one infrared light emitter to directionally emit infrared light with a first intensity, wherein the infrared light with the first intensity can be transmitted over a distance greater than a maximum distance between the handle and the horizontal host.
4. The control method for a horizontal floor cleaning machine according to claim 3, characterized in that: The control method further includes: when the plurality of light receivers do not receive the infrared light of the first intensity, sending a warning message to the outside.
5. The control method for a horizontal floor cleaning machine according to claim 1, characterized in that: The control method comprises: when the horizontal distance is not within a predefined distance parameter range, calculating the difference between the horizontal distance and the predefined distance parameter, and setting the forward or backward speed of the horizontal main machine based on the difference.
6. The control method for a horizontal floor cleaning machine according to claim 1, characterized in that: The control method comprises: monitoring the power level of the rechargeable battery, and sending a prompt message to the outside when it is monitored that the power level of the rechargeable battery is lower than a predefined power level distance.
7. The control method for a horizontal floor cleaning machine according to claim 1, characterized in that: The preset order is arranged from large to small according to the intensity of the infrared light.
8. The control method for a horizontal floor cleaning machine according to claim 7, characterized in that: In a cycle of emitting infrared light of multiple different intensities, the difference in the intensity of the infrared light emitted between two adjacent times gradually decreases.
9. The control method for a horizontal floor cleaning machine according to claim 1, characterized in that: When it is determined that the horizontal distance between the handle and the horizontal host is not within the predefined distance parameter range and at the same time the handle deviates from the central vertical plane, the horizontal host is first controlled to turn until the handle is located in the central vertical plane, and then the horizontal host is controlled to move forward or backward.