Skid judgment method and device of cleaning equipment, cleaning equipment, medium and product

Abstract

The invention relates to the technical field of cleaning equipment control, and discloses a slip judgment method and device of cleaning equipment, the cleaning equipment, a medium and a product, and the slip judgment method of the cleaning equipment comprises the steps: collecting a motor current feedback value, a motor current target value and a motor rotating speed feedback value of target cleaning equipment; determining a speed fluctuation form based on the motor current feedback value and the motor rotating speed feedback value; and based on the difference value between the motor current feedback value and the motor current target value and the speed fluctuation form, carrying out slip judgment to obtain the slip state of the target cleaning equipment. According to the invention, the misjudgment risk caused by single threshold judgment is avoided, and the identification accuracy of the slip state of the target cleaning equipment is improved.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment control technology, specifically to a method, device, cleaning equipment, medium, and product for judging slippage in cleaning equipment. Background Technology

[0002] Cleaning equipment is a type of mechanical equipment designed for efficient cleaning. It can automatically perform tasks in certain situations using a degree of artificial intelligence. During the operation of cleaning equipment such as floor scrubbers and sweepers, motor slippage (such as the floor brush or wheels spinning freely) can lead to decreased cleaning efficiency, wear and tear on equipment parts, and even motor overload failure.

[0003] However, the logic for judging slippage of cleaning equipment is too simplistic, resulting in low accuracy in slippage identification and a high risk of misjudgment. Summary of the Invention

[0004] This invention provides a method, device, cleaning equipment, medium, and product for judging slippage in cleaning equipment, in order to solve the problem of low accuracy in identifying slippage in cleaning equipment and the tendency to make misjudgments.

[0005] In a first aspect, the present invention provides a method for determining slippage in a cleaning device, the method comprising: Collect the motor current feedback value, target motor current value, and motor speed feedback value of the target cleaning equipment; The speed fluctuation pattern is determined based on the motor current feedback value and the motor speed feedback value, respectively. Based on the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, slippage judgment is made to obtain the slippage state of the target cleaning equipment.

[0006] This invention provides a method for determining slippage in cleaning equipment. By collecting the motor current feedback value, target motor current value, and motor speed feedback value of the target cleaning equipment's motor, no additional sensors are required, reducing the hardware cost of the cleaning equipment. Furthermore, slippage is determined by the difference between the motor current feedback value and the target motor current value, as well as the speed fluctuation pattern. The method utilizes multi-feature fusion judgment based on the q-axis current difference and speed fluctuation pattern, avoiding the risk of misjudgment caused by single threshold judgment and improving the accuracy of identifying the slippage state of the target cleaning equipment.

[0007] In one optional implementation, the motor current feedback value is the q-axis current feedback value, and the motor current target value is the q-axis current command value; slippage is determined based on the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, to obtain the slippage state of the target cleaning equipment, including: The q-axis current difference is calculated based on the q-axis current feedback value and the q-axis current command value, and then compared with the q-axis current deviation threshold. Perform velocity direction consistency analysis and fluctuation pattern analysis on velocity fluctuation patterns; If the q-axis current difference is greater than or equal to the q-axis current deviation threshold, and the velocity directions are consistent, and the velocity fluctuation pattern is a non-sinusoidal fluctuation, then the target cleaning equipment is in a slipping state.

[0008] This invention provides a method for judging slippage in cleaning equipment. By using the q-axis current feedback value and q-axis current command value of the motor of the target cleaning equipment, it can quickly and accurately capture the sudden change in load torque caused by slippage. The judgment speed is fast. Based on the comparison between the q-axis current difference and the q-axis current deviation threshold, slippage is judged by combining the speed direction and speed fluctuation pattern. This solves the problem of misjudgment based on a single feature and achieves slippage recognition with high accuracy, strong robustness and easy implementation.

[0009] In one optional implementation, velocity fluctuation pattern analysis and velocity direction consistency analysis are performed, including: When the target cleaning equipment is in normal working condition, a normal working condition benchmark database is constructed. The normal working condition benchmark database stores dynamic data of motor q-axis current and dynamic data of motor speed. The dynamic data of motor q-axis current and dynamic data of motor speed are mapped to a benchmark sine curve. Compare the velocity fluctuation pattern with the benchmark sine curve in the normal operating condition reference database. If the velocity fluctuation pattern does not conform to the benchmark sine curve, then the velocity fluctuation pattern is a non-sine-like fluctuation. If the directional characteristics corresponding to the motor speed are consistent within a continuous acquisition period, then the speed direction is consistent.

[0010] The present invention provides a method for judging slippage of cleaning equipment. Based on the benchmark sine curve in the normal working condition benchmark database, the method judges the speed fluctuation pattern and speed direction, thereby achieving accurate judgment of speed fluctuation pattern and speed direction and reducing the false judgment rate.

[0011] In one optional implementation, when the target cleaning equipment is in normal operating condition, a normal operating condition baseline database is constructed, including: When the target cleaning equipment is in normal working condition, dynamic data of motor q-axis current and motor speed are continuously collected; where the target cleaning equipment is in normal working condition means that the target cleaning equipment is in a non-slipping push-pull motion state; the fluctuation period corresponding to the dynamic data of motor q-axis current and motor speed is consistent with the push-pull motion period of the target cleaning equipment, and the dynamic data of motor q-axis current and motor speed are mapped to a reference-type sine curve; A normal operating condition benchmark database is constructed based on the dynamic data of motor q-axis current and motor speed, as well as the mapping relationship between the dynamic data of motor q-axis current and motor speed.

[0012] This invention provides a method for judging slippage in cleaning equipment. It establishes a benchmark sine curve for the human-machine push-pull motion of the cleaning equipment, solving the problem of scenario mismatch in slippage judgment. Furthermore, it stores the dynamic data of motor q-axis current and motor speed, as well as the mapping relationship between them, in a normal operating condition benchmark database, providing a judgment benchmark for subsequent slippage judgment and improving the accuracy of slippage judgment.

[0013] In one optional implementation, when the target cleaning equipment is in normal operating condition, a normal operating condition baseline database is constructed, which further includes: When the target cleaning equipment is in normal working condition, the q-axis current deviation threshold is obtained and stored in the normal working condition reference database.

[0014] The present invention provides a method for judging slippage of cleaning equipment. By storing the q-axis current deviation threshold corresponding to the target cleaning equipment in normal working state, the accurate acquisition of the q-axis current deviation benchmark is realized, thereby improving the accurate judgment of q-axis current deviation.

[0015] In one alternative implementation, it further includes: If the target cleaning equipment is in a slippery state, the slip protection strategy is triggered.

[0016] The present invention provides a method for determining slippage in cleaning equipment. When the target cleaning equipment is in a slipping state, a slippage protection strategy is triggered, which avoids problems such as equipment loss of control and motor damage caused by slippage, thereby improving safety.

[0017] In a second aspect, the present invention provides a slippage detection device for a cleaning device, the device comprising: The data acquisition module is used to collect the motor current feedback value, motor current target value, and motor speed feedback value of the target cleaning equipment. The determination module is used to determine the speed fluctuation pattern based on the motor current feedback value and the motor speed feedback value, respectively. The slippage detection module is used to detect slippage based on the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, to obtain the slippage status of the target cleaning equipment.

[0018] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the slippage judgment method of the cleaning device described in the first aspect or any corresponding embodiment.

[0019] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the slip determination method of the cleaning device according to the first aspect or any corresponding embodiment described above.

[0020] Fifthly, the present invention provides a computer program product, including computer instructions, which are used to cause the computer to execute the slip determination method of the cleaning equipment described in the first aspect or any corresponding embodiment. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic flowchart of the first method for determining slippage of a cleaning device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the second process of a method for determining slippage of a cleaning device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the motor iq versus speed curve under normal operating conditions according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the motor iq versus speed curve under slippage conditions according to an embodiment of the present invention; Figure 6 This is a schematic diagram comparing the speed curves of the motor feedback under normal operating conditions and slippage conditions according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the third process of a method for determining slippage of a cleaning device according to an embodiment of the present invention; Figure 8 This is a structural block diagram of a slip detection device for a cleaning equipment according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the hardware structure of the cleaning device according to an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0025] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] As an optional application scenario of this invention, such as Figure 1 As shown, application 101 is installed in terminal device 110, and user 130 can interact with application 101 through terminal device 110 and / or access device of terminal device 110.

[0027] For example, application 101 can be any application that provides question-and-answer related services. For instance, application 101 could be a question-and-answer interactive application, such as a text-to-text application, an image-to-text application, etc. Figure 1 In the application scenario shown, if application 101 is active, the terminal device 110 can display the interface 102 of application 101. The interface 102 may include various pages that application 101 can provide, such as interactive pages, settings pages, query pages, etc.

[0028] In some embodiments, the terminal device 110 is communicatively connected to the server 120 to provide services to the application 101. The terminal device 110 may be a cleaning device such as a floor scrubber or a sweeper. In some embodiments, the terminal device 110 may also support any type of interface, and the server 120 may be various types of computing systems or servers capable of providing computing power, including but not limited to mainframes, edge computing nodes, computing devices in cloud environments, etc.

[0029] It should be noted that, Figure 1 This is merely an example of an application scenario and does not limit the scope of protection of this invention.

[0030] The embodiments of the present invention will now be described with reference to the accompanying drawings. It should be understood that the pages shown in the drawings are merely examples, and various page designs are possible in practice. The various graphic elements on the page may have different arrangements and different visual representations; one or more elements may be omitted or replaced, and one or more other elements may also be present, without any limitation in the embodiments of the present invention. Furthermore, the embodiments described below primarily pertain to terminal device 110. It should be understood that the actions described relative to terminal device 110 can be performed by application 101 on terminal device 110, or can be performed by application 101 in conjunction with its server (e.g., server 120).

[0031] The main shortcomings of the slip detection function of related cleaning equipment are as follows: 1) Reliance on additional sensors: such as using grating sensors or encoders to detect the difference in roller speed (refer to the slippage detection solution for vehicle and industrial roller sets), which increases the hardware cost and wiring complexity of the equipment; 2) Simple judgment logic: It often uses simple judgments such as "current threshold" or "speed threshold" (such as the motor overload protection scheme of cleaning equipment), without taking into account the working condition characteristics of "human-machine push and pull movement" of cleaning equipment, which is prone to misjudgment; 3) Scenarios not adapted to cleaning equipment: Slippage detection technology is mostly used in vehicles and industrial variable frequency equipment (such as tension rollers), and its technical solutions cannot be directly transferred to the "reciprocating push and pull + wet and slippery floor" scenario of cleaning equipment such as floor scrubbers.

[0032] To overcome the above shortcomings, this invention provides a method for judging slippage in cleaning equipment. This method, which requires no additional sensors, is adapted to the working conditions of cleaning equipment, and has high judgment accuracy, enables real-time and accurate identification of motor slippage in cleaning equipment such as floor scrubbers during operation.

[0033] According to an embodiment of the present invention, a method for determining slippage of a cleaning device is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0034] This embodiment provides a method for determining slippage in cleaning equipment, which can be used in the aforementioned terminal equipment. Figure 2 This is a flowchart of a method for determining slippage in a cleaning device according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Collect the motor current feedback value, motor current target value, and motor speed feedback value of the target cleaning equipment.

[0035] The target cleaning equipment includes sweeping robots, floor scrubbers, window cleaning robots, vacuum cleaners, and other similar equipment.

[0036] Furthermore, the motor current feedback value is obtained through the current feedback module of the motor controller, the target motor current value is obtained through the main control system of the target cleaning equipment, and the motor speed feedback value is obtained through the motor encoder or Hall sensor.

[0037] Step S202: Determine the speed fluctuation pattern based on the motor current feedback value and the motor speed feedback value, respectively.

[0038] Step S203: Based on the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, slippage judgment is made to obtain the slippage state of the target cleaning equipment.

[0039] Specifically, the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, are compared with the values ​​under normal operating conditions to determine whether the target cleaning equipment is slipping.

[0040] Alternatively, the motor speed under normal operating conditions can be directly obtained, and the motor speed under normal operating conditions can be compared with the above motor speed feedback value. Then, the difference between the motor current feedback value and the motor current target value can be used to determine whether the target cleaning equipment is slipping.

[0041] This embodiment provides a method for determining slippage in cleaning equipment. By collecting the motor current feedback value, target motor current value, and motor speed feedback value of the target cleaning equipment's motor, no additional sensors are required, reducing the hardware cost of the cleaning equipment. Furthermore, slippage is determined by the difference between the motor current feedback value and the target motor current value, as well as the speed fluctuation pattern. Multi-feature fusion judgment is performed using the q-axis current difference and speed fluctuation pattern, avoiding the risk of misjudgment caused by single threshold judgment and improving the accuracy of identifying the slippage state of the target cleaning equipment.

[0042] This embodiment provides a method for determining slippage in cleaning equipment, which can be used in the aforementioned terminal equipment. Figure 3 This is a flowchart of a method for determining slippage in a cleaning device according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps: Step S301: Collect the motor current feedback value, target motor current value, and motor speed feedback value of the target cleaning equipment. For details, please refer to [link to relevant documentation]. Figure 2 Step S201 of the illustrated embodiment will not be described again here.

[0043] Step S302: Determine the speed fluctuation pattern based on the motor current feedback value and the motor speed feedback value, respectively. For details, please refer to [link to relevant documentation]. Figure 2 Step S202 of the illustrated embodiment will not be described again here.

[0044] Step S303: Based on the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, slippage judgment is made to obtain the slippage state of the target cleaning equipment.

[0045] Specifically, the motor current feedback value is the q-axis current feedback value, the motor current target value is the q-axis current command value, and the principle of slippage judgment is to compare the iq value and speed fed back by the motor with the normal operating conditions for judgment; the above step S303 includes: Step S3031: Calculate the q-axis current difference based on the q-axis current feedback value and the q-axis current command value, and compare the q-axis current difference with the q-axis current deviation threshold.

[0046] Specifically, slippage is essentially caused by a sudden change in the load torque due to abrupt friction between the drive wheel / cleaning brush and the ground. The q-axis current is linearly correlated with the motor's electromagnetic torque, and torque changes are directly and instantly reflected in the motor's q-axis current. Under normal operating conditions, the q-axis current fluctuates smoothly with the load. Under slippage conditions, the load torque drops or surges instantaneously, causing a significant change in the q-axis current within 1-3 acquisition cycles, much faster than the speed signal delay. Therefore, the q-axis current directly reflects the motor's torque execution state. Furthermore, visual and infrared sensors are susceptible to misjudgments due to ground reflections and complex textures, while the q-axis current is an internal electrical signal of the motor, only related to the load torque and unaffected by the external environment, making it suitable for various ground scenarios. Additionally, the q-axis current is a native feedback signal of the motor's vector control, requiring no additional hardware. Considering all these factors, this embodiment selects the q-axis current for slippage detection.

[0047] Furthermore, the iq feedback value (i.e., q-axis current feedback value), iq target value (i.e., q-axis current command value), and speed feedback value of the cleaning equipment motor are collected in real time.

[0048] Furthermore, the formula for calculating the q-axis current difference Δiq is: Δiq = |iq feedback value - iq target value|.

[0049] Furthermore, the q-axis current deviation threshold can be set to 50% of the rated q-axis current, or it can be adjusted according to the model of the target cleaning equipment.

[0050] Step S3032: Perform velocity direction consistency analysis and fluctuation pattern analysis on the velocity fluctuation pattern.

[0051] In some optional implementations, the direction of the speed feedback (e.g., consistent direction within 5 consecutive acquisition cycles) and the fluctuation pattern (e.g., no obvious periodic change) are analyzed; step S3032 above includes: Step a1: When the target cleaning equipment is in normal working condition, construct a normal working condition benchmark database; wherein, the normal working condition benchmark database stores dynamic data of motor q-axis current and dynamic data of motor speed, and the dynamic data of motor q-axis current and dynamic data of motor speed are mapped to a benchmark sine curve.

[0052] In some alternative implementations, step a1 above includes: Step a11: When the target cleaning equipment is in normal working condition, continuously collect dynamic data of motor q-axis current and motor speed; wherein, the target cleaning equipment is in normal working condition when the target cleaning equipment is in a non-slipping forward and backward push-pull motion state; the fluctuation period corresponding to the dynamic data of motor q-axis current and motor speed is consistent with the push-pull motion period of the target cleaning equipment, and the dynamic data of motor q-axis current and motor speed are mapped to a reference-type sine curve.

[0053] Specifically, the cleaning scenarios corresponding to normal operating conditions need to cover the typical working modes of the cleaning equipment: the basic scenario is push-pull without load and push-pull with standard load; the floor type is tile, cement floor, short-pile carpet, etc.; the motion state is push-pull at a constant speed (0.5-1m / s) and push-pull with acceleration / deceleration; the q-axis current and speed of the motor are collected under the above normal operating conditions.

[0054] Furthermore, during normal operation of the cleaning equipment (such as the non-slipping forward and backward pushing and pulling process of a floor scrubber), dynamic data of iq and speed (i.e., dynamic data of motor q-axis current and motor speed) are collected and stored to construct a normal operating condition benchmark database, including, for example... Figure 4 As shown, under normal operating conditions, the speed follows the pushing and pulling motion of the cleaning equipment. The iq (including the q-axis current feedback value and the q-axis current target value) fluctuates with the speed in a sinusoidal manner (the fluctuation period of iq and speed matches the periodicity of the pushing and pulling motion of the equipment), rather than remaining constant.

[0055] For example, when the floor scrubber is running unloaded on a standard tile floor, the operator pushes and pulls the equipment back and forth with normal force to continuously collect IQ and speed data and build a benchmark database (i.e., normal operating condition benchmark database).

[0056] Step a12: Construct a normal operating condition benchmark database based on the dynamic data of motor q-axis current and motor speed, as well as the mapping relationship between the dynamic data of motor q-axis current and motor speed.

[0057] Specifically, it stores the IQ-speed mapping relationship under normal operating conditions.

[0058] In some optional implementations, step a1 above further includes: Step a13: When the target cleaning equipment is in normal working condition, obtain the q-axis current deviation threshold and store the q-axis current deviation threshold in the normal working condition reference database.

[0059] Specifically, it stores the normal fluctuation range of the q-axis current deviation threshold under normal operating conditions (e.g., ≤20% of the rated iq).

[0060] Step a2: Compare the velocity fluctuation pattern with the benchmark sine curve in the normal operating condition reference database. If the velocity fluctuation pattern does not conform to the benchmark sine curve, then the velocity fluctuation pattern is a non-sine-like fluctuation.

[0061] Specifically, the velocity fluctuation pattern is compared with the benchmark sine curve. If the periodic changes of the velocity fluctuation pattern are inconsistent with those of the benchmark sine curve, then the velocity fluctuation pattern is a non-sine-like fluctuation.

[0062] like Figure 5 As shown, the speed fluctuation pattern during slippage is similar to... Figure 4 The speed fluctuation pattern under normal operating conditions is inconsistent, and the speed fluctuation pattern during slippage does not show obvious periodic changes. The difference between the q-axis current feedback value and the q-axis current target value is large, and there is no obvious change when close to no-load conditions.

[0063] Alternatively, based on the fluctuation period and amplitude of the velocity fluctuation pattern, and combined with the similarity to a benchmark sine curve, it can be determined whether the velocity fluctuation pattern is a non-sinusoidal fluctuation. The specific steps are as follows: Calculate the time difference between two consecutive velocity peaks (or troughs) in the velocity fluctuation pattern, and use this time difference as the fluctuation period. Compare the fluctuation period with the upper and lower limits of the period. If the fluctuation period is less than the lower limit of the period, or greater than the upper limit of the period, then the velocity fluctuation pattern is a non-sinusoidal fluctuation. If the fluctuation period is greater than or equal to the lower limit of the period, and less than or equal to the upper limit of the period, then calculate the fluctuation amplitude ratio based on the maximum and minimum velocity values ​​in the velocity fluctuation pattern. Compare the fluctuation amplitude ratio with the minimum fluctuation threshold and the maximum fluctuation threshold, respectively. If the fluctuation amplitude ratio is less than the minimum fluctuation threshold, or greater than the maximum fluctuation threshold, then the velocity fluctuation pattern is a non-sinusoidal fluctuation. If the fluctuation amplitude ratio is greater than or equal to the minimum fluctuation threshold, and less than or equal to the maximum fluctuation threshold, then calculate the similarity between the velocity fluctuation pattern and the benchmark sine curve. If the similarity is less than the similarity threshold, then the velocity fluctuation pattern is a non-sinusoidal fluctuation; otherwise, the velocity fluctuation pattern is a sinusoidal fluctuation.

[0064] Step a3: If the directional characteristics corresponding to the motor speed are consistent within the continuous acquisition period, then the speed direction is consistent.

[0065] Specifically, the directional characteristics corresponding to the motor speed include the speed magnitude and periodic changes. Therefore, the motor speed within the continuous acquisition period is compared with the speed (i.e., motor speed) in the reference sine curve. Since the fluctuation period of the reference sine curve is consistent with the push-pull motion period of the target cleaning equipment, if the motor speed within the continuous acquisition period is less than the speed of the reference sine curve and the motor speed within the continuous acquisition period does not change periodically, then the speed direction is consistent.

[0066] like Figure 6 As shown, the speed feedback from the motor when slipping is significantly smaller than the speed feedback from the motor when not slipping, and the speed feedback curve of the motor when slipping does not show obvious periodic changes. Therefore, the speed direction of the cleaning equipment is consistent.

[0067] Furthermore, if the motor speed changes periodically within the continuous acquisition period, and the amplitude and period of the change are consistent with the reference sine curve, then the cleaning equipment is in a push-pull motion state, i.e., normal operation state.

[0068] Step S3033: If the q-axis current difference is greater than or equal to the q-axis current deviation threshold, and the speed direction is consistent, and the speed fluctuation pattern is a non-sinusoidal fluctuation, then the target cleaning equipment is in a slipping state.

[0069] Specifically, if Δiq > 50% of the rated iq, the velocity direction is consistent, and the velocity fluctuation pattern is a non-sinusoidal fluctuation, then it is determined to be a slippage condition.

[0070] This embodiment provides a method for judging slippage in cleaning equipment. By using the q-axis current feedback value and q-axis current command value of the motor of the target cleaning equipment, it can quickly and accurately capture the sudden change in load torque caused by slippage. The judgment speed is fast. Based on the comparison between the q-axis current difference and the q-axis current deviation threshold, slippage is judged by combining the speed direction and speed fluctuation pattern. This solves the problem of misjudgment based on a single feature and achieves slippage recognition with high accuracy, strong robustness and easy implementation.

[0071] This embodiment provides a method for determining slippage in cleaning equipment, which can be used in the aforementioned terminal equipment. Figure 7 This is a flowchart of a method for determining slippage in a cleaning device according to an embodiment of the present invention, such as... Figure 7 As shown, the process includes the following steps: Step S701: Collect the motor current feedback value, target motor current value, and motor speed feedback value of the target cleaning equipment. For details, please refer to [link to relevant documentation]. Figure 3 Step S301 of the illustrated embodiment will not be described again here.

[0072] Step S702: Determine the speed fluctuation pattern based on the motor current feedback value and the motor speed feedback value, respectively. For details, please refer to [link to relevant documentation]. Figure 3Step S302 of the illustrated embodiment will not be described again here.

[0073] Step S703: Based on the difference between the motor current feedback value and the target motor current value, and the speed fluctuation pattern, slippage is determined to obtain the slippage state of the target cleaning equipment. For details, please refer to [link to relevant documentation]. Figure 3 Step S303 of the illustrated embodiment will not be described again here.

[0074] Step S704: If the target cleaning equipment is in a slipping state, the slip protection strategy is triggered.

[0075] Specifically, if the target cleaning equipment is slipping, the slip protection logic is triggered (such as reducing the motor output power or issuing an alarm).

[0076] Furthermore, if the target cleaning equipment is slipping, the drive wheel / cleaning brush will spin idly, causing a sudden change in motor load (a sudden drop or increase in torque). In such cases, it is necessary to prioritize adjusting the motor control parameters to prevent motor overload or loss of control. Specifically, the following steps can be taken: 1) Dynamic speed reduction and current limiting: Immediately reduce the target speed of the motor, reduce idling kinetic energy, and reduce the relative friction between the wheel and the ground; limit the peak value of the q-axis current to avoid current surges caused by sudden load changes in the motor (preventing overheating of the windings and damage to the inverter).

[0077] 2) Torque adaptive adjustment: If the walking wheel slips: switch the motor control strategy to low torque mode to reduce the driving torque, while maintaining the minimum effective torque to ensure re-grip; if the cleaning brush slips (such as the floor scrubber roller brush getting stuck / idling): first stop the brush body rotation, then rotate it in the opposite direction at a low speed to remove the hair / debris tangled in the roller brush, and then restore the normal speed (to avoid hard jamming that could cause the motor to stall).

[0078] 3) Directional fine-tuning calibration: Single-sided slippage (e.g., left wheel spinning freely, right wheel normal): Apply a slight reverse torque to the motor on the slipping side to correct the equipment's tendency to deviate. Once the speeds on both sides are consistent, resume straight-line travel; Double-sided slippage: Temporarily stop forward / backward movement and switch to small-angle rotation in place to help the wheels regain grip by changing the friction conditions at the contact point.

[0079] Furthermore, based on the adjustment of motor control parameters, the overall behavior of the linkage equipment can be improved to avoid slippage that could lead to cleaning omissions or equipment malfunctions. This can be achieved by dynamically correcting the path planning to avoid slippage areas; or by adapting and adjusting cleaning parameters to reduce the amount of water sprayed while increasing the adsorption power of the roller brush, or by retaining only the vacuuming function; or by triggering the linkage of the anti-slip wheel group to assist in anti-slip.

[0080] Furthermore, when the cleaning equipment slips, a slip alarm is issued and pushed to mobile devices such as smartphones, and slip event data (time, location, ground type, and handling method) is stored, thereby upgrading and optimizing the protection logic (such as adjusting the speed reduction ratio and threshold parameters for specific ground types).

[0081] This embodiment provides a method for determining slippage in cleaning equipment. When the target cleaning equipment is in a slipping state, a slippage protection strategy is triggered, which avoids problems such as equipment loss of control and motor damage caused by slippage, thereby improving safety.

[0082] The following specific embodiment illustrates the detailed steps of a method for determining slippage in cleaning equipment.

[0083] Example 1: Assuming the target cleaning equipment is a certain model of floor scrubber, the specific steps for determining slippage in cleaning equipment include: (a) Data collection: The following data was collected at a frequency of 10ms / time in the motor control unit of the floor scrubber: iq feedback value: obtained through the current feedback module of the motor controller; iq target value: the q-axis current command issued by the main control system of the floor scrubber; Speed ​​feedback value: Motor speed (or linear speed of floor brush / wheel) obtained through motor encoder or Hall sensor.

[0084] (II) Establishment of the benchmark model: When the floor scrubber is running unloaded on a standard ceramic tile floor, the operator pushes and pulls the equipment back and forth with normal force, continuously collecting IQ and speed data to build a benchmark database. Under normal operating conditions, the fluctuation period of iq and speed is consistent with the push-pull cycle of the equipment, and it presents a sinusoidal curve (e.g., the amplitude is 30%~50% of the rated value of iq, and the period matches the push-pull frequency). Store the iq-velocity mapping relationship and the normal fluctuation range of Δiq in this scenario (e.g., ≤20% of the rated iq).

[0085] (III) Slippage Judgment Procedure: 1) Real-time computing and analysis: Calculate Δiq = |iq feedback value - iq target value|; Analyze the direction of the speed feedback (e.g., the direction is consistent within 5 consecutive acquisition cycles) and the fluctuation pattern (e.g., there is no obvious periodic change).

[0086] 2) Threshold comparison: If Δiq > 50% of the rated iq (which can be adjusted according to the equipment model), and the speed direction is consistent and there is no sinusoidal fluctuation, then it is determined to be a slippage condition.

[0087] 3) Perform the action: Trigger slippage protection logic (such as reducing motor output power or issuing an alarm).

[0088] (iv) The accuracy rate of identifying the floor scrubbing brush spinning on wet and slippery surfaces is 98%, with a false judgment rate of <2%. Compared with the current threshold method, the false judgment rate is reduced by 60%, and no increase in hardware cost is required.

[0089] The above-described embodiment 1 has the following advantages: Cost optimization: Slippage detection is achieved solely through the motor's built-in feedback parameters (iq and speed), eliminating the need for additional sensors (such as gratings and encoders), thus reducing the hardware cost of the cleaning equipment; Scene adaptation: A sinusoidal fluctuation benchmark model of iq-speed is established for the "human-machine push-pull movement" working condition of the floor scrubber, solving the problem of scene mismatch; Improved judgment accuracy: By using multi-feature fusion judgment of "iq difference + speed fluctuation pattern", the risk of misjudgment due to single threshold judgment is avoided, improving the slippage recognition accuracy by ≥95%; Technological originality: This is the first time that the combination of "motor iq feedback difference" and "speed fluctuation pattern" has been applied to slippage detection in cleaning equipment, which is different from the existing technical solutions for vehicles and industrial equipment.

[0090] This embodiment also provides a slip detection device for a cleaning device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0091] This embodiment provides a slippage detection device for cleaning equipment, such as... Figure 8 As shown, it includes: The data acquisition module 801 is used to acquire the motor current feedback value, the target motor current value, and the motor speed feedback value of the target cleaning equipment. The determination module 802 is used to determine the speed fluctuation pattern based on the motor current feedback value and the motor speed feedback value, respectively. The slippage judgment module 803 is used to judge slippage based on the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, to obtain the slippage status of the target cleaning equipment.

[0092] In some optional implementations, the slippage detection module 803 includes: The comparison submodule is used to calculate the q-axis current difference based on the q-axis current feedback value and the q-axis current command value, and compare the q-axis current difference with the q-axis current deviation threshold. The analysis submodule is used to perform velocity direction consistency analysis and fluctuation pattern analysis on velocity fluctuation patterns. The judgment submodule is used to determine if the target cleaning equipment is in a slipping state if the q-axis current difference is greater than or equal to the q-axis current deviation threshold, the speed direction is consistent, and the speed fluctuation pattern is a non-sinusoidal fluctuation.

[0093] In some optional implementations, the analysis submodule includes: The construction unit is used to build a normal operating condition benchmark database when the target cleaning equipment is in normal working condition; the normal operating condition benchmark database stores dynamic data of motor q-axis current and dynamic data of motor speed, and the dynamic data of motor q-axis current and dynamic data of motor speed are mapped to a benchmark sine curve; The comparison unit is used to compare the velocity fluctuation pattern with the benchmark sine curve in the normal operating condition reference database. If the velocity fluctuation pattern does not conform to the benchmark sine curve, the velocity fluctuation pattern is a non-sine fluctuation. The judgment unit is used to determine the speed direction if the directional characteristics corresponding to the motor speed are consistent within a continuous acquisition period.

[0094] In some alternative implementations, the building unit includes: The data acquisition subunit is used to continuously acquire dynamic data of the motor q-axis current and motor speed when the target cleaning equipment is in normal working condition. The target cleaning equipment is in normal working condition when it is in a non-slipping push-pull motion state. The fluctuation period of the motor q-axis current dynamic data and motor speed dynamic data is consistent with the push-pull motion period of the target cleaning equipment, and the motor q-axis current dynamic data and motor speed dynamic data are mapped to a reference-type sine curve. Construct sub-units to build a normal operating condition benchmark database based on the dynamic data of motor q-axis current and motor speed, as well as the mapping relationship between the dynamic data of motor q-axis current and motor speed.

[0095] In some alternative implementations, the building unit further includes: The storage subunit is used to obtain the q-axis current deviation threshold when the target cleaning equipment is in normal working condition, and store the q-axis current deviation threshold in the normal working condition reference database.

[0096] In some alternative implementations, it also includes: The slip protection module is used to trigger a slip protection strategy if the target cleaning equipment is in a slipping state.

[0097] The slip detection device for cleaning equipment provided in this embodiment of the invention can execute the slip detection method for cleaning equipment provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0098] Figure 9 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention.

[0099] The following is a detailed reference. Figure 9 The diagram illustrates a structural schematic suitable for implementing the cleaning device in embodiments of the present invention. The cleaning device may include a processor (e.g., a central processing unit, graphics processor, etc.) 901, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 902 or a program loaded from memory 908 into random access memory (RAM) 903. The RAM 903 also stores various programs and data required for the operation of the cleaning device. The processor 901, ROM 902, and RAM 903 are interconnected via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0100] Typically, the following devices can be connected to I / O interface 905: input devices 906 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 907 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 908 including, for example, magnetic tapes, hard disks, etc.; and communication devices 909. Communication device 909 allows the cleaning equipment to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 9 Cleaning equipment with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0101] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 909, or installed from a memory 908, or installed from a ROM 902. When the computer program is executed by the processor 901, it performs the functions defined in the slippage determination method for a cleaning device according to embodiments of the present invention.

[0102] Figure 9The cleaning equipment shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0103] 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. When the software or computer code is accessed and executed by the computer, processor, or hardware, it implements the slippage determination method for a cleaning device shown in the above embodiments.

[0104] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0105] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for determining slippage in cleaning equipment, characterized in that, The method includes: Collect the motor current feedback value, target motor current value, and motor speed feedback value of the target cleaning equipment; The speed fluctuation pattern is determined based on the motor current feedback value and the motor speed feedback value, respectively; Based on the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, slippage judgment is made to obtain the slippage state of the target cleaning equipment.

2. The method according to claim 1, characterized in that, The motor current feedback value is the q-axis current feedback value, and the motor current target value is the q-axis current command value; the slippage judgment based on the difference between the motor current feedback value and the motor current target value, and the speed fluctuation pattern, to obtain the slippage state of the target cleaning equipment includes: The q-axis current difference is calculated based on the q-axis current feedback value and the q-axis current command value, and the q-axis current difference is compared with the q-axis current deviation threshold. The velocity fluctuation pattern is analyzed for both velocity direction consistency and fluctuation pattern. If the q-axis current difference is greater than or equal to the q-axis current deviation threshold, and the velocity directions are consistent, and the velocity fluctuation pattern is a non-sinusoidal fluctuation, then the target cleaning device is in a slipping state.

3. The method according to claim 2, characterized in that, The analysis of velocity direction consistency and fluctuation pattern of the velocity fluctuation pattern includes: When the target cleaning equipment is in normal working condition, a normal working condition benchmark database is constructed; wherein, the normal working condition benchmark database stores dynamic data of motor q-axis current and dynamic data of motor speed, and the dynamic data of motor q-axis current and dynamic data of motor speed are mapped to a benchmark sine curve; The velocity fluctuation pattern is compared with the benchmark sine curve in the normal operating condition benchmark database. If the velocity fluctuation pattern does not conform to the benchmark sine curve, then the velocity fluctuation pattern is a non-sine-like fluctuation. If the directional characteristics corresponding to the motor speed are consistent within a continuous acquisition period, then the speed direction is consistent.

4. The method according to claim 3, characterized in that, The step of constructing a normal operating condition baseline database when the target cleaning equipment is in normal working condition includes: When the target cleaning device is in normal working condition, the dynamic data of the motor q-axis current and the dynamic data of the motor speed are continuously collected; wherein, the target cleaning device is in normal working condition when the target cleaning device is in a non-slipping forward and backward push-pull motion state; the fluctuation period corresponding to the dynamic data of the motor q-axis current and the dynamic data of the motor speed is consistent with the push-pull motion period of the target cleaning device, and the dynamic data of the motor q-axis current and the dynamic data of the motor speed are mapped to a reference-type sine curve; The normal operating condition benchmark database is constructed based on the dynamic data of the motor q-axis current and the dynamic data of the motor speed, as well as the mapping relationship between the dynamic data of the motor q-axis current and the dynamic data of the motor speed.

5. The method according to claim 4, characterized in that, The step of constructing a normal operating condition benchmark database when the target cleaning equipment is in normal working condition also includes: When the target cleaning equipment is in normal working condition, the q-axis current deviation threshold is obtained and stored in the normal working condition reference database.

6. The method according to claim 1, characterized in that, Also includes: If the target cleaning device is in a slippery state, the slippery protection strategy is triggered.

7. A slippage detection device for cleaning equipment, characterized in that, The device includes: The data acquisition module is used to collect the motor current feedback value, motor current target value, and motor speed feedback value of the target cleaning equipment. The determination module is used to determine the speed fluctuation pattern based on the motor current feedback value and the motor speed feedback value, respectively. The slippage detection module is used to detect slippage based on the difference between the motor current feedback value and the motor current target value, as well as the speed fluctuation pattern, to obtain the slippage state of the target cleaning equipment.

8. A cleaning device, characterized in that, include: The device includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the slippage determination method of the cleaning device according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the slip determination method of the cleaning equipment according to any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes computer instructions, which are used to cause a computer to execute the slippage determination method of the cleaning equipment according to any one of claims 1 to 6.

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