Window cleaning robot

Abstract

This application provides a window cleaning robot, relating to the field of cleaning technology. The window cleaning robot includes: a drive system, a single-phase Hall sensor, and a controller. The controller is connected to both the drive system and the single-phase Hall sensor. The drive system includes a motor, the output shaft of which is connected to a magnetic ring configured with the single-phase Hall sensor. The magnetic ring rotates synchronously with the output shaft. The magnetic ring includes a south pole and a north pole. During the synchronous rotation of the magnetic ring and the output shaft, the single-phase Hall sensor senses the magnetic field strength generated by the south and north poles and outputs a first pulse signal. The controller receives the first pulse signal output by the single-phase Hall sensor and controls the window cleaning robot based on the first pulse signal. This window cleaning robot, through the coordinated setup of the single-phase Hall sensor and the drive system, replaces the original dual-phase sensor, achieving high-precision and high-reliability detection of the motor's speed and direction. This effectively reduces the cost and system complexity of the window cleaning robot.

Description

Technical Field

[0001] This application relates to the field of cleaning technology, and more particularly to a window cleaning robot. Background Technology

[0002] Window cleaning robots, as a typical example of cleaning tools, are widely used in homes, office buildings, shopping malls and other scenarios.

[0003] The control system of the window cleaning robot needs to detect the speed and rotation direction of the motor in real time. Through precise speed adjustment and direction control, the window cleaning robot can maintain its balance in complex environments, avoid slipping, and achieve accurate path planning and cleaning coverage.

[0004] Currently, control systems rely heavily on complex sensors to detect the speed and direction of rotation of motors, resulting in high costs and low efficiency. Summary of the Invention

[0005] This application provides a window cleaning robot, which aims to reduce the detection cost of the robot's motor speed and rotation direction, and improve detection efficiency.

[0006] This application provides a window cleaning robot, which includes a drive system, a single-phase Hall sensor, and a controller, wherein the controller is connected to the drive system and the single-phase Hall sensor respectively.

[0007] The drive system includes a motor, the output shaft of which is connected to a magnetic ring configured with the single-phase Hall sensor, and the magnetic ring rotates synchronously with the output shaft;

[0008] The magnetic ring includes a south pole and a north pole. During the synchronous rotation of the magnetic ring and the output shaft, the single-phase Hall sensor senses the magnetic field strength generated by the south pole and the north pole and outputs a first pulse signal.

[0009] The controller receives the first pulse signal output by the single-phase Hall sensor and controls the window cleaning robot according to the first pulse signal.

[0010] In one possible implementation, the magnetic ring configured with the single-phase Hall sensor includes a plurality of south and north poles, which are non-uniformly arranged in the circumferential direction of the magnetic ring.

[0011] In one possible implementation, when the output shaft rotates in the forward direction, the pulse signal exhibits a first signal arrangement characteristic;

[0012] When the output shaft rotates in the reverse direction, the pulse signal exhibits a second signal arrangement characteristic;

[0013] The first signal arrangement feature and the second signal arrangement feature are opposite to each other.

[0014] In one possible implementation, the distance between the magnetic ring and the single-phase Hall sensor is less than or equal to 2 mm.

[0015] In one possible implementation, the drive system further includes a reducer connected to the output shaft, the input end of the reducer being connected to the output shaft, and the output end of the reducer being connected to the load of the drive system;

[0016] The reducer is used to provide a reduction ratio for the drive system.

[0017] In one possible implementation, the reduction ratio of the reducer is configured as a preset reduction ratio, which is used to control the reverse self-locking of the motor.

[0018] In one possible implementation, the window cleaning robot further includes a single-phase photoelectric sensor;

[0019] The installation positions of the single-phase Hall sensor and the single-phase photoelectric sensor are at a preset angle in the circumferential direction.

[0020] In one possible implementation, the output shaft of the motor is connected to the grating disk of the single-phase photoelectric sensor, and the grating disk rotates synchronously with the output shaft;

[0021] The grating disk is provided with a light-transmitting part and a light-blocking part. During the synchronous rotation, the light-transmitting part transmits the light signal between the transmitter and receiver of the single-phase photoelectric sensor, and the light-blocking part blocks the light signal between the transmitter and receiver.

[0022] The single-phase photoelectric sensor generates a second pulse signal based on the transmission and blocking of light signals by the grating disk during the synchronous rotation.

[0023] The controller receives the second pulse signal output by the single-phase photoelectric sensor and controls the window cleaning robot according to the first pulse signal and the second pulse signal.

[0024] In one possible implementation, the magnetic ring configured with the single-phase Hall sensor includes a plurality of south and north poles, which are evenly staggered in the circumferential direction of the magnetic ring.

[0025] The grating disk of the single-phase photoelectric sensor includes multiple light-transmitting parts and multiple light-shielding parts, which are evenly staggered in the circumferential direction of the grating disk.

[0026] In one possible implementation, the plane containing the transmitter and receiver of the single-phase photoelectric sensor is perpendicular to the output shaft of the motor, and the plane containing the light-transmitting and light-shielding portions of the grating disk is parallel to the output shaft.

[0027] The window cleaning robot provided in this application includes: a drive system, a single-phase Hall sensor, and a controller. The controller is connected to both the drive system and the single-phase Hall sensor. The drive system includes a motor, and the output shaft of the motor is connected to a magnetic ring configured with the single-phase Hall sensor. The magnetic ring rotates synchronously with the output shaft. The magnetic ring includes a south pole and a north pole. During the synchronous rotation of the magnetic ring and the output shaft, the single-phase Hall sensor senses the magnetic field strength generated by the south and north poles and outputs a first pulse signal. The controller receives the first pulse signal output by the single-phase Hall sensor and controls the window cleaning robot according to the first pulse signal. This window cleaning robot, through the coordinated setup of the single-phase Hall sensor and the drive system, replaces the original dual-phase sensor, achieving high-precision and high-reliability detection of the motor's speed and direction. This effectively reduces the cost and system complexity of the window cleaning robot. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0029] Figure 1 A schematic diagram of the architecture of a window cleaning robot provided in this application embodiment. Figure 1 ;

[0030] Figure 2 A schematic diagram of a pulse signal provided in an embodiment of this application;

[0031] Figure 3 A schematic diagram of the structure of a magnetic ring provided in this application embodiment. Figure 1 ;

[0032] Figure 4 A schematic diagram of the structure of a magnetic ring provided in this application embodiment. Figure 2 ;

[0033] Figure 5 A schematic diagram of a first signal arrangement feature and a second signal arrangement feature provided in an embodiment of this application. Figure 1 ;

[0034] Figure 6 A schematic diagram of a first signal arrangement feature and a second signal arrangement feature provided in an embodiment of this application. Figure 2 ;

[0035] Figure 7 A schematic diagram of the architecture of a window cleaning robot provided in this application embodiment. Figure 2 ;

[0036] Figure 8 A schematic diagram illustrating a third signal arrangement feature and a fourth signal arrangement feature provided in an embodiment of this application;

[0037] Figure 9 A cross-sectional view of the installation position of the single-phase photoelectric sensor and controller provided in the embodiments of this application;

[0038] Figure 10 A schematic diagram showing the installation positions of the single-phase photoelectric sensor and the single-phase Hall sensor provided in the embodiments of this application;

[0039] Figure 11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0040] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect, without limiting their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0043] It should be noted that, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0044] Window cleaning robots are widely used in home and commercial settings for cleaning glass surfaces in high-rise buildings, office buildings, and glass curtain walls. Their core function is to move autonomously and slide on the glass surface using a suction device, employing brush heads and cleaning fluid for efficient cleaning.

[0045] As the core component of window cleaning robots, the precise control of the motor's speed and direction directly affects the robot's movement trajectory, cleaning efficiency, and safety.

[0046] For example, if the motor speed control is inaccurate when the glass surface is tilted at a large angle, the robot may slip; if the direction detection is incorrect, the cleaning path may deviate. In addition, users also have high requirements for the ease of maintenance, long-term reliability, and cost control of window cleaning robots.

[0047] In related technologies, window cleaning robots often use AB dual-phase Hall sensors or dual-phase photoelectric sensors to detect motor speed and direction for precise control. However, such solutions require additional dual-phase sensors, leading to a significant increase in hardware costs.

[0048] Furthermore, using AB phase detection requires two MCU pins, increasing the complexity of PCB routing and software processing. Additionally, it necessitates handling the phase relationship of the orthogonal encoded signals, resulting in high algorithm complexity.

[0049] To address the aforementioned issues, this application provides a window cleaning robot that replaces traditional dual-phase Hall sensors or dual-phase photoelectric sensors with a single-phase Hall sensor. By utilizing the timing characteristics of the pulse signals output by the single-phase Hall sensor under different magnetic field strengths of the magnetic ring, high-precision and high-reliability detection of the motor's speed and direction is achieved. This effectively reduces the cost and system complexity of the window cleaning robot.

[0050] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0051] Figure 1 This is a schematic diagram of the architecture of a window cleaning robot provided in an embodiment of this application, as shown below. Figure 1 As shown:

[0052] The window cleaning robot 100 includes a drive system 101, a single-phase Hall sensor 102, and a controller 103, which is connected to the drive system 101 and the single-phase Hall sensor 102 respectively.

[0053] like Figure 1As shown, the drive system 101 includes a motor 1011, the output shaft of which is connected to the magnetic ring 1022 of the single-phase Hall sensor 102, and the magnetic ring 1022 rotates synchronously with the output shaft of the motor 1011. For example, the magnetic ring 1022 can be fixed on the output shaft of the motor 1011.

[0054] The magnetic ring 1022 has a south pole (S pole) and a north pole (N pole). During synchronous rotation of the magnetic ring 1022 and the output shaft of the motor 1011, when the S pole on the magnetic ring 1022 approaches the Hall element 1021 in the single-phase Hall sensor 102, the Hall element 1021 generates a Hall voltage. The magnitude of the Hall voltage generated by the Hall element 1021 continuously varies with the magnetic field strength. The stronger the magnetic field, the higher the Hall voltage; the weaker the magnetic field, the lower the Hall voltage.

[0055] When the signal trigger 1023 in the single-phase Hall sensor 102 detects that the Hall element 1021 generates a Hall voltage, it generates a first pulse signal according to the magnitude of the Hall voltage and sends the first pulse signal to the controller 103.

[0056] After receiving the first pulse signal, the controller 103 can determine the speed and direction of the motor 1011 based on the first pulse signal. Then, the controller 103 can control the movement of the window cleaning robot 100 based on the speed and direction of the motor 1011.

[0057] For example, motor 1011 can be a motor of any power and structure, such as a DC motor. The output shaft of motor 1011 is the main shaft of the motor rotor and can output mechanical energy.

[0058] The single-phase Hall sensor 102 can refer to a unipolar Hall effect sensor (also known as a unipolar Hall switch). It is a magnetically sensitive electronic component based on the Hall effect, whose output state is determined solely by the magnetic field strength of a single magnetic pole (such as the S pole).

[0059] The magnetic ring 1022 (also known as a magnetic code disk) can be a component that works in conjunction with the single-phase Hall sensor 102. The magnetic ring 1022 can be understood as a disk or ring structure that rotates synchronously with the output shaft of the motor 1011, in which S pole and N pole can be set to change the output state of the single-phase Hall sensor 102.

[0060] The controller 103 can be an electronic control unit for receiving pulse signals and calculating motor speed, and can be integrated into the main control module of the window cleaning robot 100. For example, the controller 103 can be a microcontroller or a microprocessor.

[0061] For example, the window cleaning robot 100 drives the magnetic ring 1022 to rotate synchronously via the motor 1011 in the drive system 101. The S pole and N pole on the magnetic ring 1022 periodically approach the Hall element 1021 of the Hall sensor 102 to change the output state of the single-phase Hall sensor 102.

[0062] For example, when the S pole is close to the Hall element 1021, the magnetic field strength increases, and the Hall element 1021 generates a gradually increasing Hall voltage. When the S pole is away from the Hall element 1021 (and the N pole is close), the generated Hall voltage gradually decreases.

[0063] When the signal trigger 1023 detects that the Hall voltage is higher than the preset signal turn-on voltage, it generates an active or inactive level. When the signal trigger 1023 detects that the Hall voltage is lower than the preset signal turn-off voltage, it generates a level opposite to the level when the Hall voltage is higher than the preset signal turn-on voltage.

[0064] Valid and invalid voltage levels can be understood as an opposite pair of voltage levels. For example, if a high voltage level is preset as the valid level, then a low voltage level is the invalid level; conversely, if a high voltage level is preset as the invalid level, then a low voltage level is the valid level. If the voltage level is valid when the source (S) terminal is close to the Hall element 1021, then it is invalid when the source (S) terminal is far away from the Hall element 1021; conversely, if the voltage level is invalid when the source (S) terminal is close to the Hall element 1021, then it is valid when the source (S) terminal is far away from the Hall element 1021.

[0065] The signal trigger 1023 generates a first pulse signal based on the proximity and distance of the source (S) terminal from the Hall element 1021. For example, when the first pulse signal generated by the signal trigger 1023 is an alternating high and low level, the high level can be preset as the active level and the low level as the inactive level; or the low level can be preset as the active level and the high level as the inactive level.

[0066] After the signal trigger 1023 generates a first pulse signal with alternating high and low levels, it can be synchronously input to the controller 103 for analysis and processing. For example, the controller 103 calculates the rotational speed of the motor 1011 by analyzing the frequency (number of pulses per unit time) of the first pulse signal, and determines the direction of the motor 1011 by analyzing the arrangement characteristics or sequence of high and low levels in the first pulse signal. Based on the rotational speed and direction of the motor 1011, the controller adjusts the working state of the drive system 101 to control the movement of the window cleaning robot 100.

[0067] After receiving the first pulse signal, the controller 103 can determine the rotational speed of the motor 1011 based on the first pulse signal. For example, based on the first pulse signal, the number of unit pulse groups per unit time is counted, and then the rotational speed of the motor 1011 can be calculated based on the number of unit pulse groups per unit time. The unit time can be any preset duration, such as 1 second, 2 seconds, etc. A unit pulse group can be understood as a collection of pulses generated when the magnetic ring 1022 completes one revolution. A unit pulse group can include at least one active level and one inactive level.

[0068] Figure 2 This is a schematic diagram of a first pulse signal provided in an embodiment of this application, as shown below. Figure 2 The image shows a received first pulse signal, which includes multiple high levels and multiple low levels. If the pulse generated by the magnetic ring 1022 rotating completely once includes 5 high levels (active levels) and 5 low levels (inactive levels), then one unit pulse group can represent the magnetic ring 1022 rotating completely once. It can be understood that every 5 high levels and 5 low levels represent the magnetic ring 1022 rotating completely once, that is, the output shaft rotating once.

[0069] If the controller performs counting and statistical analysis based on the received first pulse signal and determines that there is one group of unit pulses within one second, it means that the output shaft rotates one revolution per second. Therefore, the motor speed can be expressed as 1 revolution per second (rpm), or equivalent to 60 revolutions per minute (rpm). Conversely, if the first pulse signal contains five groups of unit pulses within one second, it means that the output shaft rotates five revolutions per second. Therefore, the motor speed can be expressed as 5 revolutions per second (rpm), or equivalent to 300 revolutions per minute (rpm).

[0070] After receiving the first pulse signal, the controller 103 can determine the direction of the motor 1011 (the rotation direction of the output shaft) based on the pulse signal. For example, since the distribution of the N and S poles in the magnetic ring 1022 is fixed during installation, the order in which the first valid level and the first invalid level appear are completely opposite when the motor output shaft rotates forward and in reverse, respectively. Thus, the rotation direction of the output shaft can be determined by judging the order in which the levels appear.

[0071] For example, it can be predefined that if the first valid level in the pulse signal appears before the first invalid level, the rotation direction of the motor's output shaft is forward (i.e., clockwise); and predefined that if the first valid level in the pulse signal appears after the first invalid level, the rotation direction of the motor's output shaft is reverse (i.e., counterclockwise). Which direction represents clockwise rotation and which represents counterclockwise rotation can be set according to the requirements of the application scenario.

[0072] After determining the speed and direction of the motor 1011, the controller 103 can adjust the working state of the drive system 101 to control the movement of the window cleaning robot 100.

[0073] For example, when the load of the drive system 101 is the walking part (track or wheels), the speed and direction of the motor can be determined according to the pulse signal, and the controller 103 can control the speed and direction of the walking part of the window cleaning robot 100 according to the speed and direction of the motor 1011, so as to realize the start, stop, acceleration, deceleration and turning of the walking part. As another example, when the load of the drive system 101 is the cleaning part (rotating cleaning disc, moving scraper), the speed of the motor can be determined according to the pulse signal, and the controller can control the operation frequency and speed of the cleaning part of the window cleaning robot 100 according to the speed of the motor. Yet another example, when the load of the drive system 101 is the negative pressure fan impeller, the speed of the motor can be determined according to the pulse signal, and the controller can control the speed of the negative pressure fan impeller according to the speed of the motor, thereby increasing or decreasing the adhesion of the window cleaning robot 100 to the surface of the object being cleaned.

[0074] The window cleaning robot provided in this application replaces the original dual-phase sensor with a single-phase Hall sensor and a coordinated drive system, achieving high-precision and high-reliability detection of motor speed and direction. This effectively reduces the cost and system complexity of the window cleaning robot.

[0075] In some embodiments, when determining the motor direction based on the order of the first valid level and the first invalid level in the first pulse signal, this method is suitable for determining the rotational direction during the motor startup phase (when the speed increases from zero). Furthermore, the Hall element is positioned precisely at the boundary between the N and S poles during startup, ensuring a more accurate determination of the output shaft's rotational direction based on the order of the valid and invalid levels in the pulse signal.

[0076] To overcome the shortcomings of the above method, the layout of the N and S poles in the magnetic ring can be specifically configured to determine the rotation direction of the motor's output shaft based on the first pulse signal with a low degree of limitation.

[0077] For example, a magnetic ring configured as a single-phase Hall sensor includes multiple south and north poles, which are non-uniformly arranged in the circumferential direction of the magnetic ring.

[0078] For example, refer to Figure 3 The non-uniform arrangement of the South and North Poles in the circumference of the magnetic ring can mean that the widths of the South and North Poles are the same, but the South and North Poles are not spaced apart.

[0079] refer to Figure 4 The non-uniform arrangement of the South and North Poles in the circumference of the magnetic ring can indicate the spacing between the South and North Poles, but the widths of the South and North Poles are different.

[0080] When the north and south poles are non-uniformly arranged in the circumferential direction of the magnetic ring, the first pulse signal exhibits a first signal arrangement characteristic when the output shaft rotates in the forward direction; when the output shaft rotates in the reverse direction, the first pulse signal exhibits a second signal arrangement characteristic; the first signal arrangement characteristic and the second signal arrangement characteristic are opposite to each other.

[0081] The signal arrangement characteristics of the first pulse signal can be understood as the pulse arrangement characteristics of the pulse signal in the dimensions of time and pulse amplitude. For example, a pulse signal may include multiple identical unit pulse groups. In any unit pulse group, the durations of the successively arranged effective levels (and / or ineffective levels) are not exactly the same, thus giving the unit pulse group a unique pulse arrangement characteristic. As another example, a pulse signal may include multiple identical unit pulse groups. In any unit pulse group, the durations of the successively arranged effective levels (and / or ineffective levels) are not only different, but the pulse amplitudes are also different, thus giving the unit pulse group its own unique pulse arrangement characteristic.

[0082] Figure 5 For the embodiments of this application in Figure 3 The schematic diagrams shown depict the first and second signal arrangement characteristics under the magnetic ring structure, as follows: Figure 5 As shown, for the pulse signals with the first signal arrangement characteristics, looking at the time axis from 0 forward, in each unit pulse group, the high level width (representing the duration of the high level) is arranged as 1 millisecond (ms), 1 ms, 1 ms; the low level width (representing the duration of the low level) is arranged as 2 ms, 2 ms, 1 ms. That is, the first signal arrangement characteristics are 1 ms, 2 ms, 1 ms, 2 ms, 1 ms, 1 ms.

[0083] Regarding the pulse signals with the second signal arrangement characteristics, looking at the time axis from 0 forward, in each unit pulse group, the width arrangement characteristics of the high level are 1ms, 1ms, 1ms; and the width arrangement characteristics of the low level are 1ms, 2ms, 2ms. That is, the second signal arrangement characteristics are 1ms, 1ms, 2ms, 1ms, 2ms, 1ms.

[0084] Figure 6 For the embodiments of this application in Figure 4 The schematic diagrams shown depict the first and second signal arrangement characteristics under the magnetic ring structure, as follows: Figure 6As shown, for the pulse signal with the first signal arrangement characteristic, looking at the time axis extending backward from 0, the width arrangement characteristic of the high level in each unit pulse group is 2ms, 1ms, 3ms, 2ms; the width arrangement characteristic of the low level is 3ms, 3ms, 2ms, 3ms. That is, the first signal arrangement characteristic is 2ms, 3ms, 1ms, 3ms, 3ms, 2ms, 2ms, 3ms.

[0085] Regarding the pulse signals with the second signal arrangement characteristics, looking at the time axis from 0 forward, in each unit pulse group, the width arrangement characteristics of the high level are 2ms, 3ms, 1ms, 2ms; and the width arrangement characteristics of the low level are 3ms, 2ms, 3ms, 3ms. That is, the second signal arrangement characteristics are 3ms, 2ms, 2ms, 3ms, 3ms, 1ms, 3ms, 2ms.

[0086] After receiving the first pulse signal sent by the signal trigger 1023, the controller 103 can determine whether it belongs to the first signal arrangement feature or the second signal arrangement feature based on the signal arrangement characteristics of the first pulse signal, thereby determining whether the output shaft of the motor rotates in the forward direction or in the reverse direction.

[0087] In this embodiment, the signal arrangement characteristics of the first pulse signal can also be understood as the timing characteristics of the pulse signal. When the output shaft rotates in the forward direction, the first pulse signal exhibits a first signal arrangement characteristic, and when the output shaft rotates in the reverse direction, the first pulse signal exhibits a second signal arrangement characteristic. The first signal arrangement characteristics and the second signal arrangement characteristics are opposite to each other.

[0088] In this way, based on the arrangement of the N and S poles on the magnetic ring, two pulse signals with completely opposite timing characteristics can be generated when the output shaft rotates in the forward and reverse directions. This allows the controller of the window cleaning robot to determine both the motor speed and the rotation direction of the output shaft with only a single-phase Hall sensor. This not only reduces the number of sensors required but also reduces the complexity of the sensor layout and the direction judgment logic, thereby improving the self-testing and self-control capabilities of the window cleaning robot.

[0089] In some embodiments, the distance between the magnetic ring and the single-phase Hall sensor is less than or equal to 2 mm. For example, the distance between the magnetic ring and the single-phase Hall sensor can be 2 mm, 1.5 mm, 1 mm, 0.5 mm, etc.

[0090] Since single-phase Hall sensors detect magnetic flux density, in small magnetic field sources like magnetic rings, the magnetic flux density typically decreases inversely proportional to the square or even exponentially with increasing distance from the ring surface (air gap). Furthermore, the multi-pole magnetic rings used in window cleaning robots are mostly rubber magnets with limited remanence. If the distance exceeds 2mm, the magnetic flux density on the ring surface can plummet from hundreds of millitalas to a few millitalas, below the typical operating threshold of the Hall chip. This causes the sensor to fail to trigger reliably, resulting in missed counts or output jitter, directly affecting the controller's ability to calculate walking speed and correct direction. Simultaneously, when the window cleaning robot vibrates at high frequency on the glass, the mechanical gap fluctuates dynamically. Setting a smaller static gap provides buffer space for vibration and axial movement, preventing pulse loss due to sudden deviations from the threshold. From a signal quality perspective, close-range sensing yields a stronger signal-to-noise ratio, making the useful signal amplitude much higher than the electromagnetic interference generated by the fan and PWM drive, thus avoiding false triggering.

[0091] In some embodiments, the drive system further includes a reducer connected to the output shaft, the reducer being used to provide a reduction ratio for the drive system, the input end of the reducer being connected to the output shaft, and the output end of the reducer being connected to the load of the drive system.

[0092] For example, a speed reducer, also known as a gearbox or reducer, is a mechanical transmission device installed between a motor and a load. A speed reducer can reduce the motor's speed and increase torque output. Examples of speed reducers include planetary speed reducers, gear reducers, worm gear reducers, or harmonic reducers.

[0093] The input end of the speed reducer is connected to the output shaft, and the output end is connected to the load of the drive system. The speed reducer provides a reduction ratio to the drive system. The reduction ratio can be understood as the ratio between the speed of the motor's output shaft (i.e., the speed at the input end of the speed reducer) and the speed at the output end of the speed reducer. It represents the ratio of the input speed to the output speed of the speed reducer, and thus the factor by which the speed is reduced and the torque is amplified. For example, if the speed of the motor's output shaft is 3000 rpm, and after being reduced by the speed reducer, the speed at the output end of the speed reducer is 100 rpm, then the reduction ratio is 3000:100 = 30.

[0094] In this embodiment of the application, by setting a speed reducer between the motor and the load, the output speed of the motor can be reduced, the output torque can be increased, and the equivalent inertia can be reduced, making the motor of the window cleaning robot easier to control, more stable in operation, and improving the load driving capability.

[0095] In one possible implementation, the reduction ratio of the reducer is configured to a preset reduction ratio, which is used to control the motor to reverse self-lock; the controller determines the rotation direction of the motor's output shaft according to the direction control command that controls the rotation direction of the motor; the controller controls the movement of the window cleaning robot according to the motor's speed and the rotation direction of the output shaft.

[0096] For example, the preset reduction ratio is used to control the motor's reverse self-locking. The preset reduction ratio can be determined based on parameters such as the motor's output power and output torque. After determining the preset reduction ratio, a reducer with that preset reduction ratio can be installed on the motor. For example, the preset reduction ratio can be a reduction ratio of 100 or higher, meaning it can reduce the motor's output shaft speed by more than 100 times (e.g., a reduction ratio of 140). For instance, if the motor's output shaft speed is 3000 rpm, the speed at the reducer's output end should be controlled below 30 rpm.

[0097] Motor reverse self-locking can be understood as allowing the motor to actively drive the load to rotate, but not allowing the load to drive the motor to rotate in the opposite direction. When the reduction ratio of the reducer is configured to a preset reduction ratio, the motor can achieve reverse self-locking capability. In this way, the motor can stop rotating immediately when it needs to stop or reverse, which makes it easier for the controller to determine the rotation direction of the motor's output shaft based on the directional control command that controls the rotation direction of the motor.

[0098] In this embodiment, the reduction ratio of the reducer connected to the motor is configured to a preset reduction ratio, which is the reduction ratio that controls the motor to reverse self-lock. This allows the motor to immediately rotate forward upon receiving a forward rotation direction control command and immediately reverse upon receiving a reverse rotation direction control command. Based on this, the controller can promptly and accurately determine the rotation direction of the motor output shaft according to the direction control command that controls the rotation direction of the motor.

[0099] refer to Figure 7 The window cleaning machine 100 also includes a single-phase photoelectric sensor 104, which is connected to the controller 103. The single-phase photoelectric sensor 104 can be, for example, an infrared photoelectric sensor, with the transmitter 1041 being an infrared emitting diode and the receiver 1042 being a photosensitive element. Of course, the single-phase photoelectric sensor 104 can also be a photoelectric sensor using visible light, laser, or other light sources; this embodiment does not limit its application to this type.

[0100] The single-phase photoelectric sensor 104 includes a transmitter 1041, a receiver 1042, and a grating disk 1043. The output shaft of the motor 1011 is connected to the grating disk 1043 of the single-phase photoelectric sensor 104, and the grating disk 1043 rotates synchronously with the output shaft.

[0101] The grating disk 1043 is provided with a light-transmitting part and a light-blocking part. During synchronous rotation, the light-transmitting part transmits the light signal between the transmitting end 1041 and the receiving end 1042 of the single-phase photoelectric sensor 104, while the light-blocking part blocks the light signal between the transmitting end 1041 and the receiving end 1042. The single-phase photoelectric sensor 104 generates a second pulse signal based on the transmission and blocking of the light signal during the synchronous rotation of the grating disk 1043, and inputs the second pulse signal to the controller 103.

[0102] The controller 103 receives the second pulse signal and can determine the speed and direction of the motor 1011 based on the pulse signal. Then, the controller 103 can control the movement of the window cleaning robot 100 based on the speed and direction of the motor 1011.

[0103] The grating disk 1043 is a component of the single-phase photoelectric sensor 104. The grating disk 1043 can be understood as a disk structure that rotates synchronously with the output shaft of the motor 1011. Its surface can be provided with light-transmitting and light-blocking portions to periodically change the transmission state of the light signal. For example, the grating disk 1043 can be a ring-shaped or disk-shaped structure, with the light-transmitting portion being an opening and the light-blocking portion being an opaque material. The light-transmitting portion can be the area on the grating disk 1043 that allows the light signal to pass through, and its shape and arrangement can be flexibly designed. For example, the light-transmitting portion can be a circular, rectangular, or trapezoidal opening. The light-blocking portion can be the area on the grating disk 1043 that blocks the light signal from passing through, and its shape and arrangement can be flexibly designed. For example, the light-blocking portion can be solid metal or opaque plastic.

[0104] The window cleaning robot 100 drives the grating disk 1043 to rotate synchronously via the motor 1011 in the drive system 101. During the rotation, the light-transmitting part and the light-blocking part of the grating disk 1043 periodically transmit or block the light signal between the transmitter 1041 and the receiver 1042 of the single-phase photoelectric sensor 104.

[0105] When the light-transmitting part is in the optical signal path, the optical signal between the transmitting end 1041 and the receiving end 1042 can propagate normally, and the receiving end 1042 can receive the optical signal emitted by the transmitting end 1041, thus forming an effective or ineffective level at the receiving end 1042. When the light-blocking part is in the optical signal path, the optical signal between the transmitting end 1041 and the receiving end 1042 is blocked and cannot propagate normally, and the receiving end 1042 cannot receive the optical signal emitted by the transmitting end 1041, thus forming a level at the receiving end 1042 that is opposite to that during normal propagation.

[0106] After the single-phase photoelectric sensor 104 generates a second pulse signal with alternating high and low levels based on the transmission and blocking of light signals, it can be synchronously input to the controller 103 for analysis and processing. For example, the controller 103 calculates the rotational speed of the motor 1011 by analyzing the frequency (number of pulses per unit time) of the second pulse signal, and determines the direction of the motor 1011 by analyzing the arrangement characteristics or sequence of high and low levels in the second pulse signal. Based on the rotational speed and direction of the motor 1011, the controller adjusts the working state of the drive system 101 to control the movement of the window cleaning robot 100.

[0107] After receiving the second pulse signal, the controller 103 can determine the rotational speed of the motor 1011 based on the second pulse signal. For example, based on the second pulse signal, the number of unit pulse groups per unit time is counted, and then the rotational speed of the motor 1011 can be calculated based on the number of unit pulse groups per unit time. The unit time can be any preset duration, such as 1 second, 2 seconds, etc. A unit pulse group can be understood as a collection of pulses generated when the grating disk 1043 completes one revolution. A unit pulse group can include at least one active level and one inactive level.

[0108] If the controller performs counting and statistical analysis based on the received second pulse signal and determines that there is one group of unit pulses within one second, it means that the output shaft rotates one revolution per second. Therefore, the motor speed can be expressed as 1 revolution per second (rpm), or equivalent to 60 revolutions per minute (rpm). Conversely, if the first pulse signal contains five groups of unit pulses within one second, it means that the output shaft rotates five revolutions per second. Therefore, the motor speed can be expressed as 5 revolutions per second (rpm), or equivalent to 300 revolutions per minute (rpm).

[0109] After receiving the second pulse signal, the controller 103 can determine the direction of the motor 1011 (the rotation direction of the output shaft) based on the pulse signal. For example, since the distribution of the light-transmitting part and the light-blocking part of the grating disk 1043 is fixed during installation, the order in which the first effective level and the first invalid level appear are completely opposite when the motor output shaft rotates forward and in reverse, respectively. Thus, the rotation direction of the output shaft can be determined by judging the order in which the levels appear.

[0110] For example, it can be predefined that if the first valid level in the pulse signal appears before the first invalid level, the rotation direction of the motor's output shaft is forward (i.e., clockwise); and predefined that if the first valid level in the pulse signal appears after the first invalid level, the rotation direction of the motor's output shaft is reverse (i.e., counterclockwise). Which direction represents clockwise rotation and which represents counterclockwise rotation can be set according to the requirements of the application scenario.

[0111] In some embodiments, the grating disk 1043 includes a plurality of light-transmitting portions and a plurality of light-blocking portions, which are non-uniformly arranged in the circumferential direction of the grating disk. Based on the transmission and blocking of light signals by the plurality of light-transmitting portions and the plurality of light-blocking portions, the pulse signal exhibits a third signal arrangement characteristic when the output shaft rotates in the forward direction, and exhibits a fourth signal arrangement characteristic when the output shaft rotates in the reverse direction. The third signal arrangement characteristic and the fourth signal arrangement characteristic are opposite to each other.

[0112] The non-uniform arrangement of multiple light-transmitting and light-blocking parts in the circumferential direction of the grating disk can mean that the light-transmitting and light-blocking parts are the same size but not spaced apart. Alternatively, the light-transmitting and light-blocking parts can be spaced apart but have different sizes.

[0113] Figure 8 A schematic diagram of a third signal arrangement feature and a fourth signal arrangement feature provided in an embodiment of this application is shown below. Figure 8 As shown, for the pulse signal with the third signal arrangement characteristic, looking at the time axis from 0 forward, the high-level width (representing the duration of the high level) in each unit pulse group is arranged as 1 millisecond (ms), 5 ms, 3 ms, and 2 ms; the low-level width (representing the duration of the low level) is arranged as 1 ms, 5 ms, 3 ms, and 2 ms. To obtain such a pulse signal, it is only necessary to pre-set the dimensions of multiple light-transmitting parts and multiple light-blocking parts.

[0114] For example, four light-transmitting sections and four light-blocking sections are arranged alternately along the circumference of the grating disk, with the following widths being 1 mm: 1 mm for light transmission, 1 mm for light blocking, 5 mm for light transmission, 5 mm for light blocking, 3 mm for light transmission, 3 mm for light blocking, 2 mm for light transmission, and 2 mm for light blocking. It should be understood that this is merely an example; in practical applications, the ratio between the width of the light level and the dimensions of the light-transmitting / light-blocking sections can be other than those provided.

[0115] Overall, the pulse signal with the first signal arrangement characteristic presents the following pattern within a single pulse group: 1ms, 1ms, 5ms, 5ms, 3ms, 3ms, 2ms, 2ms. This pulse signal with the first signal arrangement characteristic can be the pulse signal generated when the output shaft rotates forward, causing the grating disk to transmit / block the light signal. When the output shaft rotates in the reverse direction, the signal arrangement characteristic of the pulse signal generated after the output shaft drives the grating disk to transmit / block the light signal will be exactly the opposite of the first signal arrangement characteristic, resulting in a pulse signal with the signal arrangement characteristic of 2ms, 2ms, 3ms, 3ms, 5ms, 5ms, 1ms, 1ms, as shown in the image. Figure 3 The pulse signal is a second signal arrangement feature shown in the figure.

[0116] It can be seen that when the controller receives either of two pulse signals with opposite signal arrangement characteristics, it can determine the rotation direction of the grating disk based on the pulse arrangement characteristics, which in turn determines the rotation direction of the motor output shaft.

[0117] In this embodiment, since the photoelectric sensor is a single-phase photoelectric sensor, it has a simple structure, low deployment complexity, and is less susceptible to electromagnetic interference or other environmental factors. Therefore, it can conveniently and accurately detect the speed and rotation direction of the motor. After receiving the pulse signal, the controller determines the rotation direction of the motor's output shaft based on the pulse signal, and controls the movement of the window cleaning robot based on the motor's speed and the rotation direction of the output shaft.

[0118] Based on this, the high precision requirements of motor control for window cleaning robots can be met, and the objective challenges of complex working environments such as high altitude and high / low temperature can be reliably addressed. This enables window cleaning robots to operate stably in environments such as high-rise building glass curtain walls and inclined surfaces, and ensures the accuracy of the cleaning path executed by the window cleaning robot, while improving anti-slip capability and energy efficiency.

[0119] In some embodiments, the plane containing the transmitter and receiver of the single-phase photoelectric sensor is perpendicular to the output shaft of the motor, and the plane containing the light-transmitting and light-shielding parts of the grating disk is parallel to the output shaft.

[0120] Figure 9 This is a schematic cross-sectional view of the installation position of the single-phase photoelectric sensor and controller provided in the embodiments of this application, as shown below. Figure 9 As shown, a single-phase photoelectric sensor 104 is surface-mounted on the controller 103. The motor output shaft 10111 passes through a pre-drilled hole in the controller 103, and the grating disk 1043 is coaxially fixed to the output shaft 10111. The plane containing the transmitting and receiving ends of the single-phase photoelectric sensor 104 is perpendicular to the motor output shaft 10111, and the plane containing the light-transmitting and light-shielding parts of the grating disk 1043 is parallel to the output shaft 10111.

[0121] When the motor output shaft 10111 rotates, the grating disk 1043 rotates synchronously, and the light-transmitting part and the light-blocking part periodically transmit or block the light signal path of the single-phase photoelectric sensor 104. For example, when the light-transmitting part of the grating disk 1043 rotates to the space between the transmitter and receiver of the single-phase photoelectric sensor 104, the light signal is transmitted, forming an effective level; when the light-blocking part rotates to the light signal path, the light signal is blocked, forming an invalid level.

[0122] In this embodiment, a surface-mount design for the single-phase photoelectric sensor and controller achieves both structural compactness and reliable signal transmission. Specifically, the surface-mount design reduces the number of connecting cables between the single-phase photoelectric sensor and the controller, lowering signal transmission loss. Simultaneously, the grating disk is coaxially fixed to the output shaft, ensuring synchronization during rotation. For example, when the window cleaning robot climbs the glass surface, the compact design reduces interference from the external environment on signal transmission, thereby maintaining the stability of the pulse signal. This design, through structural integration and process optimization, enables the window cleaning robot to operate with high reliability in complex environments.

[0123] In some embodiments, to further improve the accuracy of detecting the speed and direction of the motor 1011, the controller 103 can also determine the speed and direction of the motor 1011 based on the first pulse signal generated by the single-phase Hall sensor and the second pulse signal generated by the single-phase photoelectric sensor.

[0124] Figure 10 This is a schematic diagram showing the installation positions of the single-phase photoelectric sensor and the single-phase Hall sensor provided in the embodiments of this application, as shown below. Figure 10 As shown, the mounting positions of the single-phase Hall sensor 102 and the single-phase photoelectric sensor 104 are at a preset angle in the circumferential direction.

[0125] For example, when the single-phase Hall sensor 102 and the single-phase photoelectric sensor 104 are coaxially fixed to the motor output shaft 10111, there is a 90° angle between the single-phase Hall sensor 102 and the single-phase photoelectric sensor 104.

[0126] When determining the speed and direction of motor 1011 using pulse signals generated by single-phase Hall sensor 102 and single-phase photoelectric sensor 104 respectively, the multiple south and north poles included on the magnetic ring 1022 of single-phase Hall sensor 102 need to be uniformly staggered in the circumferential direction of the magnetic ring. That is, the south and north poles have the same width and are spaced apart. The grating disk of single-phase photoelectric sensor 104 includes multiple light-transmitting parts and multiple light-blocking parts that are uniformly staggered in the circumferential direction of the grating disk. That is, the light-transmitting parts and the light-blocking parts are the same size and are spaced apart.

[0127] When the motor output shaft 10111 rotates, it can synchronously drive the magnetic ring 1022 of the single-phase Hall sensor 102 and the grating disk 1043 of the single-phase photoelectric sensor 104 to rotate synchronously.

[0128] During the rotation of the magnetic ring 1022, the single-phase Hall sensor 102 generates a first pulse signal and sends it to the controller 103. During the rotation of the grating disk 1043, the single-phase photoelectric sensor 104 generates a second pulse signal and sends it to the controller 103. The controller can determine the speed and direction of the motor 1011 based on the received first and second pulse signals, and control the window cleaning robot based on the determined speed and direction of the motor 1011.

[0129] For example, since there is a 90° angle between the single-phase Hall sensor 102 and the single-phase photoelectric sensor 104, there is a corresponding 90° phase difference between the first pulse signal generated by the single-phase Hall sensor 102 and the second pulse signal generated by the single-phase photoelectric sensor 104. In this case, the single-phase Hall sensor 102 and the single-phase photoelectric sensor 104 can constitute a "pseudo-two-phase" system similar to a two-phase Hall sensor or a two-phase photoelectric sensor.

[0130] The first pulse signal generated by the single-phase Hall sensor 102 is denoted as phase A, and the second pulse signal generated by the single-phase photoelectric sensor 104 is denoted as phase B. Assuming that the single-phase Hall sensor 102 and the single-phase photoelectric sensor 104 are installed in the forward rotation position of the motor output shaft 10111, with the single-phase Hall sensor 102 leading the single-phase photoelectric sensor 104, then when the output shaft 10111 rotates forward, the phase A signal leads the phase B signal by 90°. That is, the rising edge of the phase A signal occurs 1 / 4 cycle earlier than the rising edge of the phase B signal.

[0131] Conversely, assuming the installation positions of the single-phase Hall sensor 102 and the single-phase photoelectric sensor 104 are such that when the motor output shaft 10111 rotates in the forward direction, the single-phase Hall sensor 102 lags behind the single-phase photoelectric sensor 104. Therefore, when the output shaft 10111 rotates in the forward direction, the A-phase signal lags behind the B-phase signal by 90°. That is, the rising edge of the A-phase signal lags behind the rising edge of the B-phase signal by 1 / 4 cycle.

[0132] Taking the installation positions of the single-phase Hall sensor 102 and the single-phase photoelectric sensor 104 as follows: when the motor output shaft 10111 rotates in the forward direction, the single-phase Hall sensor 102 leads the single-phase photoelectric sensor 104. When the controller receives the A-phase signal and the B-phase signal, if the rising edge of the A-phase signal occurs when the B-phase signal is at a low level, it can be determined that the output shaft 10111 is rotating in the forward direction. Alternatively, if the falling edge of the A-phase signal occurs when the B-phase signal is at a high level, it can be determined that the output shaft 10111 is rotating in the forward direction.

[0133] Conversely, when the controller receives the A-phase signal and the B-phase signal, if the B-phase signal is at a high level when the rising edge of the A-phase signal occurs, it can be determined that the output shaft 10111 is rotating in the reverse direction; or, if the B-phase signal is at a high level when the falling edge of the A-phase signal occurs, it can be determined that the output shaft 10111 is rotating in the reverse direction.

[0134] In this way, the controller can determine the motor's rotation direction by analyzing the phase difference between the two pulse signals. This method does not rely on the special arrangement of the light-transmitting and light-blocking parts of the grating disk, or the special arrangement of the N and S poles of the magnetic ring. Even if the grating disk and magnetic ring are slightly misaligned due to mechanical vibration, the phase difference between the A-phase and B-phase signals can remain stable, thereby improving the reliability of determining the motor's rotation direction.

[0135] In some embodiments, the method of counting pulses per unit time described above can be used to calculate the speed of motor rotation, which will not be repeated here.

[0136] The execution subject for detecting the speed and direction of the motor provided in the embodiments of this application can be any kind of electronic device, such as a controller.

[0137] Figure 11 This is a schematic diagram of the structure of the electronic device 110 provided in the embodiments of this application, as shown below. Figure 11 As shown, the electronic device may include: transceiver 1101, processor 1102, and memory 1103.

[0138] Processor 1102 executes computer execution instructions stored in memory, causing processor 1102 to perform the scheme in the above embodiments. Processor 1102 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0139] The memory 1103 is connected to the processor 1102 via the system bus and completes communication between them. The memory 1103 is used to store computer program instructions.

[0140] Transceiver 1101 can receive and send data and instructions.

[0141] Optionally, the electronic device 110 may also include a communication interface to communicate and interact with external or internal devices, such as client devices (e.g., mobile phones, tablets). In specific implementations, if the communication interface, memory 1103, and processor 1102 are implemented independently, they can be interconnected via a bus to complete communication with each other.

[0142] The system bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into address bus, data bus, control bus, etc. For ease of representation, only one thick line is used in the diagram, but this does not indicate that there is only one bus or one type of bus. Transceivers are used to enable communication between database access devices and other computers (e.g., clients, read-write libraries, and read-only libraries). Memory may include random access memory (RAM) and may also include non-volatile memory.

[0143] Optionally, in a specific implementation, if the communication interface, memory 1103, and processor 1102 are integrated on a single chip, then the communication interface, memory 1103, and processor 1102 can communicate through an internal interface.

[0144] This application also provides a chip for executing instructions, which is used to execute the technical solutions of the methods described in the above embodiments.

[0145] This application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the technical solution of the above method embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0146] In one possible implementation, a computer-readable medium may include random access memory (RAM), read-only memory (ROM), compact discread-only memory (CD-ROM) or other optical disc storage, disk storage or other magnetic storage devices, or any other medium targeted to carry or to store the required program code in the form of instructions or data structures, and accessible by a computer. Furthermore, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disks and optical discs include optical discs, laser discs, optical discs, Digital Versatile Discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. Combinations of the above should also be included within the scope of computer-readable media.

[0147] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the technical solution of the above method embodiments. Its implementation principle and technical effects are similar, and will not be repeated here.

[0148] In the specific implementation of the aforementioned terminal device or server, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0149] Those skilled in the art will understand that all or part of the steps in any of the above method embodiments can be implemented by hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium, and when the program is executed, all or part of the steps in the above method embodiments are performed.

[0150] If the technical solution of this application is implemented in software form and sold or used as a product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the technical solution of this application can be embodied in the form of a software product, which is stored in a storage medium and includes a computer program or several instructions. This computer software product enables a computer device (which may be a personal computer, server, network device, or similar electronic device) to execute all or part of the steps of the methods in the embodiments of this application.

[0151] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0152] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0153] It should be understood that the above-described device embodiments are merely illustrative, and the device of this application can also be implemented in other ways. For example, the division of units / modules in the above embodiments is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units, modules, or components may be combined, or integrated into another system, or some features may be ignored or not executed.

[0154] Furthermore, unless otherwise specified, the functional units / modules in the various embodiments of this application can be integrated into one unit / module, or each unit / module can exist physically separately, or two or more units / modules can be integrated together. The integrated units / modules described above can be implemented in hardware or as software program modules.

[0155] When integrated units / modules are implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. Unless otherwise specified, the storage unit can be any suitable magnetic or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0156] If the integrated unit / module is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0157] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0158] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A window cleaning robot, characterized in that, The window cleaning robot includes: a drive system, a single-phase Hall sensor, and a controller, wherein the controller is connected to the drive system and the single-phase Hall sensor respectively. The drive system includes a motor, the output shaft of which is connected to a magnetic ring configured with the single-phase Hall sensor, and the magnetic ring rotates synchronously with the output shaft; The magnetic ring includes a south pole and a north pole. During the synchronous rotation of the magnetic ring and the output shaft, the single-phase Hall sensor senses the magnetic field strength generated by the south pole and the north pole and outputs a first pulse signal. The controller receives the first pulse signal output by the single-phase Hall sensor and controls the window cleaning robot according to the first pulse signal.

2. The window cleaning robot according to claim 1, characterized in that, The magnetic ring configured in the single-phase Hall sensor includes multiple south and north poles, which are non-uniformly arranged in the circumferential direction of the magnetic ring.

3. The window cleaning robot according to claim 2, characterized in that, When the output shaft rotates in the forward direction, the pulse signal exhibits a first signal arrangement characteristic; When the output shaft rotates in the reverse direction, the pulse signal exhibits a second signal arrangement characteristic; The first signal arrangement feature and the second signal arrangement feature are opposite to each other.

4. The window cleaning robot according to claim 1, characterized in that, The distance between the magnetic ring and the single-phase Hall sensor is less than or equal to 2 mm.

5. The window cleaning robot according to claim 1, characterized in that, The drive system also includes a reducer connected to the output shaft, the input end of the reducer being connected to the output shaft, and the output end of the reducer being connected to the load of the drive system; The reducer is used to provide a reduction ratio for the drive system.

6. The window cleaning robot according to claim 5, characterized in that, The reduction ratio of the reducer is configured to a preset reduction ratio, which is used to control the reverse self-locking of the motor.

7. The window cleaning robot according to claim 1, characterized in that, The window cleaning robot also includes a single-phase photoelectric sensor; The installation positions of the single-phase Hall sensor and the single-phase photoelectric sensor are at a preset angle in the circumferential direction.

8. The window cleaning robot according to claim 7, characterized in that, The output shaft of the motor is connected to the grating disk of the single-phase photoelectric sensor, and the grating disk rotates synchronously with the output shaft; The grating disk is provided with a light-transmitting part and a light-blocking part. During the synchronous rotation, the light-transmitting part transmits the light signal between the transmitter and receiver of the single-phase photoelectric sensor, and the light-blocking part blocks the light signal between the transmitter and receiver. The single-phase photoelectric sensor generates a second pulse signal based on the transmission and blocking of light signals by the grating disk during the synchronous rotation. The controller receives the second pulse signal output by the single-phase photoelectric sensor and controls the window cleaning robot according to the first pulse signal and the second pulse signal.

9. The window cleaning robot according to claim 7 or 8, characterized in that, The magnetic ring configured in the single-phase Hall sensor includes multiple south and north poles, which are evenly and alternately arranged in the circumferential direction of the magnetic ring. The grating disk of the single-phase photoelectric sensor includes multiple light-transmitting parts and multiple light-shielding parts, which are evenly staggered in the circumferential direction of the grating disk.

10. The window cleaning robot according to claim 9, characterized in that, The plane containing the transmitter and receiver of the single-phase photoelectric sensor is perpendicular to the output shaft of the motor, and the plane containing the light-transmitting part and the light-shielding part of the grating disk is parallel to the output shaft.

Images