Driving control device and cleaning robot

Abstract

The utility model discloses a driving control device and a cleaning robot, and relates to the technical field of motor driving. The driving control device comprises three single-pole double-throw switches and a control unit, the first common end, the second common end and the third common end are used for being connected with a three-phase brushless motor through a three-phase line; the first normally-open end, the second normally-open end and the third normally-open end are used for being connected with a driver through a three-phase line; the first normally-closed end, the second normally-closed end and the third normally-closed end are mutually connected; the first end of the control unit is used for being connected with the output end of the driver, and the second end of the control unit is grounded. During emergency shutdown, the common ends of the three single-pole double-throw switches are connected with the corresponding normally-closed ends, so that the three-phase windings of the three-phase brushless motor are connected with one another to form a closed loop, braking and wind prevention of the three-phase brushless motor are achieved, the wind prevention capacity is improved, and therefore the wind prevention capacity of the cleaning robot is improved, and the service life of the cleaning robot is prolonged. Therefore, damage to the structure and performance of the cleaning robot is avoided.

Description

Technical Field

[0001] This utility model relates to the field of motor drive technology, and in particular to a drive control device and a cleaning robot. Background Technology

[0002] In today's era of rapid development in automation and intelligent technologies, cleaning robots, as an important tool for liberating manpower and improving cleaning efficiency, have extremely broad market prospects. Whether in industrial settings, such as floor cleaning in large warehouses and factory workshops, or in civilian settings, such as environmental maintenance in residential communities and commercial buildings, cleaning robots are being used more and more widely due to their efficient and stable cleaning capabilities.

[0003] Currently, most robotic vacuum cleaners on the market have good wind protection capabilities at their parking positions, ensuring their safety, stability, and reliability when not in operation. Specifically, robotic vacuum cleaners are generally equipped with specialized wind protection devices at their parking positions, such as anchoring systems, gravity supports, or mechanical locking mechanisms. These provide additional stability when the robot is in its parking position (e.g., deploying support legs or other stabilizing devices to increase the contact area), thus providing superior wind protection.

[0004] However, when a cleaning robot encounters an emergency and needs to stop in place during a cleaning task, the robot's windproof device cannot function, and its windproof ability is greatly reduced. This can result in the cleaning robot being blown away by the wind, and may even damage the robot's structure and performance. Utility Model Content

[0005] To address the aforementioned issues, this invention provides a drive control device and a cleaning robot that can improve the wind resistance of the three-phase brushless motor during emergency shutdown, thereby enhancing the cleaning robot's wind resistance and preventing it from being blown away by the wind, thus avoiding damage to the cleaning robot's structure and performance.

[0006] The present invention discloses the following technical solutions:

[0007] In a first aspect, this utility model provides a drive control device, comprising: three single-pole double-throw switches and a control unit, wherein the three single-pole double-throw switches are a first switch, a second switch and a third switch, respectively;

[0008] The first common terminal of the first switch, the second common terminal of the second switch, and the third common terminal of the third switch are used to connect to a three-phase brushless motor via a three-phase line;

[0009] The first normally open terminal of the first switch, the second normally open terminal of the second switch, and the third normally open terminal of the third switch are used to connect to the driver via a three-phase line;

[0010] The first normally closed terminal of the first switch, the second normally closed terminal of the second switch, and the third normally closed terminal of the third switch are interconnected.

[0011] The first terminal of the control unit is used to connect to the output terminal of the driver, and the second terminal of the control unit is grounded.

[0012] Optionally, the first normally closed terminal of the first switch, the second normally closed terminal of the second switch, and the third normally closed terminal of the third switch are interconnected, including:

[0013] The first normally closed terminal of the first switch is connected to the second normally closed terminal of the second switch, and the second normally closed terminal is connected to the third normally closed terminal of the third switch.

[0014] Optionally, the first normally closed terminal of the first switch, the second normally closed terminal of the second switch, and the third normally closed terminal of the third switch are interconnected, including:

[0015] The first normally closed terminal of the first switch is connected to the second normally closed terminal of the second switch, and the first normally closed terminal is connected to the third normally closed terminal of the third switch.

[0016] Optionally, when the control unit is in the first state, the first common terminal corresponding to the first switch is connected to the first normally open terminal, the second common terminal corresponding to the second switch is connected to the second normally open terminal, and the third common terminal corresponding to the third switch is connected to the third normally open terminal, so as to connect the driver and the three-phase brushless motor through a three-phase line.

[0017] Optionally, when the control unit is in the second state, the first common terminal corresponding to the first switch is connected to the first normally closed terminal, the second common terminal corresponding to the second switch is connected to the second normally closed terminal, and the third common terminal corresponding to the third switch is connected to the third normally closed terminal, so as to short-circuit the three-phase windings of the three-phase brushless motor to each other.

[0018] Optionally, the drive control device is a relay including three single-pole double-throw switches, and the control unit is the coil of the relay;

[0019] The first end of the coil is used to connect to the output end of the driver, and the second end of the coil is grounded.

[0020] Optionally, the relay is a high-level active relay;

[0021] When the driver outputs a high-level signal to the coil of the relay, the control unit is in the first state;

[0022] When the driver outputs a low-level signal to the coil of the relay, the control unit is in the second state.

[0023] Optionally, the device further includes: a diode;

[0024] The negative terminal of the diode is connected to the first end of the relay coil, and the positive terminal of the diode is connected to the second end of the relay coil, so that they are connected in reverse parallel across the two ends of the relay coil.

[0025] Secondly, this utility model provides a cleaning robot, including: a driver, a three-phase brushless motor, and a drive control device as described in the first aspect above.

[0026] Optionally, the number of the three-phase brushless motors is the same as the number of the drive control devices.

[0027] Compared with the prior art, this utility model has the following beneficial effects: By adding a drive control device between the driver and the three-phase brushless motor, in the event of an emergency stop, the common terminal of the first switch, the second switch and the third switch are connected to the corresponding normally closed terminal, so that the three-phase windings of the three-phase brushless motor are interconnected to form a closed circuit, thereby realizing the braking and windproofing of the three-phase brushless motor, improving the windproofing capability of the three-phase brushless motor, thereby improving the windproofing capability of the cleaning robot, preventing the cleaning robot from being blown by the wind, and avoiding damage to the structure and performance of the cleaning robot itself. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic diagram of the structure of a drive control device provided by this utility model;

[0030] Figure 2 A schematic diagram showing the interconnection of the normally closed terminals of the three single-pole double-throw switches provided by this utility model;

[0031] Figure 3 A schematic diagram illustrating the connection between the drive control device provided by this utility model for realizing drive and braking;

[0032] Figure 4 A schematic diagram of another drive control device provided by this utility model;

[0033] Figure 5A schematic diagram of another drive control device provided by this utility model;

[0034] Figure 6 This is a structural example diagram of a cleaning robot provided by this utility model. Detailed Implementation

[0035] As described earlier, the robot vacuum cleaner's parking position is equipped with a specialized windproof device, which provides additional stability when the robot is parked, thus offering better wind resistance. For example, when the robot vacuum cleaner is parked, it is allowed to adjust to an optimally stable posture (e.g., a low center of gravity position) and cut its support legs or other stabilizing devices to increase the contact area, thereby improving its wind resistance.

[0036] However, during cleaning tasks, robotic vacuum cleaners need to maintain a certain degree of mobility and flexibility to complete them. Therefore, they do not use fixed devices like parking positions to avoid hindering their normal operation. Consequently, when a robotic vacuum cleaner encounters an emergency and needs to stop in place, its windproof devices become ineffective, significantly reducing its wind resistance. This makes the robot easily blown away by the wind, leading to a series of serious problems. Firstly, the robot may deviate from its designated work area, disrupting the cleaning process and severely impacting the continuity and integrity of the work. Secondly, restoring the robot to its correct position requires additional manpower and time, negatively affecting the overall progress and efficiency. Furthermore, being blown away by the wind can damage the robot's structure and performance, affecting its stability, shortening its lifespan, and increasing maintenance and upkeep costs.

[0037] This utility model provides a drive control device, including: three single-pole double-throw switches and a control unit. The three single-pole double-throw switches are designated as a first switch, a second switch, and a third switch. The first common terminal of the first switch, the second common terminal of the second switch, and the third common terminal of the third switch are used to connect to a three-phase brushless motor via a three-phase line; the first normally open terminal of the first switch, the second normally open terminal of the second switch, and the third normally open terminal of the third switch are used to connect to a driver via a three-phase line; the first normally closed terminal of the first switch, the second normally closed terminal of the second switch, and the third normally closed terminal of the third switch are interconnected; the first terminal of the control unit is used to connect to the output terminal of the driver, and the second terminal of the control unit is grounded. By adding a drive control device between the driver and the three-phase brushless motor, the wind resistance of the three-phase brushless motor can be improved during emergency shutdown, thereby improving the wind resistance of the cleaning robot and preventing the cleaning robot from being blown by the wind, thus avoiding damage to the structure and performance of the cleaning robot itself.

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0039] Example 1:

[0040] The following is combined Figures 1-3 This article will provide a detailed description of a drive control device provided in an embodiment of the present invention.

[0041] like Figure 1 As shown, a drive control device 100 provided in this embodiment of the present invention includes: three single-pole double-throw switches and a control unit 110, wherein the three single-pole double-throw switches are a first switch 120, a second switch 130 and a third switch 140.

[0042] Specifically, the first common terminal 121 of the first switch 120, the second common terminal 131 of the second switch 130, and the third common terminal 141 of the third switch 140 are used to connect to a three-phase brushless motor via a three-phase line. The first normally open terminal 122 of the first switch 120, the second normally open terminal 132 of the second switch 130, and the third normally open terminal 142 of the third switch 140 are used to connect to a driver via a three-phase line. The first normally closed terminal 123 of the first switch 120, the second normally closed terminal 133 of the second switch 130, and the third normally closed terminal 143 of the third switch 140 are interconnected. The first terminal 111 of the control unit 110 is used to connect to the output terminal of the driver, and the second terminal 112 of the control unit 110 is grounded.

[0043] A single-pole double-throw (SPDT) switch is an electrical and electronic switch type that allows one input terminal (called the common terminal or COM) to be selected between two output terminals. A key characteristic of a SPDT switch is that it has only one control point (“pole”) but can be connected to two different circuit paths (“throw”).

[0044] The common terminal (COM) of a single-pole double-throw switch refers to the input or output terminal that is connected to an external circuit. When the switch is operated, the common terminal will selectively connect to one of the other two ports depending on the position of the switch.

[0045] The normally closed (NC) terminal of a single-pole double-throw switch means that the common terminal and the normally closed terminal are connected in the absence of external force, that is, current can flow between the common terminal and the normally closed terminal.

[0046] The normally open (NO) terminal of a single-pole double-throw switch means that the common terminal and the normally open terminal are disconnected when no external force is applied. The common terminal will only be connected to the normally open terminal when the switch is activated (i.e., under the action of external force), meaning that current can flow between the common terminal and the normally open terminal.

[0047] Among them, the three-phase brushless DC motor (BLDC) is a high-efficiency electric motor. Unlike traditional brushed DC motors, brushless motors do not use mechanical brushes to switch the direction of current. Instead, they achieve rotor rotation through an electronic commutation system.

[0048] Specifically, the mechanical components of a three-phase brushless motor include the stator and the rotor. The stator is the stationary part, typically composed of stacked silicon steel sheets, with three electromagnetic coils (three-phase windings) wound around it at 120° angles to each other. These three stator coils (usually marked U, V, and M) constitute the armature of the motor. The rotor is the rotating part, composed of permanent magnets. The rotor includes permanent magnets, which can be surface-mounted, embedded, or internally mounted. The rotor rotates under the influence of the magnetic field, thus generating mechanical motion.

[0049] A motor driver (or Electronic Speed ​​Controller, ESC) is an electronic device used to drive the stator coils of a three-phase brushless motor, thereby driving the motor. Specifically, the driver precisely controls the current supplied to the three-phase brushless motor to ensure it operates at a set speed and torque. It also detects the rotor position and accordingly switches the energizing sequence of the stator coils, ensuring continuous rotation of the motor.

[0050] Specifically, in this embodiment of the present invention, when the driver needs to drive the three-phase brushless motor normally, the first common terminal 121 of the first switch 120 in the drive control device 100 is connected to the first normally open terminal 122, the second common terminal 131 of the second switch 130 is connected to the second normally open terminal 132, and the third common terminal 141 of the third switch 140 is connected to the third normally open terminal 142. This enables the driver and the three-phase brushless motor to be connected through a three-phase line, that is, the driver is connected to the stator coils of the three-phase brushless motor through its three-phase output terminals (U, V, W). This allows the driver to energize each stator coil in sequence according to the rotor position information and a preset order and time interval. These currents generate a rotating magnetic field in the stator coils. This magnetic field interacts with the permanent magnets on the rotor to generate torque, thereby driving the rotor to rotate and realizing the continuous operation of the three-phase brushless motor.

[0051] Specifically, in this embodiment of the invention, when the driver stops driving the three-phase brushless motor, the first common terminal 121 of the first switch 120 in the drive control device 100 is connected to the first normally closed terminal 123, the second common terminal 131 of the second switch 130 is connected to the second normally closed terminal 133, and the third common terminal 141 of the third switch 140 is connected to the third normally closed terminal 143. This achieves mutual short-circuiting of the three-phase windings (three stator coils) of the three-phase brushless motor, forming a closed circuit. If the three-phase brushless motor is subjected to an external force (i.e., wind) and attempts to rotate (move), the stator coils will generate induced currents. These induced currents flow in the closed circuit and generate a magnetic field opposite to the direction of rotor rotation. This reverse magnetic field interacts with the permanent magnets on the rotor, generating a braking torque, thereby effectively preventing the three-phase brushless motor from rotating unexpectedly, thus achieving the purpose of braking and anti-rotation.

[0052] To make it easier to understand, the following will be combined with... Figure 2 This article details the interconnection method of the normally closed terminals of the three single-pole double-throw switches in this embodiment of the invention.

[0053] In one possible implementation, such as Figure 2As shown in (a), the first normally closed terminal 123 of the first switch 120 is connected to the second normally closed terminal 133 of the second switch 130, and the second normally closed terminal 133 of the second switch 130 is connected to the third normally closed terminal 143 of the third switch 140, so as to realize the interconnection of the normally closed terminals of the three single-pole double-throw switches, thereby realizing that when the first switch 120, the second switch 130 and the third switch 140 are in an inactive state, the three-phase windings of the three-phase brushless motor are short-circuited.

[0054] In another possible implementation, such as Figure 2 As shown in (b), the first normally closed terminal 123 of the first switch 120 is connected to the second normally closed terminal 133 of the second switch 130, and the first normally closed terminal 123 of the first switch 120 is connected to the third normally closed terminal 143 of the third switch 140, so as to realize the interconnection of the normally closed terminals of the three single-pole double-throw switches, thereby realizing that when the first switch 120, the second switch 130 and the third switch 140 are in an inactive state, the three-phase windings of the three-phase brushless motor are short-circuited.

[0055] In another possible implementation, the first normally closed terminal 123 of the first switch 120 is connected to the third normally closed terminal 143 of the third switch 140, and the second normally closed terminal 133 of the second switch 130 is connected to the third normally closed terminal 143 of the third switch 140, thereby interconnecting the normally closed terminals of the three single-pole double-throw switches. Of course, in other possible implementations, the first normally closed terminal 123 of the first switch 120 is connected to the second normally closed terminal 133 of the second switch 130, the second normally closed terminal 133 of the second switch 130 is connected to the third normally closed terminal 143 of the third switch 140, and the first normally closed terminal 123 of the first switch 120 is connected to the third normally closed terminal 143 of the third switch 140, thereby interconnecting the normally closed terminals of the three single-pole double-throw switches.

[0056] Furthermore, for ease of understanding, the following will combine... Figure 3 This section will provide a detailed explanation of how the drive control device 100 achieves drive and braking.

[0057] like Figure 3 As shown in (a), when the driver needs to drive the three-phase brushless motor normally, the control unit 110 controls the first switch 120, the second switch 130 and the third switch 140 to be in an activated state, that is, the common terminal of the single-pole double-throw switch is connected to the normally open terminal.

[0058] Specifically, such as Figure 3As shown in (a), when the control unit 110 is in the first state, the first common terminal 121 of the first switch 120 is connected to the first normally open terminal 122, the second common terminal 131 of the second switch 130 is connected to the second normally open terminal 132, and the third common terminal 141 of the third switch 140 is connected to the third normally open terminal 142, thereby realizing the connection between the driver and the three-phase brushless motor through the three-phase line, thereby realizing the continuous operation of the three-phase brushless motor.

[0059] like Figure 3 As shown in (b), when the driver stops driving the three-phase brushless motor, the control unit 110 controls the first switch 120, the second switch 130 and the third switch 140 to be inactive, that is, the common terminal of the single-pole double-throw switch is connected to the normally closed terminal.

[0060] Specifically, such as Figure 3 As shown in (b), when the control unit 110 is in the second state, the first common terminal 121 of the first switch 120 is connected to the first normally closed tube 123, the second common terminal 131 of the second switch 130 is connected to the second normally closed terminal 133, and the third common terminal 141 of the third switch 140 is connected to the third normally closed terminal 143, so as to connect the three-phase windings (three stator coils) of the three-phase brushless motor to each other, so as to form a closed circuit, thereby realizing the braking and wind protection of the three-phase brushless motor.

[0061] This utility model embodiment provides a drive control device 100, including: three single-pole double-throw switches and a control unit 110, wherein the three single-pole double-throw switches are a first switch 120, a second switch 130, and a third switch 140; the first common terminal 121 of the first switch 120, the second common terminal 131 of the second switch 130, and the third common terminal 141 of the third switch 140 are used to connect to a three-phase brushless motor through a three-phase line. The first normally open terminal 122 of the first switch 120, the second normally open terminal 132 of the second switch 130, and the third normally open terminal 142 of the third switch 140 are used to connect to a driver through a three-phase line. The first normally closed terminal 123 of the first switch 120, the second normally closed terminal 133 of the second switch 130, and the third normally closed terminal 143 of the third switch 140 are interconnected; the first terminal 111 of the control unit 110 is used to connect to the output terminal of the driver, and the second terminal 112 of the control unit 110 is grounded. In this embodiment of the invention, by connecting / adding a drive control device 100 in series between the driver and the three-phase brushless motor, and controlling the first switch 120, the second switch 130, and the third switch 140 through the control unit 110, when the driver needs to drive the three-phase brushless motor, the common terminal of the first switch 120, the second switch 130, and the third switch 140 is connected to the corresponding normally open terminal, so that the driver and the three-phase brushless motor are connected through a three-phase line, thereby realizing the continuous operation of the three-phase brushless motor; when the driver stops driving the three-phase brushless motor, the common terminal of the first switch 120, the second switch 130, and the third switch 140 is connected to the corresponding normally closed terminal, so that the three-phase windings of the three-phase brushless motor are interconnected to form a closed circuit, thereby realizing the braking and wind protection of the three-phase brushless motor. By adding a drive control device 100 between the driver and the three-phase brushless motor, the wind resistance of the three-phase brushless motor can be improved during emergency shutdown, thereby improving the wind resistance of the cleaning robot and preventing the cleaning robot from being blown by the wind, so as to avoid damage to the structure and performance of the cleaning robot itself.

[0062] Example 2:

[0063] The following is combined Figure 4 and Figure 5 This article will provide a detailed description of another drive control device provided in this embodiment of the present invention.

[0064] The present invention provides a drive control device comprising a relay including three single-pole double-throw switches, and the control unit being the coil of the relay.

[0065] As shown in Figure 4, the relay 400 (also known as the drive control device 400) includes: three single-pole double-throw switches and a coil 410. The three single-pole double-throw switches are the first switch 420, the second switch 430 and the third switch 440, and the coil 410 is the control unit of the drive control device.

[0066] Specifically, the first common terminal 421 of the first switch 420, the second common terminal 431 of the second switch 430, and the third common terminal 441 of the third switch 440 are used to connect to a three-phase brushless motor via a three-phase line. The first normally open terminal 422 of the first switch 420, the second normally open terminal 432 of the second switch 430, and the third normally open terminal 442 of the third switch 440 are used to connect to a driver via a three-phase line. The first normally closed terminal 423 of the first switch 420, the second normally closed terminal 433 of the second switch 430, and the third normally closed terminal 443 of the third switch 440 are interconnected. The first terminal 411 of the coil 410 is used to connect to the output terminal of the driver, and the second terminal 421 of the coil 410 is grounded.

[0067] A relay is an electromagnetic switch. The basic working principle of a relay is to activate an electromagnet by using a small input signal (usually an electrical signal). This electromagnet attracts or releases a set of mechanical contacts, thereby connecting or disconnecting the current path in another circuit.

[0068] Among them, the relay that includes three single-pole double-throw (SPDT) switches is a special type of relay. It integrates three independent SPDT switches and a coil. The coil is used to generate a magnetic field to control the operation of the three SPDT switches. Each of the three SPDT switches has a set of contacts (i.e., a common terminal, a normally closed terminal, and a normally open terminal) that can be operated independently, and the operation of the three SPDT switches is synchronized, that is, they switch from the normally closed state to the normally open state or vice versa at the same time.

[0069] In one possible implementation, the relay 400, which includes three single-pole double-throw switches, is a high-level active relay. A high-level active relay means that the coil 410 of the relay 400 is activated when it receives a high-level signal (i.e., reaches or exceeds its rated voltage value), thereby switching the three single-pole double-throw switches from the normally closed state to the normally open state.

[0070] Specifically, when the driver outputs a high-level signal to the coil 410 of the relay 400, the control unit is in the first state. That is, the driver applies sufficient voltage to the coil 410, so that the coil 410 is energized. At this time, the common terminal of the three single-pole double-throw switches is connected to the corresponding normally open terminal. That is, the first common terminal 421 of the first switch 420 is connected to the first normally open terminal 422 of the first switch 420, the second common terminal 431 of the second switch 430 is connected to the second normally open terminal 432 of the second switch 430, and the third common terminal 441 of the third switch 440 is connected to the third normally open terminal 442 of the third switch 440. This allows the driver to be connected to the three-phase brushless motor through a three-phase line, thereby enabling the driver to connect to the stator coils of the three-phase brushless motor through its three output terminals. This allows the driver to energize each stator coil sequentially according to the rotor position information and a preset order and time interval. These currents generate a rotating magnetic field in the stator coils. This magnetic field interacts with the permanent magnets on the rotor to generate torque, thereby driving the rotor to rotate and realizing the continuous operation of the three-phase brushless motor.

[0071] Specifically, when the driver outputs a low-level signal to the coil 410 of the relay 400, the control unit is in the second state. That is, the driver does not apply sufficient voltage to the coil 410, causing the coil 410 to be de-energized. At this time, the common terminal of the three single-pole double-throw switches is connected to the corresponding normally closed terminal. That is, the first common terminal 421 of the first switch 420 is connected to the first normally closed terminal 423 of the first switch 420, the second common terminal 431 of the second switch 430 is connected to the second normally closed terminal 433 of the second switch 430, and the third common terminal 441 of the third switch 440 is connected to the third normally closed terminal 443 of the third switch 440. This achieves mutual short-circuiting of the three-phase windings (three stator coils) of the three-phase brushless motor, forming a closed circuit. If the three-phase brushless motor is subjected to an external force (i.e., wind) and attempts to rotate (move), the stator coil will generate an induced current. These induced currents flow in a closed circuit and generate a magnetic field opposite to the direction of rotor rotation. This reverse magnetic field will interact with the permanent magnet on the rotor to generate a braking torque, thereby effectively preventing the three-phase brushless motor from rotating unexpectedly, so as to achieve the purpose of braking and anti-rotation.

[0072] In one possible implementation, such as Figure 5 As shown, the relay 400, which includes three single-pole double-throw switches, also includes a diode 450. The negative terminal of the diode 450 is connected to the first end of the coil 410, and the positive terminal of the diode 450 is connected to the second end of the coil 410, so that the diode 450 is connected in reverse parallel across the two ends of the coil 410 of the relay 400.

[0073] A diode is a semiconductor device with two electrodes (positive and negative, also known as anode and cathode). It allows current to flow freely in one direction while almost completely blocking current in the opposite direction. This unidirectional conductivity is the most basic and important characteristic of a diode.

[0074] The diode 450 connected in reverse parallel across the coil 410 is usually called a flyback diode or freewheeling diode. It is used to absorb the back electromotive force (Back EMF) generated when the coil 410 is de-energized, so as to prevent this transient high voltage from damaging the circuit.

[0075] When the current to the coil 410 of relay 400 is suddenly interrupted (i.e., the high-level signal output from the driver to coil 410 suddenly changes to a low-level signal), according to Faraday's law of electromagnetic induction, coil 410 will generate a voltage spike with a direction opposite to the original current limiting and potentially very high amplitude. This voltage spike may exceed the withstand voltage limit of other components, causing them to be damaged. Therefore, when the coil 410 of relay 400 is de-energized, due to the self-inductance effect of coil 410, it will attempt to maintain the original current, which will result in a high voltage spike across coil 410, its direction being an attempt to continue current flow. The anti-parallel diode 450 provides a low-impedance path for this current, allowing the current to form a closed loop through diode 450, thereby preventing the voltage spike from affecting the external circuit.

[0076] This utility model provides a drive control device comprising a relay 400 with three single-pole double-throw switches. The relay 400 includes a coil 410, a first switch 420, a second switch 430, and a third switch 440, with the coil 410 serving as the control unit. The first common terminal 421 of the first switch 420, the second common terminal 431 of the second switch 430, and the third common terminal 441 of the third switch 440 are connected to a three-phase brushless motor via a three-phase line. The first normally open terminal 422 of the first switch 420, the second normally open terminal 432 of the second switch 430, and the third normally open terminal 442 of the third switch 440 are connected to a driver via a three-phase line. The first normally closed terminal 423 of the first switch 420, the second normally closed terminal 433 of the second switch 430, and the third normally closed terminal 443 of the third switch 440 are interconnected. The first end 411 of the coil 410 is connected to the output terminal of the driver, and the second end 421 of the coil 410 is grounded. In this embodiment of the invention, a relay 400 comprising three single-pole double-throw switches is connected in series / added between the driver and the three-phase brushless motor, and a coil 410 controls the first switch 420, the second switch 430, and the third switch 440. Specifically, when the driver needs to drive the three-phase brushless motor, the coil 410 is energized, and the common terminal of the first switch 420, the second switch 430, and the third switch 440 is connected to the corresponding normally open terminal, allowing the driver and the three-phase brushless motor to connect via a three-phase line, thus enabling continuous operation of the three-phase brushless motor. When the driver stops driving the three-phase brushless motor, the coil 410 is de-energized, and the common terminal of the first switch 420, the second switch 430, and the third switch 440 is connected to the corresponding normally closed terminal, allowing the three-phase windings of the three-phase brushless motor to connect to each other, forming a closed circuit, thereby achieving braking and wind protection for the three-phase brushless motor. By adding a relay 400 containing three single-pole double-throw switches between the driver and the three-phase brushless motor, the wind resistance of the three-phase brushless motor can be improved during emergency shutdown, thereby enhancing the wind resistance of the cleaning robot and preventing it from being blown away by the wind, thus avoiding damage to the robot's structure and performance.

[0077] Furthermore, a diode 450 is connected in reverse parallel across the two ends of the coil 410 to absorb the back electromotive force generated when the coil 410 is de-energized, so as to prevent this transient high voltage from damaging the circuit, thereby protecting the safety of the relay 400 and other components connected to the relay 400, and further helping to extend the service life of the relay 400 and related components.

[0078] Example 3:

[0079] The following is combined Figure 6 This article will provide a detailed description of a cleaning robot provided in this embodiment of the present invention.

[0080] The present invention provides a cleaning robot, comprising: a driver, a three-phase brushless motor, and a drive control device as described in either Embodiment 1 or Embodiment 2.

[0081] Specifically, the first common terminal of the first switch, the second common terminal of the second switch, and the third common terminal of the third switch of the drive control device are connected to the three-phase brushless motor via a three-phase line; the first normally open terminal of the first switch, the second normally open terminal of the second switch, and the third normally open terminal of the third switch are connected to the driver via a three-phase line; the first normally closed terminal of the first switch, the second normally closed terminal of the second switch, and the third normally closed terminal of the third switch are interconnected; the first terminal of the control unit is connected to the output terminal of the driver, and the second terminal of the control unit is grounded.

[0082] In one possible implementation, the number of three-phase brushless motors in the cleaning robot is the same as the number of drive control units. For example, when the cleaning robot includes two three-phase brushless motors, it also includes two drive control units. In case of an emergency requiring the cleaning robot to stop in place during a cleaning task, all the three-phase brushless motors in the cleaning robot are windproof, effectively preventing the robot from being blown away by the wind and thus avoiding damage to the robot's structure and performance.

[0083] To make it easier to understand, the following will be combined with... Figure 6 Here is an example to illustrate the structure of a cleaning robot.

[0084] like Figure 6 As shown, the cleaning robot 600 includes: a driver 610, an upward brushless motor 620, a downward brushless motor 630, a first drive control device 640, and a second drive control device 650.

[0085] In this system, the common terminals (COM1, COM2, and COM3) of the three single-pole double-throw switches in the first drive control device 640 are connected to the upward brushless motor 620 via a three-phase line; the normally open terminals (NO1, NO2, and NO3) of the three single-pole double-throw switches in the first drive control device 640 are connected to the driver via a three-phase line; and the normally closed terminals (NC1, NC2, and NC3) of the three single-pole double-throw switches in the first drive control device 640 are interconnected. The first terminal of the control unit in the first drive control device 640 is connected to the output terminal of the driver 610, and the second terminal of the control unit is grounded.

[0086] In this second drive control device 650, the common terminals (COM1, COM2, and COM3) of the three single-pole double-throw switches are connected to the downward brushless motor 630 via a three-phase line; the normally open terminals (NO1, NO2, and NO3) of the three single-pole double-throw switches are connected to the driver via a three-phase line; and the normally closed terminals (NC1, NC2, and NC3) of the three single-pole double-throw switches are interconnected. The first terminal of the control unit in the second drive control device 650 is connected to the output terminal of the driver 610, and the second terminal of the control unit is grounded.

[0087] It should be noted that the output terminal of the driver 610 connected to the control unit in the first drive control device 640 and the output terminal connected to the control unit in the second drive control device 650 can be the same output terminal, or they can be different output terminals. This utility model does not make any specific limitation.

[0088] This utility model provides a cleaning robot, including: a driver, a three-phase brushless motor, and a drive control device as described in Embodiments 1 and 2. Specifically, a drive control device is connected in series between the driver and the three-phase brushless motor. When the cleaning robot encounters an emergency during a cleaning task and needs to stop in place, the common terminal of the first, second, and third switches in the drive control device is connected to their corresponding normally closed terminals. This connects the three-phase windings of the three-phase brushless motor to form a closed circuit, thereby achieving braking and wind protection for the three-phase brushless motor. This improves the cleaning robot's wind resistance, preventing it from being blown away by the wind and avoiding damage to the robot's structure and performance.

[0089] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0090] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A drive control device, characterized in that, include: Three single-pole double-throw switches and a control unit, wherein the three single-pole double-throw switches are a first switch, a second switch and a third switch, respectively; The first common terminal of the first switch, the second common terminal of the second switch, and the third common terminal of the third switch are used to connect to a three-phase brushless motor via a three-phase line; The first normally open terminal of the first switch, the second normally open terminal of the second switch, and the third normally open terminal of the third switch are used to connect to the driver via a three-phase line; The first normally closed terminal of the first switch, the second normally closed terminal of the second switch, and the third normally closed terminal of the third switch are interconnected. The first terminal of the control unit is used to connect to the output terminal of the driver, and the second terminal of the control unit is grounded.

2. The apparatus according to claim 1, characterized in that, The first normally closed terminal of the first switch, the second normally closed terminal of the second switch, and the third normally closed terminal of the third switch are interconnected, including: The first normally closed terminal of the first switch is connected to the second normally closed terminal of the second switch, and the second normally closed terminal is connected to the third normally closed terminal of the third switch.

3. The apparatus according to claim 1, characterized in that, The first normally closed terminal of the first switch, the second normally closed terminal of the second switch, and the third normally closed terminal of the third switch are interconnected, including: The first normally closed terminal of the first switch is connected to the second normally closed terminal of the second switch, and the first normally closed terminal is connected to the third normally closed terminal of the third switch.

4. The apparatus according to claim 1, characterized in that, When the control unit is in the first state, the first common terminal corresponding to the first switch is connected to the first normally open terminal, the second common terminal corresponding to the second switch is connected to the second normally open terminal, and the third common terminal corresponding to the third switch is connected to the third normally open terminal, so as to connect the driver and the three-phase brushless motor through a three-phase line.

5. The apparatus according to claim 4, characterized in that, When the control unit is in the second state, the first common terminal corresponding to the first switch is connected to the first normally closed terminal, the second common terminal corresponding to the second switch is connected to the second normally closed terminal, and the third common terminal corresponding to the third switch is connected to the third normally closed terminal, so as to short-circuit the three-phase windings of the three-phase brushless motor to each other.

6. The apparatus according to claim 5, characterized in that, The drive control device is a relay including three single-pole double-throw switches, and the control unit is the coil of the relay; The first end of the coil is used to connect to the output end of the driver, and the second end of the coil is grounded.

7. The apparatus according to claim 6, characterized in that, The relay is a high-level active relay; When the driver outputs a high-level signal to the coil of the relay, the control unit is in the first state; When the driver outputs a low-level signal to the coil of the relay, the control unit is in the second state.

8. The apparatus according to claim 6, characterized in that, The device further includes: a diode; The negative terminal of the diode is connected to the first end of the relay coil, and the positive terminal of the diode is connected to the second end of the relay coil, so that they are connected in reverse parallel across the two ends of the relay coil.

9. A cleaning robot, characterized in that, include: The driver, the three-phase brushless motor, and the drive control device as described in any one of claims 1-8.

10. The cleaning robot according to claim 9, characterized in that, The number of the three-phase brushless motors is the same as the number of the drive control devices.

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